mirror of
https://github.com/wpilibsuite/allwpilib
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39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <opencv2/core/core.hpp>
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#include "wpi/cs/CvSink.hpp"
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#include "wpi/cs/CvSource.hpp"
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#include "wpi/cs/MjpegServer.hpp"
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#include "wpi/cs/UsbCamera.hpp"
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#include "wpi/util/print.hpp"
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int main() {
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wpi::cs::UsbCamera camera{"usbcam", 0};
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camera.SetVideoMode(wpi::util::PixelFormat::kMJPEG, 320, 240, 30);
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wpi::cs::MjpegServer mjpegServer{"httpserver", 8081};
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mjpegServer.SetSource(camera);
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wpi::cs::CvSink cvsink{"cvsink"};
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cvsink.SetSource(camera);
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wpi::cs::CvSource cvsource{"cvsource", wpi::util::PixelFormat::kMJPEG, 320,
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240, 30};
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wpi::cs::MjpegServer cvMjpegServer{"cvhttpserver", 8082};
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cvMjpegServer.SetSource(cvsource);
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cv::Mat test;
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cv::Mat flip;
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for (;;) {
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uint64_t time = cvsink.GrabFrame(test);
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if (time == 0) {
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wpi::util::print("error: {}\n", cvsink.GetError());
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continue;
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}
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wpi::util::print("got frame at time {} size ({}, {})\n", time,
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test.size().width, test.size().height);
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cv::flip(test, flip, 0);
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cvsource.PutFrame(flip);
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}
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}
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