Package edu.wpi.first.cameraserver

Class CameraServer

java.lang.Object

edu.wpi.first.cameraserver.CameraServer

public final class CameraServer
extends Object

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

Field Summary

Fields

Modifier and Type	Field	Description
static int	kBasePort	CameraServer base port.

Method Summary

Modifier and Type	Method	Description
static AxisCamera	addAxisCamera(String host)	Adds an Axis IP camera.
static AxisCamera	addAxisCamera(String[] hosts)	Adds an Axis IP camera.
static AxisCamera	addAxisCamera(String name, String host)	Adds an Axis IP camera.
static AxisCamera	addAxisCamera(String name, String[] hosts)	Adds an Axis IP camera.
static void	addCamera(VideoSource camera)	Adds an already created camera.
static void	addServer(VideoSink server)	Adds an already created server.
static MjpegServer	addServer(String name)	Adds a MJPEG server at the next available port.
static MjpegServer	addServer(String name, int port)	Adds a MJPEG server.
static MjpegServer	addSwitchedCamera(String name)	Adds a virtual camera for switching between two streams.
static VideoSink	getServer()	Get server for the primary camera feed.
static VideoSink	getServer(String name)	Gets a server by name.
static CvSink	getVideo()	Get OpenCV access to the primary camera feed.
static CvSink	getVideo(VideoSource camera)	Get OpenCV access to the specified camera.
static CvSink	getVideo(VideoSource camera, PixelFormat pixelFormat)	Get OpenCV access to the specified camera.
static CvSink	getVideo(String name)	Get OpenCV access to the specified camera.
static CvSource	putVideo(String name, int width, int height)	Create a MJPEG stream with OpenCV input.
static void	removeCamera(String name)	Removes a camera by name.
static void	removeServer(String name)	Removes a server by name.
static UsbCamera	startAutomaticCapture()	Start automatically capturing images to send to the dashboard.
static UsbCamera	startAutomaticCapture(int dev)	Start automatically capturing images to send to the dashboard.
static MjpegServer	startAutomaticCapture(VideoSource camera)	Start automatically capturing images to send to the dashboard from an existing camera.
static UsbCamera	startAutomaticCapture(String name, int dev)	Start automatically capturing images to send to the dashboard.
static UsbCamera	startAutomaticCapture(String name, String path)	Start automatically capturing images to send to the dashboard.

Methods inherited from class java.lang.Object

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

Field Details

kBasePort

public static final int kBasePort

CameraServer base port.

See Also:

Constant Field Values

Method Details

startAutomaticCapture

public static 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).

Returns:

The USB camera capturing images.

startAutomaticCapture

public static 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

Returns:

The USB camera capturing images.

startAutomaticCapture

public static UsbCamera startAutomaticCapture(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

Returns:

The USB camera capturing images.

startAutomaticCapture

public static UsbCamera startAutomaticCapture(String name, 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

Returns:

The USB camera capturing images.

startAutomaticCapture

public static MjpegServer startAutomaticCapture(VideoSource camera)

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

Parameters:

camera - Camera

Returns:

The MJPEG server serving images from the given camera.

addAxisCamera

public static 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")

Returns:

The Axis camera capturing images.

addAxisCamera

public static 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

Returns:

The Axis camera capturing images.

addAxisCamera

public static AxisCamera addAxisCamera(String name, 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")

Returns:

The Axis camera capturing images.

addAxisCamera

public static AxisCamera addAxisCamera(String name, String[] hosts)

Adds an Axis IP camera.

Parameters:

name - The name to give the camera

hosts - Array of Camera host IPs/DNS names

Returns:

The Axis camera capturing images.

addSwitchedCamera

public static 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.

Parameters:

name - The name to give the camera

Returns:

The MJPEG server serving images from the given camera.

getVideo

public static 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().

Returns:

OpenCV sink for the primary camera feed

getVideo

public static 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).

Returns:

OpenCV sink for the specified camera

getVideo

public static CvSink getVideo(VideoSource camera, PixelFormat pixelFormat)

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).

pixelFormat - Desired pixelFormat of the camera

Returns:

OpenCV sink for the specified camera

getVideo

public static 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

Returns:

OpenCV sink for the specified camera

putVideo

public static 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 stream

width - Width of the image being sent

height - Height of the image being sent

Returns:

OpenCV source for the MJPEG stream

addServer

public static MjpegServer addServer(String name)

Adds a MJPEG server at the next available port.

Parameters:

name - Server name

Returns:

The MJPEG server

addServer

public static MjpegServer addServer(String name, int port)

Adds a MJPEG server.

Parameters:

name - Server name

port - Server port

Returns:

The MJPEG server

addServer

public static void addServer(VideoSink server)

Adds an already created server.

Parameters:

server - Server

removeServer

public static void removeServer(String name)

Removes a server by name.

Parameters:

name - Server name

getServer

public static 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().

Returns:

The server for the primary camera feed

getServer

public static VideoSink getServer(String name)

Gets a server by name.

Parameters:

name - Server name

Returns:

The server

addCamera

public static void addCamera(VideoSource camera)

Adds an already created camera.

Parameters:

camera - Camera

removeCamera

public static void removeCamera(String name)

Removes a camera by name.

Parameters:

name - Camera name