Chief Delphi - [Snippet] Using 2+ USBCameras with minimal bandwidth usage

Hey CD,

I updated my old code that worked with any type of camera to be a bit more extendable, but it only works with USBCameras now.

Imports:

Code:

import java.util.ArrayList;



import com.ni.vision.NIVision;

import com.ni.vision.NIVision.Image;



import edu.wpi.first.wpilibj.CameraServer;

import edu.wpi.first.wpilibj.vision.USBCamera;

Variables:

Code:

/**

 * The image to push to the CameraServer

 */

private Image frame;



/**

 * The list of all attached cameras

 */

private ArrayList<USBCamera> cams;



/**

 * The index of the current camera we are looking at

 */

private int currCam;



/**

 * The current camera we are viewing.

 */

private USBCamera cam;



/**

 * The maximum fps for all of the cameras

 */

private final int MAX_FPS = 15;



/**

 * The quality of image to push back to the driver station. Lower numbers save more bandwidth (0-100)

 */

private final int QUALITY = 10;

        

/**

 * Time to sleep after changing camera views. This is to prevent errors as USBCamera.startCapture() returns before it is ready to be seen 

 */

private final long SLEEP_TIME = 100;

init Code:

Code:

cams = new ArrayList<USBCamera>();

frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);

currCam = 0;

CameraServer.getInstance().setQuality(QUALITY);

for(String s: /*Array of camera names*/){

        addCamera(s);

}

cam = cams.get(currCam);

cam.openCamera();

cam.startCapture();

addCamera method:

Code:

/**

 * Adds the camera to our list to switch between and sets the FPS max

 * @param camName The name of the camera

 */

private void addCamera(String camName){

        USBCamera temp = new USBCamera(camName);

        temp.setFPS(MAX_FPS);

        cams.add(temp);

        temp = null;

}

Loop code:

Code:

cams.get(currCam).getImage(frame);

CameraServer.getInstance().setImage(frame);

Switching Method:

Code:

/**

 * Switch to the next camera in our ArrayList

 */

public void switchCamera(){

        try{

                cam.stopCapture();

                cam.closeCamera();

                currCam++;

                currCam %= cams.size();

                cam = cams.get(currCam);

                cam.openCamera();

                cam.startCapture();

                Thread.sleep(SLEEP_TIME);

        }catch(Exception e){

                e.printStackTrace();

        }

}

As always, feel free to post below or send me a PM if you need help!