edu.wpi.first.wpilibj.examples.axiscamera.Robot.java Source code

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Here is the source code for edu.wpi.first.wpilibj.examples.axiscamera.Robot.java

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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj.examples.axiscamera;

import edu.wpi.cscore.AxisCamera;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;

/**
 * This is a demo program showing the use of OpenCV to do vision processing. The
 * image is acquired from the Axis camera, then a rectangle is put on the image
 * and sent to the dashboard. OpenCV has many methods for different types of
 * processing.
 */
public class Robot extends IterativeRobot {

    Thread m_visionThread;

    @Override
    public void robotInit() {
        m_visionThread = new Thread(() -> {
            // Get the Axis camera from CameraServer
            AxisCamera camera = CameraServer.getInstance().addAxisCamera("axis-camera.local");
            // Set the resolution
            camera.setResolution(640, 480);

            // Get a CvSink. This will capture Mats from the camera
            CvSink cvSink = CameraServer.getInstance().getVideo();
            // Setup a CvSource. This will send images back to the Dashboard
            CvSource outputStream = CameraServer.getInstance().putVideo("Rectangle", 640, 480);

            // Mats are very memory expensive. Lets reuse this Mat.
            Mat mat = new Mat();

            // This cannot be 'true'. The program will never exit if it is. This
            // lets the robot stop this thread when restarting robot code or
            // deploying.
            while (!Thread.interrupted()) {
                // Tell the CvSink to grab a frame from the camera and put it
                // in the source mat.  If there is an error notify the output.
                if (cvSink.grabFrame(mat) == 0) {
                    // Send the output the error.
                    outputStream.notifyError(cvSink.getError());
                    // skip the rest of the current iteration
                    continue;
                }
                // Put a rectangle on the image
                Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400), new Scalar(255, 255, 255), 5);
                // Give the output stream a new image to display
                outputStream.putFrame(mat);
            }
        });
        m_visionThread.setDaemon(true);
        m_visionThread.start();
    }
}