Add support for native V4L implementation on Linux/RPi

README.md

@@ -11,9 +11,14 @@ or
 
 ### Requirements
 
-* [OpenCV](http://opencv.org/) (default is version 2.x via [go-opencv](https://github.com/lazywei/go-opencv), use `-tags cv3` for [gocv](https://github.com/hybridgroup/gocv))
+* [OpenCV](http://opencv.org/)
-* [libjpeg-turbo](https://www.libjpeg-turbo.org/) (use `-tags jpeg` for native image/jpeg, but note that CPU usage will be much higher)
+* [libjpeg-turbo](https://www.libjpeg-turbo.org/)
 
+### Build tags
+
+* `cv3` - build with OpenCV 3.x [gocv](https://github.com/hybridgroup/gocv), default is version 2.x via [go-opencv](https://github.com/lazywei/go-opencv)
+* `native` - build with native Go [V4L](https://github.com/korandiz/v4l) implementation on Linux/RPi instead of `OpenCV`
+* `jpeg` - build with native Go `image/jpeg` instead of `libjpeg-turbo`
 
 ### Download
 

cam2ip.go

@@ -1,3 +1,5 @@
+// +build !native
+
 package main
 
 import (
@@ -57,15 +59,12 @@ func main() {
 
 		srv.Reader = vid
 	} else {
-		cam, err := camera.New(camera.Options{srv.Index, srv.Rotate})
+		cam, err := camera.New(camera.Options{srv.Index, srv.Rotate, srv.FrameWidth, srv.FrameHeight})
 		if err != nil {
 			fmt.Fprintf(os.Stderr, "%s\n", err.Error())
 			os.Exit(1)
 		}
 
-		cam.SetProperty(camera.PropFrameWidth, srv.FrameWidth)
-		cam.SetProperty(camera.PropFrameHeight, srv.FrameHeight)
-
 		srv.Reader = cam
 	}
 

cam2ip_native.go

@@ -0,0 +1,68 @@
+// +build native
+
+package main
+
+import (
+	"flag"
+	"fmt"
+	"os"
+
+	"github.com/gen2brain/cam2ip/camera"
+	"github.com/gen2brain/cam2ip/server"
+)
+
+const (
+	name    = "cam2ip"
+	version = "1.4"
+)
+
+func main() {
+	srv := server.NewServer()
+
+	flag.IntVar(&srv.Index, "index", 0, "Camera index")
+	flag.IntVar(&srv.Delay, "delay", 10, "Delay between frames, in milliseconds")
+	flag.Float64Var(&srv.FrameWidth, "width", 640, "Frame width")
+	flag.Float64Var(&srv.FrameHeight, "height", 480, "Frame height")
+	flag.IntVar(&srv.Rotate, "rotate", 0, "Rotate image, valid values are 90, 180, 270")
+	flag.BoolVar(&srv.NoWebGL, "nowebgl", false, "Disable WebGL drawing of images (html handler)")
+	flag.StringVar(&srv.Bind, "bind-addr", ":56000", "Bind address")
+	flag.StringVar(&srv.Htpasswd, "htpasswd-file", "", "Path to htpasswd file, if empty auth is disabled")
+	flag.Parse()
+
+	srv.Name = name
+	srv.Version = version
+
+	var err error
+
+	if srv.Htpasswd != "" {
+		if _, err = os.Stat(srv.Htpasswd); err != nil {
+			fmt.Fprintf(os.Stderr, "%s\n", err.Error())
+			os.Exit(1)
+		}
+	}
+
+	if srv.FileName != "" {
+		if _, err = os.Stat(srv.FileName); err != nil {
+			fmt.Fprintf(os.Stderr, "%s\n", err.Error())
+			os.Exit(1)
+		}
+	}
+
+	cam, err := camera.New(camera.Options{srv.Index, srv.Rotate, srv.FrameWidth, srv.FrameHeight})
+	if err != nil {
+		fmt.Fprintf(os.Stderr, "%s\n", err.Error())
+		os.Exit(1)
+	}
+
+	srv.Reader = cam
+
+	defer srv.Reader.Close()
+
+	fmt.Fprintf(os.Stderr, "Listening on %s\n", srv.Bind)
+
+	err = srv.ListenAndServe()
+	if err != nil {
+		fmt.Fprintf(os.Stderr, "%s\n", err.Error())
+		os.Exit(1)
+	}
+}

camera/camera.go

@@ -1,4 +1,4 @@
-// +build !cv3
+// +build !cv3,!native
 
 // Package camera.
 package camera
@@ -15,6 +15,8 @@ import (
 type Options struct {
 	Index  int
 	Rotate int
+	Width  float64
+	Height float64
 }
 
 // Camera represents camera.
@@ -34,6 +36,9 @@ func New(opts Options) (camera *Camera, err error) {
 		err = fmt.Errorf("camera: can not open camera %d", opts.Index)
 	}
 
+	camera.SetProperty(PropFrameWidth, opts.Width)
+	camera.SetProperty(PropFrameHeight, opts.Height)
+
 	return
 }
 
@@ -43,7 +48,7 @@ func (c *Camera) Read() (img image.Image, err error) {
 		c.frame = c.camera.RetrieveFrame(1)
 
 		if c.frame == nil {
-			err = fmt.Errorf("camera: can not grab frame")
+			err = fmt.Errorf("camera: can not retrieve frame")
 			return
 		}
 

camera/camera_const.go

@@ -1,3 +1,5 @@
+// +build !native
+
 package camera
 
 // Property identifiers.

camera/camera_const_native.go

@@ -0,0 +1,21 @@
+// +build native
+
+package camera
+
+import (
+	"github.com/korandiz/v4l"
+)
+
+// Property identifiers.
+const (
+	PropBrightness    = v4l.CtrlBrightness
+	PropContrast      = v4l.CtrlContrast
+	PropSaturation    = v4l.CtrlSaturation
+	PropHue           = v4l.CtrlHue
+	PropGain          = v4l.CtrlGain
+	PropExposure      = v4l.CtrlExposure
+	PropWhiteBalanceU = v4l.CtrlWhiteBalance
+	PropSharpness     = v4l.CtrlSharpness
+	PropWhiteBalanceV = v4l.CtrlDoWhiteBalance
+	PropBacklight     = v4l.CtrlBacklightCompensation
+)

camera/camera_cv3.go

@@ -1,4 +1,4 @@
-// +build cv3
+// +build cv3,!native
 
 // Package camera.
 package camera
@@ -15,6 +15,8 @@ import (
 type Options struct {
 	Index  int
 	Rotate int
+	Width  float64
+	Height float64
 }
 
 // Camera represents camera.
@@ -37,6 +39,9 @@ func New(opts Options) (camera *Camera, err error) {
 		err = fmt.Errorf("camera: can not open camera %d: %s", opts.Index, err.Error())
 	}
 
+	camera.SetProperty(PropFrameWidth, opts.Width)
+	camera.SetProperty(PropFrameHeight, opts.Height)
+
 	return
 }
 
@@ -55,7 +60,7 @@ func (c *Camera) Read() (img image.Image, err error) {
 	}
 
 	if c.frame == nil {
-		err = fmt.Errorf("camera: can not grab frame")
+		err = fmt.Errorf("camera: can not retrieve frame")
 		return
 	}
 

camera/camera_native_linux.go

@@ -0,0 +1,132 @@
+// +build native
+
+// Package camera.
+package camera
+
+import (
+	"fmt"
+	"image"
+
+	"github.com/disintegration/imaging"
+	"github.com/korandiz/v4l"
+	"github.com/korandiz/v4l/fmt/mjpeg"
+
+	im "github.com/gen2brain/cam2ip/image"
+)
+
+// Options.
+type Options struct {
+	Index  int
+	Rotate int
+	Width  float64
+	Height float64
+}
+
+// Camera represents camera.
+type Camera struct {
+	opts   Options
+	camera *v4l.Device
+}
+
+// New returns new Camera for given camera index.
+func New(opts Options) (camera *Camera, err error) {
+	camera = &Camera{}
+	camera.opts = opts
+
+	devices := v4l.FindDevices()
+	if len(devices) < opts.Index+1 {
+		err = fmt.Errorf("camera: no camera at index %d", opts.Index)
+		return
+	}
+
+	camera.camera, err = v4l.Open(devices[opts.Index].Path)
+	if err != nil {
+		err = fmt.Errorf("camera: %s", err.Error())
+		return
+	}
+
+	if camera.camera == nil {
+		err = fmt.Errorf("camera: can not open camera %d", opts.Index)
+		return
+	}
+
+	config, err := camera.camera.GetConfig()
+	if err != nil {
+		err = fmt.Errorf("camera: %s", err.Error())
+		return
+	}
+
+	config.Format = mjpeg.FourCC
+	config.Width = int(opts.Width)
+	config.Height = int(opts.Height)
+
+	err = camera.camera.SetConfig(config)
+	if err != nil {
+		err = fmt.Errorf("camera: %s", err.Error())
+		return
+	}
+
+	err = camera.camera.TurnOn()
+	if err != nil {
+		err = fmt.Errorf("camera: %s", err.Error())
+		return
+	}
+
+	return
+}
+
+// Read reads next frame from camera and returns image.
+func (c *Camera) Read() (img image.Image, err error) {
+
+	buffer, err := c.camera.Capture()
+	if err != nil {
+		err = fmt.Errorf("camera: can not grab frame: %s", err.Error())
+		return
+	}
+
+	img, err = im.NewDecoder(buffer).Decode()
+	if err != nil {
+		err = fmt.Errorf("camera: %s", err.Error())
+		return
+	}
+
+	if c.opts.Rotate == 0 {
+		return
+	}
+
+	switch c.opts.Rotate {
+	case 90:
+		img = imaging.Rotate90(img)
+	case 180:
+		img = imaging.Rotate180(img)
+	case 270:
+		img = imaging.Rotate270(img)
+	}
+
+	return
+}
+
+// GetProperty returns the specified camera property.
+func (c *Camera) GetProperty(id int) float64 {
+	ret, _ := c.camera.GetControl(uint32(id))
+	return float64(ret)
+}
+
+// SetProperty sets a camera property.
+func (c *Camera) SetProperty(id int, value float64) {
+	c.camera.SetControl(uint32(id), int32(value))
+}
+
+// Close closes camera.
+func (c *Camera) Close() (err error) {
+	if c.camera == nil {
+		err = fmt.Errorf("camera: camera is not opened")
+		return
+	}
+
+	c.camera.TurnOff()
+
+	c.camera.Close()
+	c.camera = nil
+	return
+}

camera/camera_test.go

@@ -11,7 +11,7 @@ import (
 )
 
 func TestCamera(t *testing.T) {
-	camera, err := New(1)
+	camera, err := New(Options{0, 0, 640, 480})
 	if err != nil {
 		t.Fatal(err)
 	}
@@ -25,18 +25,6 @@ func TestCamera(t *testing.T) {
 
 	defer os.RemoveAll(tmpdir)
 
-	var width, height float64 = 640, 480
-	camera.SetProperty(PropFrameWidth, width)
-	camera.SetProperty(PropFrameHeight, height)
-
-	if camera.GetProperty(PropFrameWidth) != width {
-		t.Error("FrameWidth not correct")
-	}
-
-	if camera.GetProperty(PropFrameHeight) != height {
-		t.Error("FrameHeight not correct")
-	}
-
 	var i int
 	var n int = 10
 

handlers/jpeg.go

@@ -4,7 +4,7 @@ import (
 	"log"
 	"net/http"
 
-	"github.com/gen2brain/cam2ip/encoder"
+	"github.com/gen2brain/cam2ip/image"
 	"github.com/gen2brain/cam2ip/reader"
 )
 
@@ -35,7 +35,7 @@ func (j *JPEG) ServeHTTP(w http.ResponseWriter, r *http.Request) {
 		return
 	}
 
-	err = encoder.New(w).Encode(img)
+	err = image.NewEncoder(w).Encode(img)
 	if err != nil {
 		log.Printf("jpeg: encode: %v", err)
 		return

handlers/mjpeg.go

@@ -9,7 +9,7 @@ import (
 	"net/textproto"
 	"time"
 
-	"github.com/gen2brain/cam2ip/encoder"
+	"github.com/gen2brain/cam2ip/image"
 	"github.com/gen2brain/cam2ip/reader"
 )
 
@@ -62,7 +62,7 @@ loop:
 				continue
 			}
 
-			err = encoder.New(partWriter).Encode(img)
+			err = image.NewEncoder(partWriter).Encode(img)
 			if err != nil {
 				log.Printf("mjpeg: encode: %v", err)
 				continue

handlers/socket.go

@@ -10,7 +10,7 @@ import (
 
 	"golang.org/x/net/websocket"
 
-	"github.com/gen2brain/cam2ip/encoder"
+	"github.com/gen2brain/cam2ip/image"
 	"github.com/gen2brain/cam2ip/reader"
 )
 
@@ -37,7 +37,7 @@ func (s *Socket) write(ws *websocket.Conn) {
 
 		w := new(bytes.Buffer)
 
-		err = encoder.New(w).Encode(img)
+		err = image.NewEncoder(w).Encode(img)
 		if err != nil {
 			log.Printf("socket: encode: %v", err)
 			continue

handlers/socket_amd64.go

@@ -8,7 +8,7 @@ import (
 	"golang.org/x/net/websocket"
 	"goost.org/encoding/base64"
 
-	"github.com/gen2brain/cam2ip/encoder"
+	"github.com/gen2brain/cam2ip/image"
 	"github.com/gen2brain/cam2ip/reader"
 )
 
@@ -35,7 +35,7 @@ func (s *Socket) write(ws *websocket.Conn) {
 
 		w := new(bytes.Buffer)
 
-		err = encoder.New(w).Encode(img)
+		err = image.NewEncoder(w).Encode(img)
 		if err != nil {
 			log.Printf("socket: encode: %v", err)
 			continue

image/decode.go

@@ -0,0 +1,26 @@
+// +build !jpeg
+
+// Package image.
+package image
+
+import (
+	"image"
+	"io"
+
+	jpeg "github.com/antonini/golibjpegturbo"
+)
+
+// NewDecoder returns a new Decoder.
+func NewDecoder(r io.Reader) *Decoder {
+	return &Decoder{r}
+}
+
+// Decoder struct.
+type Decoder struct {
+	r io.Reader
+}
+
+// Decode decodes image from JPEG.
+func (d Decoder) Decode() (image.Image, error) {
+	return jpeg.Decode(d.r)
+}

image/decode_jpeg.go

@@ -0,0 +1,25 @@
+// +build jpeg
+
+// Package image.
+package image
+
+import (
+	"image"
+	"image/jpeg"
+	"io"
+)
+
+// NewDecoder returns a new Decoder.
+func NewDecoder(r io.Reader) *Decoder {
+	return &Decoder{r}
+}
+
+// Decoder struct.
+type Decoder struct {
+	r io.Reader
+}
+
+// Decode decodes image from JPEG.
+func (d Decoder) Decode() (image.Image, error) {
+	return jpeg.Decode(d.r)
+}

image/encode.go

@@ -1,7 +1,7 @@
 // +build !jpeg
 
-// Package encoder.
+// Package image.
-package encoder
+package image
 
 import (
 	"image"
@@ -10,8 +10,8 @@ import (
 	jpeg "github.com/antonini/golibjpegturbo"
 )
 
-// New returns a new Encoder.
+// NewEncoder returns a new Encoder.
-func New(w io.Writer) *Encoder {
+func NewEncoder(w io.Writer) *Encoder {
 	return &Encoder{w}
 }
 

image/encode_jpeg.go

@@ -1,7 +1,7 @@
 // +build jpeg
 
-// Package encoder.
+// Package image.
-package encoder
+package image
 
 import (
 	"image"
@@ -9,8 +9,8 @@ import (
 	"io"
 )
 
-// New returns a new Encoder.
+// NewEncoder returns a new Encoder.
-func New(w io.Writer) *Encoder {
+func NewEncoder(w io.Writer) *Encoder {
 	return &Encoder{w}
 }
 

make.bash

@@ -13,7 +13,14 @@ PKG_CONFIG_PATH="$CHROOT/usr/lib/pkgconfig" \
 PKG_CONFIG_LIBDIR="$CHROOT/usr/lib/pkgconfig" \
 CGO_LDFLAGS="-L$CHROOT/usr/lib -L$CHROOT/lib" \
 CGO_CFLAGS="-I$CHROOT/usr/include" \
-CGO_ENABLED=1 GOOS=linux GOARCH=amd64 go build -v -x -o build/cam2ip.linux.amd64 -ldflags "-linkmode external -s -w" github.com/gen2brain/cam2ip
+CGO_ENABLED=1 GOOS=linux GOARCH=amd64 go build -o build/cam2ip.linux.amd64 -ldflags "-linkmode external -s -w" github.com/gen2brain/cam2ip
+
+LIBRARY_PATH="$CHROOT/usr/lib:$CHROOT/lib" \
+PKG_CONFIG_PATH="$CHROOT/usr/lib/pkgconfig" \
+PKG_CONFIG_LIBDIR="$CHROOT/usr/lib/pkgconfig" \
+CGO_LDFLAGS="-L$CHROOT/usr/lib -L$CHROOT/lib" \
+CGO_CFLAGS="-I$CHROOT/usr/include" \
+CGO_ENABLED=1 GOOS=linux GOARCH=amd64 go build -tags native -o build/cam2ip.linux.native.amd64 -ldflags "-linkmode external -s -w" github.com/gen2brain/cam2ip
 
 PKG_CONFIG="/usr/bin/i686-w64-mingw32-pkg-config" \
 PKG_CONFIG_PATH="$MINGW/usr/lib/pkgconfig" \
@@ -21,7 +28,7 @@ PKG_CONFIG_LIBDIR="$MINGW/usr/lib/pkgconfig" \
 CGO_LDFLAGS="-L$MINGW/usr/lib" \
 CGO_CFLAGS="-I$MINGW/usr/include" \
 CC="i686-w64-mingw32-gcc" CXX="i686-w64-mingw32-g++" \
-CGO_ENABLED=1 GOOS=windows GOARCH=386 go build -v -x -o build/cam2ip.exe -ldflags "-linkmode external -s -w '-extldflags=-static'" github.com/gen2brain/cam2ip
+CGO_ENABLED=1 GOOS=windows GOARCH=386 go build -o build/cam2ip.exe -ldflags "-linkmode external -s -w '-extldflags=-static'" github.com/gen2brain/cam2ip
 
 PKG_CONFIG="/usr/bin/x86_64-w64-mingw32-pkg-config" \
 PKG_CONFIG_PATH="$MINGW64/usr/lib/pkgconfig" \
@@ -29,7 +36,7 @@ PKG_CONFIG_LIBDIR="$MINGW64/usr/lib/pkgconfig" \
 CGO_LDFLAGS="-L$MINGW64/usr/lib" \
 CGO_CFLAGS="-I$MINGW64/usr/include" \
 CC="x86_64-w64-mingw32-gcc" CXX="x86_64-w64-mingw32-g++" \
-CGO_ENABLED=1 GOOS=windows GOARCH=amd64 go build -v -x -o build/cam2ip.exe.amd64 -ldflags "-linkmode external -s -w '-extldflags=-static'" github.com/gen2brain/cam2ip
+CGO_ENABLED=1 GOOS=windows GOARCH=amd64 go build -o build/cam2ip.exe.amd64 -ldflags "-linkmode external -s -w '-extldflags=-static'" github.com/gen2brain/cam2ip
 
 PKG_CONFIG="/usr/bin/armv6j-hardfloat-linux-gnueabi-pkg-config" \
 PKG_CONFIG_PATH="$RPI/usr/lib/pkgconfig" \
@@ -37,7 +44,15 @@ PKG_CONFIG_LIBDIR="$RPI/usr/lib/pkgconfig" \
 CGO_LDFLAGS="-L$RPI/usr/lib" \
 CGO_CFLAGS="-I$RPI/usr/include" \
 CC="armv6j-hardfloat-linux-gnueabi-gcc" CXX="armv6j-hardfloat-linux-gnueabi-g++" \
-CGO_ENABLED=1 GOOS=linux GOARCH=arm go build -v -x -o build/cam2ip.linux.arm -ldflags "-linkmode external -s -w" github.com/gen2brain/cam2ip
+CGO_ENABLED=1 GOOS=linux GOARCH=arm go build -o build/cam2ip.linux.arm -ldflags "-linkmode external -s -w" github.com/gen2brain/cam2ip
+
+PKG_CONFIG="/usr/bin/armv6j-hardfloat-linux-gnueabi-pkg-config" \
+PKG_CONFIG_PATH="$RPI/usr/lib/pkgconfig" \
+PKG_CONFIG_LIBDIR="$RPI/usr/lib/pkgconfig" \
+CGO_LDFLAGS="-L$RPI/usr/lib" \
+CGO_CFLAGS="-I$RPI/usr/include" \
+CC="armv6j-hardfloat-linux-gnueabi-gcc" CXX="armv6j-hardfloat-linux-gnueabi-g++" \
+CGO_ENABLED=1 GOOS=linux GOARCH=arm go build -tags native -o build/cam2ip.linux.native.arm -ldflags "-linkmode external -s -w" github.com/gen2brain/cam2ip
 
 PKG_CONFIG="/usr/bin/armv7a-hardfloat-linux-gnueabi-pkg-config" \
 PKG_CONFIG_PATH="$RPI3/usr/lib/pkgconfig" \
@@ -45,4 +60,12 @@ PKG_CONFIG_LIBDIR="$RPI3/usr/lib/pkgconfig" \
 CGO_LDFLAGS="-L$RPI3/usr/lib" \
 CGO_CFLAGS="-I$RPI3/usr/include" \
 CC="armv7a-hardfloat-linux-gnueabi-gcc" CXX="armv7a-hardfloat-linux-gnueabi-g++" \
-CGO_ENABLED=1 GOOS=linux GOARCH=arm go build -v -x -o build/cam2ip.linux.arm7 -ldflags "-linkmode external -s -w" github.com/gen2brain/cam2ip
+CGO_ENABLED=1 GOOS=linux GOARCH=arm go build -o build/cam2ip.linux.arm7 -ldflags "-linkmode external -s -w" github.com/gen2brain/cam2ip
+
+PKG_CONFIG="/usr/bin/armv7a-hardfloat-linux-gnueabi-pkg-config" \
+PKG_CONFIG_PATH="$RPI3/usr/lib/pkgconfig" \
+PKG_CONFIG_LIBDIR="$RPI3/usr/lib/pkgconfig" \
+CGO_LDFLAGS="-L$RPI3/usr/lib" \
+CGO_CFLAGS="-I$RPI3/usr/include" \
+CC="armv7a-hardfloat-linux-gnueabi-gcc" CXX="armv7a-hardfloat-linux-gnueabi-g++" \
+CGO_ENABLED=1 GOOS=linux GOARCH=arm go build -tags native -o build/cam2ip.linux.native.arm7 -ldflags "-linkmode external -s -w" github.com/gen2brain/cam2ip

video/video.go

@@ -1,4 +1,4 @@
-// +build !cv3
+// +build !cv3,!native
 
 // Package video.
 package video
@@ -42,7 +42,7 @@ func (v *Video) Read() (img image.Image, err error) {
 	if v.video.GrabFrame() {
 		v.frame = v.video.RetrieveFrame(1)
 		if v.frame == nil {
-			err = fmt.Errorf("video: can not grab frame")
+			err = fmt.Errorf("video: can not retrieve frame")
 			return
 		}
 

video/video_cv3.go

@@ -1,4 +1,4 @@
-// +build cv3
+// +build cv3,!native
 
 // Package video.
 package video
@@ -49,7 +49,7 @@ func (v *Video) Read() (img image.Image, err error) {
 	}
 
 	if v.frame == nil {
-		err = fmt.Errorf("video: can not grab frame")
+		err = fmt.Errorf("video: can not retrieve frame")
 		return
 	}
 

video/video_test.go

@@ -11,7 +11,7 @@ import (
 )
 
 func TestVideo(t *testing.T) {
-	video, err := New("test.mp4")
+	video, err := New(video.Options{"test.mp4", 0})
 	if err != nil {
 		t.Fatal(err)
 	}