Chief Delphi - How do I put the CvSource video in the smart dashboard?

The code for anyone who asks:

Robot.java:
Code:
package org.usfirst.frc.team5951.robot;



import org.opencv.core.Mat;

import org.usfirst.frc.team5951.vision.VisionImplementation;



import edu.wpi.cscore.CvSink;

import edu.wpi.cscore.CvSource;

import edu.wpi.cscore.UsbCamera;

import edu.wpi.first.wpilibj.CameraServer;

import edu.wpi.first.wpilibj.SampleRobot;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

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



/**

 * This is a demo program showing the use of the RobotDrive class. The

 * SampleRobot class is the base of a robot application that will automatically

 * call your Autonomous and OperatorControl methods at the right time as

 * controlled by the switches on the driver station or the field controls.

 *

 * The VM is configured to automatically run this class, and to call the

 * functions corresponding to each mode, as described in the SampleRobot

 * documentation. If you change the name of this class or the package after

 * creating this project, you must also update the manifest file in the resource

 * directory.

 *

 * WARNING: While it may look like a good choice to use for your code if you're

 * inexperienced, don't. Unless you know what you are doing, complex code will

 * be much more difficult under this system. Use IterativeRobot or Command-Based

 * instead if you're new.

 */

public class Robot extends SampleRobot {



        VisionThread visionThread;

        UsbCamera source;

        CvSink sink;

        CvSource output;

        Mat mat;



        /*

         * UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();

         * camera.setResolution(640, 480);

         * 

         * CvSink cvSink = CameraServer.getInstance().getVideo(); CvSource

         * outputStream = CameraServer.getInstance().putVideo("Blur", 640, 480);

         * 

         * Mat source = new Mat(); Mat output = new Mat();

         * 

         * while(!Thread.interrupted()) { cvSink.grabFrame(source);

         * Imgproc.cvtColor(source, output, Imgproc.COLOR_BGR2GRAY);

         * outputStream.putFrame(output); }

         */

        public Robot() {

                source = CameraServer.getInstance().startAutomaticCapture();

                source.setExposureManual(20);

                source.setResolution(640, 480);

                

                sink = CameraServer.getInstance().getVideo();

                

                output = CameraServer.getInstance().putVideo("Processed: ", 640, 480);

                

                visionThread = new VisionThread(source, new VisionImplementation(), pipeline -> {

                        sink.grabFrame(mat);

                        pipeline.process(mat);

                        

                        output.putFrame(pipeline.getImgae());

                });

        }



        @Override

        public void robotInit() {

                

                

        }



        /**

         * This autonomous (along with the chooser code above) shows how to select

         * between different autonomous modes using the dashboard. The sendable

         * chooser code works with the Java SmartDashboard. If you prefer the

         * LabVIEW Dashboard, remove all of the chooser code and uncomment the

         * getString line to get the auto name from the text box below the Gyro

         *

         * You can add additional auto modes by adding additional comparisons to the

         * if-else structure below with additional strings. If using the

         * SendableChooser make sure to add them to the chooser code above as well.

         */

        @Override

        public void autonomous() {

//                visionThread.start();

        }



        /**

         * Runs the motors with arcade steering.

         */

        @Override

        public void operatorControl() {

                

        }



        /**

         * Runs during test mode

         */

        @Override

        public void test() {

        }

}
VIsionImplementation is a class we've created, and for that example all it did was Normalize the picture, median blured it, and added a rectangle over it.

imageToShow() just returns a Mat of the final "product".