Singleton class for creating and keeping camera servers. More...

#include <cameraserver/CameraServer.h>

Static Public Member Functions
static cs::UsbCamera	StartAutomaticCapture ()
	Start automatically capturing images to send to the dashboard. More...

static cs::UsbCamera	StartAutomaticCapture (int dev)
	Start automatically capturing images to send to the dashboard. More...

static cs::UsbCamera	StartAutomaticCapture (std::string_view name, int dev)
	Start automatically capturing images to send to the dashboard. More...

static cs::UsbCamera	StartAutomaticCapture (std::string_view name, std::string_view path)
	Start automatically capturing images to send to the dashboard. More...

static cs::MjpegServer	StartAutomaticCapture (const cs::VideoSource &camera)
	Start automatically capturing images to send to the dashboard from an existing camera. More...

static cs::AxisCamera	AddAxisCamera (std::string_view host)
	Adds an Axis IP camera. More...

static cs::AxisCamera	AddAxisCamera (const char *host)
	Adds an Axis IP camera. More...

static cs::AxisCamera	AddAxisCamera (const std::string &host)
	Adds an Axis IP camera. More...

static cs::AxisCamera	AddAxisCamera (std::span< const std::string > hosts)
	Adds an Axis IP camera. More...

template<typename T >
static cs::AxisCamera	AddAxisCamera (std::initializer_list< T > hosts)
	Adds an Axis IP camera. More...

static cs::AxisCamera	AddAxisCamera (std::string_view name, std::string_view host)
	Adds an Axis IP camera. More...

static cs::AxisCamera	AddAxisCamera (std::string_view name, const char *host)
	Adds an Axis IP camera. More...

static cs::AxisCamera	AddAxisCamera (std::string_view name, const std::string &host)
	Adds an Axis IP camera. More...

static cs::AxisCamera	AddAxisCamera (std::string_view name, std::span< const std::string > hosts)
	Adds an Axis IP camera. More...

template<typename T >
static cs::AxisCamera	AddAxisCamera (std::string_view name, std::initializer_list< T > hosts)
	Adds an Axis IP camera. More...

static cs::MjpegServer	AddSwitchedCamera (std::string_view name)
	Adds a virtual camera for switching between two streams. More...

static cs::CvSink	GetVideo ()
	Get OpenCV access to the primary camera feed. More...

static cs::CvSink	GetVideo (const cs::VideoSource &camera)
	Get OpenCV access to the specified camera. More...

static cs::CvSink	GetVideo (std::string_view name)
	Get OpenCV access to the specified camera. More...

static cs::CvSource	PutVideo (std::string_view name, int width, int height)
	Create a MJPEG stream with OpenCV input. More...

static cs::MjpegServer	AddServer (std::string_view name)
	Adds a MJPEG server at the next available port. More...

static cs::MjpegServer	AddServer (std::string_view name, int port)
	Adds a MJPEG server. More...

static void	AddServer (const cs::VideoSink &server)
	Adds an already created server. More...

static void	RemoveServer (std::string_view name)
	Removes a server by name. More...

static cs::VideoSink	GetServer ()
	Get server for the primary camera feed. More...

static cs::VideoSink	GetServer (std::string_view name)
	Gets a server by name. More...

static void	AddCamera (const cs::VideoSource &camera)
	Adds an already created camera. More...

static void	RemoveCamera (std::string_view name)
	Removes a camera by name. More...

static void	SetSize (int size)
	Sets the size of the image to use. More...

Static Public Attributes
static constexpr uint16_t	kBasePort = 1181

static constexpr int	kSize640x480 = 0

static constexpr int	kSize320x240 = 1

static constexpr int	kSize160x120 = 2

Detailed Description

Singleton class for creating and keeping camera servers.

Also publishes camera information to NetworkTables.

Member Function Documentation

◆ AddAxisCamera() [1/10]

static cs::AxisCamera frc::CameraServer::AddAxisCamera ( const char * host )

static

Adds an Axis IP camera.

This overload calls AddAxisCamera() with name "Axis Camera".

Parameters

host	Camera host IP or DNS name (e.g. "10.x.y.11")

◆ AddAxisCamera() [2/10]

static cs::AxisCamera frc::CameraServer::AddAxisCamera ( const std::string & host )

static

Adds an Axis IP camera.

This overload calls AddAxisCamera() with name "Axis Camera".

Parameters

host	Camera host IP or DNS name (e.g. "10.x.y.11")

◆ AddAxisCamera() [3/10]

template<typename T >

cs::AxisCamera frc::CameraServer::AddAxisCamera ( std::initializer_list< T > hosts )

inlinestatic

Adds an Axis IP camera.

This overload calls AddAxisCamera() with name "Axis Camera".

Parameters

hosts Array of Camera host IPs/DNS names

◆ AddAxisCamera() [4/10]

static cs::AxisCamera frc::CameraServer::AddAxisCamera ( std::span< const std::string > hosts )

static

Adds an Axis IP camera.

This overload calls AddAxisCamera() with name "Axis Camera".

Parameters

hosts Array of Camera host IPs/DNS names

◆ AddAxisCamera() [5/10]

static cs::AxisCamera frc::CameraServer::AddAxisCamera ( std::string_view host )

static

Adds an Axis IP camera.

This overload calls AddAxisCamera() with name "Axis Camera".

Parameters

host	Camera host IP or DNS name (e.g. "10.x.y.11")

◆ AddAxisCamera() [6/10]

static cs::AxisCamera frc::CameraServer::AddAxisCamera	(	std::string_view	name,
		const char *	host
	)

static

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() [7/10]

static cs::AxisCamera frc::CameraServer::AddAxisCamera	(	std::string_view	name,
		const std::string &	host
	)

static

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() [8/10]

template<typename T >

cs::AxisCamera frc::CameraServer::AddAxisCamera	(	std::string_view	name,
		std::initializer_list< T >	hosts
	)

inlinestatic

Adds an Axis IP camera.

Parameters

name	The name to give the camera
hosts	Array of Camera host IPs/DNS names

◆ AddAxisCamera() [9/10]

static cs::AxisCamera frc::CameraServer::AddAxisCamera	(	std::string_view	name,
		std::span< const std::string >	hosts
	)

static

Adds an Axis IP camera.

Parameters

name	The name to give the camera
hosts	Array of Camera host IPs/DNS names

◆ AddAxisCamera() [10/10]

static cs::AxisCamera frc::CameraServer::AddAxisCamera	(	std::string_view	name,
		std::string_view	host
	)

static

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")

◆ AddCamera()

static void frc::CameraServer::AddCamera ( const cs::VideoSource & camera )

static

Adds an already created camera.

Parameters

camera Camera

◆ AddServer() [1/3]

static void frc::CameraServer::AddServer ( const cs::VideoSink & server )

static

Adds an already created server.

Parameters

server Server

◆ AddServer() [2/3]

static cs::MjpegServer frc::CameraServer::AddServer ( std::string_view name )

static

Adds a MJPEG server at the next available port.

Parameters

name	Server name

◆ AddServer() [3/3]

static cs::MjpegServer frc::CameraServer::AddServer	(	std::string_view	name,
		int	port
	)

static

Adds a MJPEG server.

Parameters

name	Server name
port	Port number

◆ AddSwitchedCamera()

static cs::MjpegServer frc::CameraServer::AddSwitchedCamera ( std::string_view name )

static

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.

◆ GetServer() [1/2]

static cs::VideoSink frc::CameraServer::GetServer ( )

static

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() [2/2]

static cs::VideoSink frc::CameraServer::GetServer ( std::string_view name )

static

Gets a server by name.

Parameters

name	Server name

◆ GetVideo() [1/3]

static cs::CvSink frc::CameraServer::GetVideo ( )

static

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() [2/3]

static cs::CvSink frc::CameraServer::GetVideo ( const cs::VideoSource & camera )

static

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() [3/3]

static cs::CvSink frc::CameraServer::GetVideo ( std::string_view name )

static

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()

static cs::CvSource frc::CameraServer::PutVideo	(	std::string_view	name,
		int	width,
		int	height
	)

static

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

◆ RemoveCamera()

static void frc::CameraServer::RemoveCamera ( std::string_view name )

static

Removes a camera by name.

Parameters

name	Camera name

◆ RemoveServer()

static void frc::CameraServer::RemoveServer ( std::string_view name )

static

Removes a server by name.

Parameters

name	Server name

◆ SetSize()

static void frc::CameraServer::SetSize ( int size )

static

Sets the size of the image to use.

Use the public kSize constants to set the correct mode, or set it directly on a camera and call the appropriate StartAutomaticCapture method.

Deprecated:: Use SetResolution on the UsbCamera returned by StartAutomaticCapture() instead.

Parameters

size	The size to use

◆ StartAutomaticCapture() [1/5]

static cs::UsbCamera frc::CameraServer::StartAutomaticCapture ( )

static

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).

◆ StartAutomaticCapture() [2/5]

static cs::MjpegServer frc::CameraServer::StartAutomaticCapture ( const cs::VideoSource & camera )

static

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

Parameters

camera Camera

◆ StartAutomaticCapture() [3/5]

static cs::UsbCamera frc::CameraServer::StartAutomaticCapture ( int dev )

static

Start automatically capturing images to send to the dashboard.

This overload calls StartAutomaticCapture() with a name of "USB Camera {dev}".

Parameters

dev	The device number of the camera interface

◆ StartAutomaticCapture() [4/5]

static cs::UsbCamera frc::CameraServer::StartAutomaticCapture	(	std::string_view	name,
		int	dev
	)

static

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() [5/5]

static cs::UsbCamera frc::CameraServer::StartAutomaticCapture	(	std::string_view	name,
		std::string_view	path
	)

static

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

Member Data Documentation

◆ kBasePort

constexpr uint16_t frc::CameraServer::kBasePort = 1181

staticconstexpr

◆ kSize160x120

constexpr int frc::CameraServer::kSize160x120 = 2

staticconstexpr

◆ kSize320x240

constexpr int frc::CameraServer::kSize320x240 = 1

staticconstexpr

◆ kSize640x480

constexpr int frc::CameraServer::kSize640x480 = 0

staticconstexpr

The documentation for this class was generated from the following files:

cameraserver/CameraServer.h
cameraserver/CameraServer.inc

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation

◆ AddAxisCamera() [1/10]

◆ AddAxisCamera() [2/10]

◆ AddAxisCamera() [3/10]

◆ AddAxisCamera() [4/10]

◆ AddAxisCamera() [5/10]

◆ AddAxisCamera() [6/10]

◆ AddAxisCamera() [7/10]

◆ AddAxisCamera() [8/10]

◆ AddAxisCamera() [9/10]

◆ AddAxisCamera() [10/10]

◆ AddCamera()

◆ AddServer() [1/3]

◆ AddServer() [2/3]

◆ AddServer() [3/3]

◆ AddSwitchedCamera()

◆ GetServer() [1/2]

◆ GetServer() [2/2]

◆ GetVideo() [1/3]

◆ GetVideo() [2/3]

◆ GetVideo() [3/3]

◆ PutVideo()

◆ RemoveCamera()

◆ RemoveServer()

◆ SetSize()

◆ StartAutomaticCapture() [1/5]

◆ StartAutomaticCapture() [2/5]

◆ StartAutomaticCapture() [3/5]

◆ StartAutomaticCapture() [4/5]

◆ StartAutomaticCapture() [5/5]

Member Data Documentation

◆ kBasePort

◆ kSize160x120

◆ kSize320x240

◆ kSize640x480