edu.wpi.first.wpilibj

Class CameraServer

java.lang.Object

edu.wpi.first.wpilibj.CameraServer

public class CameraServer
extends java.lang.Object

Singleton class for creating and keeping camera servers. Also publishes camera information to NetworkTables.

Field Summary

Fields

Modifier and Type	Field and Description
static int	kBasePort
static int	kSize160x120 Deprecated.
static int	kSize320x240 Deprecated.
static int	kSize640x480 Deprecated.

Method Summary

Modifier and Type	Method and Description
AxisCamera	addAxisCamera(java.lang.String host) Adds an Axis IP camera.
AxisCamera	addAxisCamera(java.lang.String[] hosts) Adds an Axis IP camera.
AxisCamera	addAxisCamera(java.lang.String name, java.lang.String host) Adds an Axis IP camera.
AxisCamera	addAxisCamera(java.lang.String name, java.lang.String[] hosts) Adds an Axis IP camera.
void	addCamera(VideoSource camera) Adds an already created camera.
MjpegServer	addServer(java.lang.String name) Adds a MJPEG server at the next available port.
MjpegServer	addServer(java.lang.String name, int port) Adds a MJPEG server.
void	addServer(VideoSink server) Adds an already created server.
static CameraServer	getInstance() Get the CameraServer instance.
VideoSink	getServer() Get server for the primary camera feed.
VideoSink	getServer(java.lang.String name) Gets a server by name.
CvSink	getVideo() Get OpenCV access to the primary camera feed.
CvSink	getVideo(java.lang.String name) Get OpenCV access to the specified camera.
CvSink	getVideo(VideoSource camera) Get OpenCV access to the specified camera.
CvSource	putVideo(java.lang.String name, int width, int height) Create a MJPEG stream with OpenCV input.
void	removeCamera(java.lang.String name) Removes a camera by name.
void	removeServer(java.lang.String name) Removes a server by name.
void	setSize(int size) Deprecated. Use setResolution on the UsbCamera returned by startAutomaticCapture() instead.
UsbCamera	startAutomaticCapture() Start automatically capturing images to send to the dashboard.
UsbCamera	startAutomaticCapture(int dev) Start automatically capturing images to send to the dashboard.
UsbCamera	startAutomaticCapture(java.lang.String name, int dev) Start automatically capturing images to send to the dashboard.
UsbCamera	startAutomaticCapture(java.lang.String name, java.lang.String path) Start automatically capturing images to send to the dashboard.
void	startAutomaticCapture(VideoSource camera) Start automatically capturing images to send to the dashboard from an existing camera.

Methods inherited from class java.lang.Object

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

Field Detail

kBasePort

public static final int kBasePort

See Also:

Constant Field Values

kSize640x480

@Deprecated
public static final int kSize640x480

Deprecated.

See Also:

Constant Field Values

kSize320x240

@Deprecated
public static final int kSize320x240

Deprecated.

See Also:

Constant Field Values

kSize160x120

@Deprecated
public static final int kSize160x120

Deprecated.

See Also:

Constant Field Values

Method Detail

getInstance

public static CameraServer getInstance()

Get the CameraServer instance.

startAutomaticCapture

public UsbCamera startAutomaticCapture()

Start automatically capturing images to send to the dashboard.

You should call this method to see a camera feed on the dashboard. If you also want to perform vision processing on the roboRIO, use getVideo() to get access to the camera images.

The first time this overload is called, it calls startAutomaticCapture(int) with device 0, creating a camera named "USB Camera 0". Subsequent calls increment the device number (e.g. 1, 2, etc).

startAutomaticCapture

public UsbCamera startAutomaticCapture(int dev)

Start automatically capturing images to send to the dashboard.

This overload calls startAutomaticCapture(String, int) with a name of "USB Camera {dev}".

Parameters:

dev - The device number of the camera interface

startAutomaticCapture

public UsbCamera startAutomaticCapture(java.lang.String name,
                                       int dev)

Start automatically capturing images to send to the dashboard.

Parameters:

name - The name to give the camera

dev - The device number of the camera interface

startAutomaticCapture

public UsbCamera startAutomaticCapture(java.lang.String name,
                                       java.lang.String path)

Start automatically capturing images to send to the dashboard.

Parameters:

name - The name to give the camera

path - The device path (e.g. "/dev/video0") of the camera

startAutomaticCapture

public void startAutomaticCapture(VideoSource camera)

Start automatically capturing images to send to the dashboard from an existing camera.

Parameters:

camera - Camera

addAxisCamera

public AxisCamera addAxisCamera(java.lang.String host)

Adds an Axis IP camera.

This overload calls addAxisCamera(String, String) with name "Axis Camera".

Parameters:

host - Camera host IP or DNS name (e.g. "10.x.y.11")

addAxisCamera

public AxisCamera addAxisCamera(java.lang.String[] hosts)

Adds an Axis IP camera.

This overload calls addAxisCamera(String, String[]) with name "Axis Camera".

Parameters:

hosts - Array of Camera host IPs/DNS names

addAxisCamera

public AxisCamera addAxisCamera(java.lang.String name,
                                java.lang.String host)

Adds an Axis IP camera.

Parameters:

name - The name to give the camera

host - Camera host IP or DNS name (e.g. "10.x.y.11")

addAxisCamera

public AxisCamera addAxisCamera(java.lang.String name,
                                java.lang.String[] hosts)

Adds an Axis IP camera.

Parameters:

name - The name to give the camera

hosts - Array of Camera host IPs/DNS names

getVideo

public CvSink getVideo()

Get OpenCV access to the primary camera feed. This allows you to get images from the camera for image processing on the roboRIO.

This is only valid to call after a camera feed has been added with startAutomaticCapture() or addServer().

getVideo

public CvSink getVideo(VideoSource camera)

Get OpenCV access to the specified camera. This allows you to get images from the camera for image processing on the roboRIO.

Parameters:

camera - Camera (e.g. as returned by startAutomaticCapture).

getVideo

public CvSink getVideo(java.lang.String name)

Get OpenCV access to the specified camera. This allows you to get images from the camera for image processing on the roboRIO.

Parameters:

name - Camera name

putVideo

public CvSource putVideo(java.lang.String name,
                         int width,
                         int height)

Create a MJPEG stream with OpenCV input. This can be called to pass custom annotated images to the dashboard.

Parameters:

name - Name to give the stream

width - Width of the image being sent

height - Height of the image being sent

addServer

public MjpegServer addServer(java.lang.String name)

Adds a MJPEG server at the next available port.

Parameters:

name - Server name

addServer

public MjpegServer addServer(java.lang.String name,
                             int port)

Adds a MJPEG server.

Parameters:

name - Server name

addServer

public void addServer(VideoSink server)

Adds an already created server.

Parameters:

server - Server

removeServer

public void removeServer(java.lang.String name)

Removes a server by name.

Parameters:

name - Server name

getServer

public VideoSink getServer()

Get server for the primary camera feed.

This is only valid to call after a camera feed has been added with startAutomaticCapture() or addServer().

getServer

public VideoSink getServer(java.lang.String name)

Gets a server by name.

Parameters:

name - Server name

addCamera

public void addCamera(VideoSource camera)

Adds an already created camera.

Parameters:

camera - Camera

removeCamera

public void removeCamera(java.lang.String name)

Removes a camera by name.

Parameters:

name - Camera name

setSize

@Deprecated
public void setSize(int size)

Deprecated. Use setResolution on the UsbCamera returned by startAutomaticCapture() instead.

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

Parameters:

size - The size to use