I have this exact code running just fine with the occasional non fatal error.
Code:
public void robotInit() {
Thread t = new Thread(() -> {
boolean allowCam1 = false;
UsbCamera camera1 = CameraServer.getInstance().startAutomaticCapture(0);
camera1.setResolution(320, 240);
camera1.setFPS(30);
UsbCamera camera2 = CameraServer.getInstance().startAutomaticCapture(1);
camera2.setResolution(320, 240);
camera2.setFPS(30);
CvSink cvSink1 = CameraServer.getInstance().getVideo(camera1);
CvSink cvSink2 = CameraServer.getInstance().getVideo(camera2);
CvSource outputStream = CameraServer.getInstance().putVideo("Switcher", 320, 240);
Mat image = new Mat();
while(!Thread.interrupted()) {
if(oi.getGamepad().getRawButton(9)) {
allowCam1 = !allowCam1;
}
if(allowCam1){
cvSink2.setEnabled(false);
cvSink1.setEnabled(true);
cvSink1.grabFrame(image);
} else{
cvSink1.setEnabled(false);
cvSink2.setEnabled(true);
cvSink2.grabFrame(image);
}
outputStream.putFrame(image);
}
});
t.start();