CameraServer.hpp

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <stdint.h>
 
#include <string_view>
 
#include "wpi/cs/CvSink.hpp"
#include "wpi/cs/CvSource.hpp"
#include "wpi/cs/MjpegServer.hpp"
#include "wpi/cs/UsbCamera.hpp"
#include "wpi/util/PixelFormat.hpp"
 
namespace wpi {
 
/**
 * Singleton class for creating and keeping camera servers.
 *
 * Also publishes camera information to NetworkTables.
 */
class CameraServer {
 public:
  /// CameraServer base port.
  static constexpr uint16_t kBasePort = 1181;
 
  /**
   * 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()
   * with device 0, creating a camera named "USB Camera 0".  Subsequent calls
   * increment the device number (e.g. 1, 2, etc).
   */
  static cs::UsbCamera StartAutomaticCapture();
 
  /**
   * Start automatically capturing images to send to the dashboard.
   *
   * This overload calls StartAutomaticCapture() with a name of "USB Camera
   * {dev}".
   *
   * @param dev The device number of the camera interface
   */
  static cs::UsbCamera StartAutomaticCapture(int dev);
 
  /**
   * Start automatically capturing images to send to the dashboard.
   *
   * @param name The name to give the camera
   * @param dev  The device number of the camera interface
   */
  static cs::UsbCamera StartAutomaticCapture(std::string_view name, int dev);
 
  /**
   * Start automatically capturing images to send to the dashboard.
   *
   * @param name The name to give the camera
   * @param path The device path (e.g. "/dev/video0") of the camera
   */
  static cs::UsbCamera StartAutomaticCapture(std::string_view name,
                                             std::string_view path);
 
  /**
   * Start automatically capturing images to send to the dashboard from
   * an existing camera.
   *
   * @param camera Camera
   */
  static cs::MjpegServer StartAutomaticCapture(const cs::VideoSource& camera);
 
  /**
   * 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.
   */
  static cs::MjpegServer AddSwitchedCamera(std::string_view name);
 
  /**
   * Get OpenCV access to the primary camera feed.  This allows you to
   * get images from the camera for image processing on the roboRIO.
   *
   * <p>This is only valid to call after a camera feed has been added
   * with startAutomaticCapture() or addServer().
   */
  static cs::CvSink GetVideo();
 
  /**
   * Get OpenCV access to the specified camera.  This allows you to get
   * images from the camera for image processing on the roboRIO.
   *
   * @param camera Camera (e.g. as returned by startAutomaticCapture).
   */
  static cs::CvSink GetVideo(const cs::VideoSource& camera);
 
  /**
   * Get OpenCV access to the specified camera.  This allows you to get
   * images from the camera for image processing on the roboRIO.
   *
   * @param camera Camera (e.g. as returned by startAutomaticCapture).
   * @param pixelFormat The desired pixelFormat of captured frames from the
   * camera
   */
  static cs::CvSink GetVideo(const cs::VideoSource& camera,
                             wpi::util::PixelFormat pixelFormat);
 
  /**
   * Get OpenCV access to the specified camera.  This allows you to get
   * images from the camera for image processing on the roboRIO.
   *
   * @param name Camera name
   */
  static cs::CvSink GetVideo(std::string_view name);
 
  /**
   * Get OpenCV access to the specified camera.  This allows you to get
   * images from the camera for image processing on the roboRIO.
   *
   * @param name Camera name
   * @param pixelFormat The desired pixelFormat of captured frames from the
   * camera
   */
  static cs::CvSink GetVideo(std::string_view name,
                             wpi::util::PixelFormat pixelFormat);
 
  /**
   * Create a MJPEG stream with OpenCV input. This can be called to pass custom
   * annotated images to the dashboard.
   *
   * @param name Name to give the stream
   * @param width Width of the image being sent
   * @param height Height of the image being sent
   */
  static cs::CvSource PutVideo(std::string_view name, int width, int height);
 
  /**
   * Adds a MJPEG server at the next available port.
   *
   * @param name Server name
   */
  static cs::MjpegServer AddServer(std::string_view name);
 
  /**
   * Adds a MJPEG server.
   *
   * @param name Server name
   * @param port Port number
   */
  static cs::MjpegServer AddServer(std::string_view name, int port);
 
  /**
   * Adds an already created server.
   *
   * @param server Server
   */
  static void AddServer(const cs::VideoSink& server);
 
  /**
   * Removes a server by name.
   *
   * @param name Server name
   */
  static void RemoveServer(std::string_view name);
 
  /**
   * Get server for the primary camera feed.
   *
   * This is only valid to call after a camera feed has been added with
   * StartAutomaticCapture() or AddServer().
   */
  static cs::VideoSink GetServer();
 
  /**
   * Gets a server by name.
   *
   * @param name Server name
   */
  static cs::VideoSink GetServer(std::string_view name);
 
  /**
   * Adds an already created camera.
   *
   * @param camera Camera
   */
  static void AddCamera(const cs::VideoSource& camera);
 
  /**
   * Removes a camera by name.
   *
   * @param name Camera name
   */
  static void RemoveCamera(std::string_view name);
 
 private:
  CameraServer() = default;
};
 
}  // namespace wpi