Class CameraServer
- java.lang.Object
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- edu.wpi.first.cameraserver.CameraServer
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public final class CameraServer extends Object
Singleton class for creating and keeping camera servers. Also publishes camera information to NetworkTables.
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Field Summary
Fields Modifier and Type Field Description static intkBasePortstatic intkSize160x120Deprecated.static intkSize320x240Deprecated.static intkSize640x480Deprecated.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description AxisCameraaddAxisCamera(String host)Adds an Axis IP camera.AxisCameraaddAxisCamera(String[] hosts)Adds an Axis IP camera.AxisCameraaddAxisCamera(String name, String host)Adds an Axis IP camera.AxisCameraaddAxisCamera(String name, String[] hosts)Adds an Axis IP camera.voidaddCamera(VideoSource camera)Adds an already created camera.voidaddServer(VideoSink server)Adds an already created server.MjpegServeraddServer(String name)Adds a MJPEG server at the next available port.MjpegServeraddServer(String name, int port)Adds a MJPEG server.MjpegServeraddSwitchedCamera(String name)Adds a virtual camera for switching between two streams.static CameraServergetInstance()Get the CameraServer instance.VideoSinkgetServer()Get server for the primary camera feed.VideoSinkgetServer(String name)Gets a server by name.CvSinkgetVideo()Get OpenCV access to the primary camera feed.CvSinkgetVideo(VideoSource camera)Get OpenCV access to the specified camera.CvSinkgetVideo(String name)Get OpenCV access to the specified camera.CvSourceputVideo(String name, int width, int height)Create a MJPEG stream with OpenCV input.voidremoveCamera(String name)Removes a camera by name.voidremoveServer(String name)Removes a server by name.UsbCamerastartAutomaticCapture()Start automatically capturing images to send to the dashboard.UsbCamerastartAutomaticCapture(int dev)Start automatically capturing images to send to the dashboard.MjpegServerstartAutomaticCapture(VideoSource camera)Start automatically capturing images to send to the dashboard from an existing camera.UsbCamerastartAutomaticCapture(String name, int dev)Start automatically capturing images to send to the dashboard.UsbCamerastartAutomaticCapture(String name, String path)Start automatically capturing images to send to the dashboard.
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Field Detail
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kBasePort
public static final int kBasePort
- See Also:
- Constant Field Values
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kSize640x480
@Deprecated public static final int kSize640x480
Deprecated.- See Also:
- Constant Field Values
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kSize320x240
@Deprecated public static final int kSize320x240
Deprecated.- See Also:
- Constant Field Values
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kSize160x120
@Deprecated public static final int kSize160x120
Deprecated.- See Also:
- Constant Field Values
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Method Detail
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getInstance
public static CameraServer getInstance()
Get the CameraServer instance.
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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).
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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
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startAutomaticCapture
public UsbCamera startAutomaticCapture(String name, int dev)
Start automatically capturing images to send to the dashboard.- Parameters:
name- The name to give the cameradev- The device number of the camera interface
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startAutomaticCapture
public UsbCamera startAutomaticCapture(String name, String path)
Start automatically capturing images to send to the dashboard.- Parameters:
name- The name to give the camerapath- The device path (e.g. "/dev/video0") of the camera
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startAutomaticCapture
public MjpegServer startAutomaticCapture(VideoSource camera)
Start automatically capturing images to send to the dashboard from an existing camera.- Parameters:
camera- Camera
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addAxisCamera
public AxisCamera addAxisCamera(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")
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addAxisCamera
public AxisCamera addAxisCamera(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
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addAxisCamera
public AxisCamera addAxisCamera(String name, String host)
Adds an Axis IP camera.- Parameters:
name- The name to give the camerahost- Camera host IP or DNS name (e.g. "10.x.y.11")
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addAxisCamera
public AxisCamera addAxisCamera(String name, String[] hosts)
Adds an Axis IP camera.- Parameters:
name- The name to give the camerahosts- Array of Camera host IPs/DNS names
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addSwitchedCamera
public MjpegServer addSwitchedCamera(String name)
Adds a virtual camera for switching between two streams. Unlike the other addCamera methods, this returns a VideoSink rather than a VideoSource. Calling setSource() on the returned object can be used to switch the actual source of the stream.
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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().
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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).
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getVideo
public CvSink getVideo(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
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putVideo
public CvSource putVideo(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 streamwidth- Width of the image being sentheight- Height of the image being sent
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addServer
public MjpegServer addServer(String name)
Adds a MJPEG server at the next available port.- Parameters:
name- Server name
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addServer
public MjpegServer addServer(String name, int port)
Adds a MJPEG server.- Parameters:
name- Server name
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addServer
public void addServer(VideoSink server)
Adds an already created server.- Parameters:
server- Server
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removeServer
public void removeServer(String name)
Removes a server by name.- Parameters:
name- Server name
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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().
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getServer
public VideoSink getServer(String name)
Gets a server by name.- Parameters:
name- Server name
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addCamera
public void addCamera(VideoSource camera)
Adds an already created camera.- Parameters:
camera- Camera
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removeCamera
public void removeCamera(String name)
Removes a camera by name.- Parameters:
name- Camera name
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