[Greg McKaskle]

The more modern Axis cameras support better compression standards, but the licensing of the codecs is potentially an issue on a FIRST team. Also, the benefit of the newer codecs goes down as the robot starts to move and virtually no content from frame to frame is the same.

For these reasons, we kept the WPILib libraries using MJPEG.

There were teams who used H.264 on the field last year streaming to a browser. Of course, the one I dealt with determined their camera bandwidth with a stationary robot. They severely underestimated, and made the FTA very nervous in their matches.

The high variability of the encoding versus the predictability of MJPEG was also a consideration.

Greg McKaskle