import edu.wpi.first.wpilibj.vision.USBCamera; //导入依赖的package包/类
public CameraServers(String... camNamesInput) {
 cams=new USBCamera[camNamesInput.length];
 camNames=camNamesInput;
  m_quality = 50;
  m_camera = null;
  m_imageData = null;
  m_imageDataPool = new ArrayDeque<>(3);
  for (int i = 0; i < 3; i++) {
    m_imageDataPool.addLast(ByteBuffer.allocateDirect(kMaxImageSize));
  }
  serverThread = new Thread(new Runnable() {
    public void run() {
      try {
        serve();
      } catch (IOException e) {
        // do stuff here
      } catch (InterruptedException e) {
        // do stuff here
      }
    }
  });
  serverThread.setName("CameraServer Send Thread");
  serverThread.start();
}
 

import edu.wpi.first.wpilibj.vision.USBCamera; //导入依赖的package包/类
private synchronized void startBroadcast(USBCamera camera) {
  if (m_autoCaptureStarted)
    return;
  m_autoCaptureStarted = true;
  m_camera = camera;

  m_camera.startCapture();

  Thread captureThread = new Thread(new Runnable() {
    @Override
    public void run() {
      capture();
    }
  });
  captureThread.setName("Camera Capture Thread");
  captureThread.start();
}
 

import edu.wpi.first.wpilibj.vision.USBCamera; //导入依赖的package包/类
public synchronized void startAutomaticCapture(USBCamera camera) {
  if (m_autoCaptureStarted)
    return;
  m_autoCaptureStarted = true;
  m_camera = camera;

  m_camera.startCapture();

  Thread captureThread = new Thread(new Runnable() {
    @Override
    public void run() {
      capture();
    }
  });
  captureThread.setName("Camera Capture Thread");
  captureThread.start();
}
 

import edu.wpi.first.wpilibj.vision.USBCamera; //导入依赖的package包/类
/**
 * Start automatically capturing images to send to the dashboard.
 *
 * You should call this method to just see a camera feed on the dashboard
 * without doing any vision processing on the roboRIO. {@link #setImage}
 * shouldn't be called after this is called.
 *
 * @param cameraName The name of the camera interface (e.g. "cam1")
 */
public void startAutomaticCapture(String cameraName) {
  try {
    USBCamera camera = new USBCamera(cameraName);
    camera.openCamera();
    startAutomaticCapture(camera);
  } catch (VisionException ex) {
    //DriverStation.reportError(
       // "Error when starting the camera: " + cameraName + " " + ex.getMessage(), true);
  }
}
 

import edu.wpi.first.wpilibj.vision.USBCamera; //导入依赖的package包/类
public void robotInit() {

	// Create subsystems
	drive = new Drive();
	intake = new Intake();
	arm = new Arm();
	shooter = new Shooter();
	hanger = new Hanger();

	oi = new OI();

	// Create motion profiles
	crossLowBar = new Profile(AutoMap.crossLowBar);
	reach = new Profile(AutoMap.reach);
	toShoot = new Profile(AutoMap.toShoot);
	toLowGoal = new Profile(AutoMap.toLowGoal);

	// Pick an auto
	chooser = new SendableChooser();
	chooser.addDefault("Do Nothing", new DoNothing());
	chooser.addObject("Low Bar", new LowBarRawtonomous());
	chooser.addObject("Low Bar (profile)", new CrossLowBar(crossLowBar));
	chooser.addObject("Reach", new Reach(reach));
	chooser.addObject("Forward Rawto", new ForwardRawtonomous());
	chooser.addObject("Backward Rawto", new BackwardRawtonomous());
	chooser.addObject("Shoot", new AutoShoot());
	SmartDashboard.putData("Auto mode", chooser);

	// Start camera stream
	camera = new USBCamera();
	server = CameraServer.getInstance();
	server.setQuality(40);
	server.startAutomaticCapture(camera);

	// Start compressor
	compressor = new Compressor();
	compressor.start();

	navx = new AHRS(SPI.Port.kMXP);
    }
 

import edu.wpi.first.wpilibj.vision.USBCamera; //导入依赖的package包/类
/**
 * Start automatically capturing images to send to the dashboard.
 *
 * You should call this method to just see a camera feed on the dashboard
 * without doing any vision processing on the roboRIO. {@link #setImage}
 * shouldn't be called after this is called.
 *
 * @param cameraName The name of the camera interface (e.g. "cam1")
 */
private USBCamera startCamera(String cameraName) {
  try {
    USBCamera camera = new USBCamera(cameraName);
    camera.openCamera();
    //startAutomaticCapture(camera);
    return camera;
  } catch (VisionException ex) {
    DriverStation.reportError(
        "Error when starting the camera: " + cameraName + " " + ex.getMessage(), true);
  }
  return null;
}
 

import edu.wpi.first.wpilibj.vision.USBCamera; //导入依赖的package包/类
public static void initCameras() {
  if (init) 
  	return;

  bowCam = new USBCamera("cam0");
  sternCam = new USBCamera("cam1");
  //targetCam = new USBCamera("cam2");
  
  init = true;
}
 

import edu.wpi.first.wpilibj.vision.USBCamera; //导入依赖的package包/类
private TurtwigDoubleVision() {
	try {
		sendImage = NIVision.imaqCreateImage(ImageType.IMAGE_RGB, 0);
		cameras.add(new USBCamera("cam0"));
	} catch (Exception e) {
		TurtleLogger.critical("Camera Not found");
		e.printStackTrace();
	}
}