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[cameraserver] Add getVideo() pixelFormat overload (#5966)

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This commit is contained in:
Joseph Farkas
2023-11-27 12:51:42 -05:00
committed by GitHub
parent a7eb422662
commit a74db52dae
3 changed files with 94 additions and 0 deletions
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28
cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
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@@ -745,6 +745,34 @@ public final class CameraServer {
return newsink;
}
/**
* 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).
* @param pixelFormat Desired pixelFormat of the camera
* @return OpenCV sink for the specified camera
*/
public static CvSink getVideo(VideoSource camera, PixelFormat pixelFormat) {
String name = "opencv_" + camera.getName();
synchronized (CameraServer.class) {
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, pixelFormat);
newsink.setSource(camera);
addServer(newsink);
return newsink;
}
/**
* Get OpenCV access to the specified camera. This allows you to get images from the camera for
* image processing on the roboRIO.