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wpilibjExamples/src/main/java/org/wpilib/examples/httpcamera/Main.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.examples.httpcamera;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/examples/httpcamera/Robot.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.examples.httpcamera;
+
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.CvSink;
+import edu.wpi.first.cscore.CvSource;
+import edu.wpi.first.cscore.HttpCamera;
+import edu.wpi.first.wpilibj.TimedRobot;
+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 an HTTP 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 TimedRobot {
+  Thread m_visionThread;
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {
+    m_visionThread =
+        new Thread(
+            () -> {
+              // Create an HTTP camera. The address will need to be modified to have the correct
+              // team number. The exact path will depend on the source.
+              HttpCamera camera =
+                  new HttpCamera("HTTP Camera", "http://10.x.y.11/video/stream.mjpg");
+              // Start capturing images
+              CameraServer.startAutomaticCapture(camera);
+              // Set the resolution
+              camera.setResolution(640, 480);
+
+              // Get a CvSink. This will capture Mats from the camera
+              CvSink cvSink = CameraServer.getVideo();
+              // Setup a CvSource. This will send images back to the Dashboard
+              CvSource outputStream = CameraServer.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();
+  }
+}