Java VideoSource类代码示例

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
@SuppressWarnings("JavadocMethod")
private static String makeSourceValue(int source) {
  switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
    case kUsb:
      return "usb:" + CameraServerJNI.getUsbCameraPath(source);
    case kHttp: {
      String[] urls = CameraServerJNI.getHttpCameraUrls(source);
      if (urls.length > 0) {
        return "ip:" + urls[0];
      } else {
        return "ip:";
      }
    }
    case kCv:
      // FIXME: Should be "cv:", but LabVIEW dashboard requires "usb:".
      // https://github.com/wpilibsuite/allwpilib/issues/407
      return "usb:";
    default:
      return "unknown:";
  }
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
/**
 * 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).
 */
public CvSink getVideo(VideoSource camera) {
  String name = "opencv_" + camera.getName();

  synchronized (this) {
    VideoSink sink = m_sinks.get(name);
    if (sink != null) {
      VideoSink.Kind kind = sink.getKind();
      if (kind != VideoSink.Kind.kCv) {
        throw new VideoException("expected OpenCV sink, but got " + kind);
      }
      return (CvSink) sink;
    }
  }

  CvSink newsink = new CvSink(name);
  newsink.setSource(camera);
  addServer(newsink);
  return newsink;
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {
RobotMap.init();
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrain = new DriveTrain();
    shooter = new Shooter();
    lift = new Lift();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    // OI must be constructed after subsystems. If the OI creates Commands
    //(which it very likely will), subsystems are not guaranteed to be
    // constructed yet. Thus, their requires() statements may grab null
    // pointers. Bad news. Don't move it.
    oi = new OI();

    // instantiate the command used for the autonomous period
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

    autonomousCommand = new AutonomousCommand();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
    CameraServer cameraServer = CameraServer.getInstance();
    System.out.println("Camera sources:" + VideoSource.enumerateSources().length);
    for (VideoSource videoSource : VideoSource.enumerateSources()) {
    	System.out.println("Camera: " + videoSource.getName());
    }
    
    UsbCamera  camera= cameraServer.startAutomaticCapture();
    System.out.println("Started camera capture.");
 // Hard coded camera address
    cameraServer.addAxisCamera("AxisCam ye", "10.26.67.42");
  //  visionThread = new VisionThread(camera,new GripPipeline());

    driveTrainChooser = new SendableChooser();
    driveTrainChooser.addDefault("default PWM", DriveTrain.DriveMode.PWM);
    for (DriveTrain.DriveMode driveMode : DriveTrain.DriveMode.values()) {
        driveTrainChooser.addObject(driveMode.name(), driveMode);
    }
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {
RobotMap.init();
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrain = new DriveTrain();
    shooter = new Shooter();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    // OI must be constructed after subsystems. If the OI creates Commands
    //(which it very likely will), subsystems are not guaranteed to be
    // constructed yet. Thus, their requires() statements may grab null
    // pointers. Bad news. Don't move it.
    oi = new OI();

    // instantiate the command used for the autonomous period
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

    autonomousCommand = new AutonomousCommand();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
    CameraServer cameraServer = CameraServer.getInstance();
    System.out.println("Camera sources:" + VideoSource.enumerateSources().length);
    for (VideoSource videoSource : VideoSource.enumerateSources()) {
    	System.out.println("Camera: " + videoSource.getName());
    }
    
    UsbCamera  camera= cameraServer.startAutomaticCapture();
    System.out.println("Started camera capture.");
 // Hard coded camera address
    cameraServer.addAxisCamera("AxisCam ye", "10.26.67.42");
  //  visionThread = new VisionThread(camera,new GripPipeline());    
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
@SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
private synchronized String[] getSourceStreamValues(int source) {
  // Ignore all but HttpCamera
  if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
          != VideoSource.Kind.kHttp) {
    return new String[0];
  }

  // Generate values
  String[] values = CameraServerJNI.getHttpCameraUrls(source);
  for (int j = 0; j < values.length; j++) {
    values[j] = "mjpg:" + values[j];
  }

  // Look to see if we have a passthrough server for this source
  for (VideoSink i : m_sinks.values()) {
    int sink = i.getHandle();
    int sinkSource = CameraServerJNI.getSinkSource(sink);
    if (source == sinkSource
        && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) == VideoSink.Kind.kMjpeg) {
      // Add USB-only passthrough
      String[] finalValues = new String[values.length + 1];
      for (int j = 0; j < values.length; j++) {
        finalValues[j] = values[j];
      }
      int port = CameraServerJNI.getMjpegServerPort(sink);
      finalValues[values.length] = makeStreamValue("172.22.11.2", port);
      return finalValues;
    }
  }

  return values;
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
/**
 * Adds an already created camera.
 *
 * @param camera Camera
 */
public void addCamera(VideoSource camera) {
  String name = camera.getName();
  synchronized (this) {
    if (m_primarySourceName == null) {
      m_primarySourceName = name;
    }
    m_sources.put(name, camera);
  }
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
/**
 * 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.
 * @param size The size to use
 */
@Deprecated
public void setSize(int size) {
  VideoSource source = null;
  synchronized (this) {
    if (m_primarySourceName == null) {
      return;
    }
    source = m_sources.get(m_primarySourceName);
    if (source == null) {
      return;
    }
  }
  switch (size) {
    case kSize640x480:
      source.setResolution(640, 480);
      break;
    case kSize320x240:
      source.setResolution(320, 240);
      break;
    case kSize160x120:
      source.setResolution(160, 120);
      break;
    default:
      throw new IllegalArgumentException("Unsupported size: " + size);
  }
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
/**
 * Instantiates BlastoiseVision with a VideoSource object.
 * This method is not recommended to be used directly, use one of the others instead.
 * @param videoSource
 */
public BlastoiseShooterVision(VideoSource videoSource) {
	this.videoSource = videoSource;
	videoSource.setResolution(Constants.ShooterVision.Camera.WIDTH_PX, Constants.ShooterVision.Camera.HEIGHT_PX);

	VisionThread visionThread = new VisionThread(videoSource, new DetectTargetPipeline(), pipeline -> {
		synchronized (lock) {
			processContours(pipeline.filterContours0Output());
		}
	});
	visionThread.start();
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
/**
 * Start automatically capturing images to send to the dashboard from
 * an existing camera.
 *
 * @param camera Camera
 */
public void startAutomaticCapture(VideoSource camera) {
  addCamera(camera);
  VideoSink server = addServer("serve_" + camera.getName());
  server.setSource(camera);
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
/**
 * Creates a new vision runner. It will take images from the {@code videoSource}, send them to
 * the {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert
 * user code when it is safe to access the pipeline's outputs.
 *
 * @param videoSource the video source to use to supply images for the pipeline
 * @param pipeline    the vision pipeline to run
 * @param listener    a function to call after the pipeline has finished running
 */
public VisionRunner(VideoSource videoSource, P pipeline, Listener<? super P> listener) {
  this.m_pipeline = pipeline;
  this.m_listener = listener;
  m_cvSink.setSource(videoSource);
}
 

import edu.wpi.cscore.VideoSource; //导入依赖的package包/类
/**
 * Creates a new vision thread that continuously runs the given vision pipeline. This is
 * equivalent to {@code new VisionThread(new VisionRunner<>(videoSource, pipeline, listener))}.
 *
 * @param videoSource the source for images the pipeline should process
 * @param pipeline    the pipeline to run
 * @param listener    the listener to copy outputs from the pipeline after it runs
 * @param <P>         the type of the pipeline
 */
public <P extends VisionPipeline> VisionThread(VideoSource videoSource,
                                               P pipeline,
                                               VisionRunner.Listener<? super P> listener) {
  this(new VisionRunner<>(videoSource, pipeline, listener));
}