Changes between Version 1 and Version 2 of ControlSystems/SoftwareTeam/Training/GettingStarted/Overlays

Timestamp:

Nov 28, 2019, 11:04:54 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/Overlays

@@ -15 +15 @@
 import edu.wpi.cscore.CvSource;
 import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.cameraserver.*;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.cameraserver.*;
 
 public class Robot extends TimedRobot {
     
     public void robotInit() {
+            // do camera processing in its own thread so if anything goes wrong,
+            // we don't take down the entire robot
             new Thread(() -> {
+                // get a handle to the camera server that accesses the USB camera
                 UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
                 camera.setResolution(640, 480);
-                
+ 
+                // CvSink receives video from the camera               
                 CvSink cvSink = CameraServer.getInstance().getVideo();
+                // CvSource sends video stream (named "Rectangle") to the smart dashboard
                 CvSource outputStream = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
                 
+                // We store video frames in a Mat for processing
                 Mat mat = new Mat();
                 
                 while(!Thread.interrupted()) {
+                  // grab a frame from the video stream
                   if (cvSink.grabFrame(mat) == 0) {
                     outputStream.notifyError(cvSink.getError());
@@ -36 +43 @@
                     continue;
                   }
-                  // Put a rectangle on the image
+                  // Put a red rectangle on the image
                   Imgproc.rectangle(mat, new Point(160,120), new Point(480,360), new Scalar(0,0,255), 5);
                   // Give the output stream a new image to display