| MaikeruKonare |
02-08-2016 07:14 PM |
Re: Microsoft USB Camera Error
Quote:
Originally Posted by csilent
(Post 1534890)
CameraServer::GetInstance()->StartAutomaticCapture("cam0");
|
When using the USB Cameras I would suggest not doing automatic capture. The following is something I made that works. This code is for toggling between two USB cameras, because we have a front and back cam.
CPP File:
Code:
/*
* LHSVision.cpp
*
* Created on: Jan 26, 2016
* Author: Michael Conard
*
* THING TO CHECK:
* -In Internet Explorer, roborio-4237-frc.local,
* confirm the camera names in Silverlight. These
* should be "cam0", "cam1", or "cam2".
*
* -These names can be adjusted in the CAMERA
* namespace.
*/
#include "WPILib.h"
#include "LHSVision.h"
namespace XBOX //Joystick Constants
{
const int NODE_ID = 1;
const int XBOX_A_BUTTON = 1;
const int XBOX_X_BUTTON = 3;
const int XBOX_LEFT_X = 0;
const int XBOX_LEFT_Y = 1;
}
namespace CAMERA //Camera Names
{
const char* CAM_ONE = "cam1";
const char* CAM_TWO = "cam2";
}
//NOTE: Camera 1 is the default camera. Can toggle to 2 later.
LHSVision::LHSVision(RobotDrive* pRobot, Joystick* pXbox) //Constructor
{
printf("File %18s Date %s Time %s Object %p\n",__FILE__,__DATE__, __TIME__, this);
frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
IMAQdxOpenCamera(CAMERA::CAM_ONE, IMAQdxCameraControlModeController, &session);
Wait(.5);
IMAQdxConfigureGrab(session);
Wait(.5);
IMAQdxStartAcquisition(session);
Wait(.5);
frame2 = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
mRobot = pRobot;
mXbox = pXbox;
}
LHSVision::~LHSVision() //Destructor
{
delete mXbox;
delete mRobot;
}
//Used for closing and stopping acquisition of a camera
void LHSVision::StopCamera(int camNum)
{
if(camNum == 1) //Camera 1 Shutdown
{
IMAQdxStopAcquisition(session);
Wait(.01);
IMAQdxCloseCamera(session);
}
else //Camera 2 Shutdown
{
IMAQdxStopAcquisition(session2);
Wait(.01);
IMAQdxCloseCamera(session2);
}
}
//Used for opening, configuring, and starting acquisition of a camera
void LHSVision::StartCamera(int camNum)
{
if(camNum == 1) //Camera 1 Startup
{
IMAQdxOpenCamera(CAMERA::CAM_ONE, IMAQdxCameraControlModeController, &session);
Wait(.01);
IMAQdxConfigureGrab(session);
Wait(.01);
IMAQdxStartAcquisition(session);
Wait(.01);
}
else //Camera 2 Startup
{
IMAQdxOpenCamera(CAMERA::CAM_TWO, IMAQdxCameraControlModeController, &session2);
Wait(.01);
IMAQdxConfigureGrab(session2);
Wait(.01);
IMAQdxStartAcquisition(session2);
Wait(.01);
}
}
//Send image to FRC PC Dashboard
void LHSVision::SendToDashboard(Image *image)
{
CameraServer::GetInstance()->SetImage(image);
}
void LHSVision::UpdateVision() //by Michael
{
if(mXbox->GetRawButton(XBOX::XBOX_A_BUTTON) == true) //Toggle on A button press
{
while(mXbox->GetRawButton(XBOX::XBOX_A_BUTTON) == true) //Prevents multi-press
{}
if(send == 1)
{
StopCamera(1); //Stop Cam 1
StartCamera(2); //Start Cam 2
printf("\nActivating Camera 2 - Raw Image Display\n\n");
send = 2;
}
else
{
StopCamera(2); //Stop Cam 2
StartCamera(1); //Start Cam 1
printf("\nActivating Camera 1 - Raw Image Display\n\n");
send = 1;
}
}
if(send == 1)
{
IMAQdxGrab(session, frame, true, NULL);
SendToDashboard(frame); //Send Cam 1
Wait(.1);
}
else
{
IMAQdxGrab(session2, frame2, true, NULL);
SendToDashboard(frame2); //Send Cam 2
Wait(.1);
}
}
Header File:
Code:
/*
* LHSVision.h
*
* Created on: Jan 25, 2016
* Author: Michael Conard
*/
#ifndef LHS_VISION_H
#define LHS_VISION_H
class RobotDrive;
class Joystick;
class LHSVision
{
public:
LHSVision(RobotDrive*, Joystick*); //Constructor
~LHSVision(); //Destructor
void SendToDashboard(Image*); //Send Image to Dashboard
void UpdateVision(); //Toggle and Display Camera
void StopCamera(int); //Close Specified Camera
void StartCamera(int); //Start Specified Camera
private:
IMAQdxSession session;
Image* frame;
IMAQdxSession session2;
Image* frame2;
RobotDrive* mRobot;
Joystick* mXbox;
int send = 1;
};
#endif
My Main File:
Code:
/*
* Robot.cpp
*
* Created on: Jan 25, 2016
* Author: Michael Conard
*
* This program requires:
* -XBox Joystick
* -Left Drive Talon
* -Right Drive Talon
* -Two USB Cameras on Roborio
* Ports can be adjusted below in PORTS namespace.
*
* Controls:
* -Forward/Reverse, Left Y Axis
* -Rotating/Spinning, Left X Axis
* -Toggling Front/Back Camera, A Button
*
* Info: The cameras display to the FRC PC Dashboard.
* To open this: FRC Driver Station -> Third
* Tab (Setup) -> Set "Dashboard Type" to "Default"
*
* In the FRC PC Dashboard near the bottom-middle,
* change "Camera Off" to "USB Camera HW".
*/
#include "WPILib.h"
#include "LHSVision.h"
namespace XBOX //Joystick Constants
{
const int NODE_ID = 1;
const int XBOX_A_BUTTON = 1;
const int XBOX_X_BUTTON = 3;
const int XBOX_LEFT_X = 0;
const int XBOX_LEFT_Y = 1;
}
namespace PORTS //Motor Constants
{
const int LEFT_MOTOR = 0;
const int RIGHT_MOTOR = 1;
}
class Robot: public SampleRobot
{
private:
RobotDrive* mRobot; //RobotDrive with two Talons
Joystick* mStick; //Joystick
LHSVision* mLHSVision; //Raw Image Display
public:
Robot(); //Constructor
~Robot(); //Destructor
void OperatorControl(); //Can Drive and Toggle Cameras
void Autonomous(); //No Content
};
Robot::Robot() //Constructor
{
printf("File %18s Date %s Time %s Object %p\n",__FILE__,__DATE__, __TIME__, this);
mRobot = new RobotDrive(PORTS::LEFT_MOTOR, PORTS::RIGHT_MOTOR);
mStick = new Joystick(XBOX::NODE_ID);
mLHSVision = new LHSVision(mRobot, mStick); //LHSVision requires a RobotDrive and Joystick
}
Robot::~Robot() //Destructor
{
delete mRobot;
delete mStick;
}
void Robot::OperatorControl() //Driving and Camera Toggling
{
while(IsOperatorControl() && IsEnabled())
{
mRobot->ArcadeDrive(mStick->GetRawAxis(XBOX::XBOX_LEFT_Y), mStick->GetRawAxis(XBOX::XBOX_LEFT_X));
mLHSVision->UpdateVision();
Wait(0.02);
}
}
void Robot::Autonomous() //No Content
{
while(IsAutonomous() && IsEnabled())
{
printf("Autonomous!\n");
}
}
START_ROBOT_CLASS(Robot)
I hope this helps. If you need me to simplify my code structure to do only one USB camera let me know. |
