Class CameraServer


  • public final class CameraServer
    extends Object
    Singleton class for creating and keeping camera servers. Also publishes camera information to NetworkTables.
    • 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​(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​(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
      • startAutomaticCapture

        public MjpegServer startAutomaticCapture​(VideoSource camera)
        Start automatically capturing images to send to the dashboard from an existing camera.
        Parameters:
        camera - Camera
      • 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")
      • addAxisCamera

        public 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")
      • addAxisCamera

        public 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
      • 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.
      • 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​(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​(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​(String name)
        Adds a MJPEG server at the next available port.
        Parameters:
        name - Server name
      • addServer

        public MjpegServer addServer​(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​(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​(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​(String name)
        Removes a camera by name.
        Parameters:
        name - Camera name