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Add AxisCamera sample #103

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Jan 8, 2024
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30 changes: 30 additions & 0 deletions AxisCamera/robot.py
Original file line number Diff line number Diff line change
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#!/usr/bin/env python3
#
# Copyright (c) FIRST and other WPILib contributors.
# Open Source Software; you can modify and/or share it under the terms of
# the WPILib BSD license file in the root directory of this project.
#


import wpilib
import wpilib.cameraserver


"""
* This is a demo program showing the use of OpenCV to do vision processing. The image is acquired
* from the Axis camera, then a rectangle is put on the image and sent to the dashboard. OpenCV has
* many methods for different types of processing.
"""


class MyRobot(wpilib.TimedRobot):
def robotInit(self):
# Your image processing code will be launched via a stub that will set up logging and initialize NetworkTables
# to talk to your robot code.
# https://robotpy.readthedocs.io/en/stable/vision/roborio.html#important-notes

wpilib.CameraServer.launch("vision.py:main")


if __name__ == "__main__":
wpilib.run(MyRobot)
70 changes: 70 additions & 0 deletions AxisCamera/vision.py
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#
# Copyright (c) FIRST and other WPILib contributors.
# Open Source Software; you can modify and/or share it under the terms of
# the WPILib BSD license file in the root directory of this project.
#


import ntcore
import numpy
from cscore import CameraServer
import cv2


#
# This code will work both on a RoboRIO and on other platforms. The exact mechanism
# to run it differs depending on whether you’re on a RoboRIO or a coprocessor
#
# https://robotpy.readthedocs.io/en/stable/vision/code.html


def main():
# Get the Axis camera from CameraServer

camera = CameraServer.addAxisCamera("axis-camera.local")
# Set the resolution
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Everything looks good, but can you associate the comments with the lines that they're with?

# Get the Axis camera from CameraServer
camera = CameraServer.addAxisCamera("axis-camera.local")

# Set the resolution
camera.setResolution(640, 480)

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Done with c62dc87


camera.setResolution(640, 480)

# Get a CvSink. This will capture Mats from the camera

cvSink = CameraServer.getVideo()
# Setup a CvSource. This will send images back to the Dashboard

outputStream = CameraServer.putVideo("Rectangle", 640, 480)

# Mats are very memory expensive. Lets reuse this Mat.

mat = numpy.zeros((480, 640, 3), dtype="uint8")

# Declare the color of the rectangle

rectColor = (255, 255, 255)

# The camera code will be killed when the robot.py program exits. If you wish to perform cleanup,
# you should register an atexit handler. The child process will NOT be launched when running the robot code in
# simulation or unit testing mode

while True:
# Tell the CvSink to grab a frame from the camera and put it in the source mat. If there is an error notify the
# output.

if cvSink.grabFrame(mat) == 0:
# Send the output the error.

outputStream.notifyError(cvSink.getError())
# skip the rest of the current iteration

continue
# Put a rectangle on the image

mat = cv2.rectangle(
img=mat,
pt1=(100, 100),
pt2=(400, 400),
color=rectColor,
lineType=5,
)
# Give the output stream a new image to display

outputStream.putFrame(mat)
1 change: 1 addition & 0 deletions run_tests.sh
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ BASE_TESTS="
ArcadeDrive
ArcadeDriveXboxController
ArmSimulation
AxisCamera
CANPDP
DifferentialDriveBot
DigitalCommunication
Expand Down