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 int
kBasePort
static int
kSize160x120
Deprecated.static int
kSize320x240
Deprecated.static int
kSize640x480
Deprecated.
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Method Summary
All Methods Static Methods Concrete Methods Deprecated Methods 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 CameraServer
getInstance()
Deprecated.Use the static methodsstatic 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(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.
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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
@Deprecated public static CameraServer getInstance()
Deprecated.Use the static methodsGet the CameraServer instance.- Returns:
- The CameraServer instance.
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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.
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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.
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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 cameradev
- The device number of the camera interface- Returns:
- The USB camera capturing images.
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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 camerapath
- The device path (e.g. "/dev/video0") of the camera- Returns:
- The USB camera capturing images.
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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.
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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.
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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.
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addAxisCamera
public static 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")- Returns:
- The Axis camera capturing images.
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addAxisCamera
public static 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- Returns:
- The Axis camera capturing images.
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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.
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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
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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
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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
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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 streamwidth
- Width of the image being sentheight
- Height of the image being sent- Returns:
- OpenCV source for the MJPEG stream
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addServer
public static MjpegServer addServer(String name)
Adds a MJPEG server at the next available port.- Parameters:
name
- Server name- Returns:
- The MJPEG server
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addServer
public static MjpegServer addServer(String name, int port)
Adds a MJPEG server.- Parameters:
name
- Server nameport
- Server port- Returns:
- The MJPEG server
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addServer
public static void addServer(VideoSink server)
Adds an already created server.- Parameters:
server
- Server
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removeServer
public static void removeServer(String name)
Removes a server by name.- Parameters:
name
- Server name
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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
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getServer
public static VideoSink getServer(String name)
Gets a server by name.- Parameters:
name
- Server name- Returns:
- The server
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addCamera
public static void addCamera(VideoSource camera)
Adds an already created camera.- Parameters:
camera
- Camera
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removeCamera
public static void removeCamera(String name)
Removes a camera by name.- Parameters:
name
- Camera name
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