edu.wpi.first.wpilibj

Class CameraServer

java.lang.Object

edu.wpi.first.wpilibj.CameraServer

public class CameraServer
extends java.lang.Object

Method Summary

Modifier and Type	Method and Description
protected void	capture()
static CameraServer	getInstance()
int	getQuality() Get the quality of the compressed image sent to the dashboard
boolean	isAutoCaptureStarted() check if auto capture is started
protected void	serve() Run the M-JPEG server.
void	setImage(NIVision.Image image) Manually change the image that is served by the MJPEG stream.
void	setQuality(int quality) Set the quality of the compressed image sent to the dashboard
void	setSize(int size) Sets the size of the image to use.
void	startAutomaticCapture() Start automatically capturing images to send to the dashboard.
void	startAutomaticCapture(java.lang.String cameraName) Start automatically capturing images to send to the dashboard.
void	startAutomaticCapture(USBCamera camera)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

getInstance

public static CameraServer getInstance()

setImage

public void setImage(NIVision.Image image)

Manually change the image that is served by the MJPEG stream. This can be called to pass custom annotated images to the dashboard. Note that, for 640x480 video, this method could take between 40 and 50 milliseconds to complete. This shouldn't be called if startAutomaticCapture() is called.

Parameters:

image - The IMAQ image to show on the dashboard

startAutomaticCapture

public void startAutomaticCapture()

Start automatically capturing images to send to the dashboard. You should call this method to just see a camera feed on the dashboard without doing any vision processing on the roboRIO. setImage(com.ni.vision.NIVision.Image) shouldn't be called after this is called. This overload calles startAutomaticCapture(String) with the default camera name

startAutomaticCapture

public void startAutomaticCapture(java.lang.String cameraName)

Start automatically capturing images to send to the dashboard. You should call this method to just see a camera feed on the dashboard without doing any vision processing on the roboRIO. setImage(com.ni.vision.NIVision.Image) shouldn't be called after this is called.

Parameters:

cameraName - The name of the camera interface (e.g. "cam1")

startAutomaticCapture

public void startAutomaticCapture(USBCamera camera)

capture

protected void capture()

isAutoCaptureStarted

public boolean isAutoCaptureStarted()

check if auto capture is started

setSize

public void setSize(int size)

Sets the size of the image to use. Use the public kSize constants to set the correct mode, or set it directory on a camera and call the appropriate autoCapture method

Parameters:

size - The size to use

setQuality

public void setQuality(int quality)

Set the quality of the compressed image sent to the dashboard

Parameters:

quality - The quality of the JPEG image, from 0 to 100

getQuality

public int getQuality()

Get the quality of the compressed image sent to the dashboard

Returns:

The quality, from 0 to 100

serve

protected void serve()
              throws java.io.IOException,
                     java.lang.InterruptedException

Run the M-JPEG server. This function listens for a connection from the dashboard in a background thread, then sends back the M-JPEG stream.

Throws:

java.io.IOException - if the Socket connection fails

java.lang.InterruptedException - if the sleep is interrupted