NEW: release DJI Payload-SDK version 3.0
Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
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@ -0,0 +1,95 @@
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/**
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********************************************************************
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* @file dji_camera_image_handler.cpp
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* @brief
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||||
*
|
||||
* @copyright (c) 2021 DJI. All rights reserved.
|
||||
*
|
||||
* All information contained herein is, and remains, the property of DJI.
|
||||
* The intellectual and technical concepts contained herein are proprietary
|
||||
* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
||||
* and protected by trade secret or copyright law. Dissemination of this
|
||||
* information, including but not limited to data and other proprietary
|
||||
* material(s) incorporated within the information, in any form, is strictly
|
||||
* prohibited without the express written consent of DJI.
|
||||
*
|
||||
* If you receive this source code without DJI’s authorization, you may not
|
||||
* further disseminate the information, and you must immediately remove the
|
||||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||||
* legal actions against you for any loss(es) or damage(s) caused by your
|
||||
* failure to do so.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
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/* Includes ------------------------------------------------------------------*/
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#include "dji_camera_image_handler.hpp"
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/* Private constants ---------------------------------------------------------*/
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/* Private types -------------------------------------------------------------*/
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/* Private values -------------------------------------------------------------*/
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/* Private functions declaration ---------------------------------------------*/
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/* Exported functions definition ---------------------------------------------*/
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DJICameraImageHandler::DJICameraImageHandler() : m_newImageFlag(false)
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{
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pthread_mutex_init(&m_mutex, NULL);
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pthread_cond_init(&m_condv, NULL);
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}
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DJICameraImageHandler::~DJICameraImageHandler()
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{
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pthread_mutex_destroy(&m_mutex);
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pthread_cond_destroy(&m_condv);
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}
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bool DJICameraImageHandler::getNewImageWithLock(CameraRGBImage ©OfImage, int timeoutMilliSec)
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{
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int result;
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/*! @note
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* Here result == 0 means successful.
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* Because this is the behavior of pthread_cond_timedwait.
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*/
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pthread_mutex_lock(&m_mutex);
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if (m_newImageFlag) {
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/* At this point, a copy of m_img is made, so it is safe to
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* do any modifications to copyOfImage in user code.
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*/
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copyOfImage = m_img;
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m_newImageFlag = false;
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result = 0;
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} else {
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struct timespec absTimeout;
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clock_gettime(CLOCK_REALTIME, &absTimeout);
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absTimeout.tv_nsec += timeoutMilliSec * 1e6;
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result = pthread_cond_timedwait(&m_condv, &m_mutex, &absTimeout);
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if (result == 0) {
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copyOfImage = m_img;
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m_newImageFlag = false;
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}
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}
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pthread_mutex_unlock(&m_mutex);
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return (result == 0) ? true : false;
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}
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void DJICameraImageHandler::writeNewImageWithLock(uint8_t *buf, int bufSize, int width, int height)
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{
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pthread_mutex_lock(&m_mutex);
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m_img.rawData.assign(buf, buf + bufSize);
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m_img.height = height;
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m_img.width = width;
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m_newImageFlag = true;
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pthread_cond_signal(&m_condv);
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pthread_mutex_unlock(&m_mutex);
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}
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/* Private functions definition-----------------------------------------------*/
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/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
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@ -0,0 +1,74 @@
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/**
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********************************************************************
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* @file dji_camera_image_handler.hpp
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* @brief This is the header file for "dji_camera_image_handler.cpp", defining the structure and
|
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* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 DJI. All rights reserved.
|
||||
*
|
||||
* All information contained herein is, and remains, the property of DJI.
|
||||
* The intellectual and technical concepts contained herein are proprietary
|
||||
* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
||||
* and protected by trade secret or copyright law. Dissemination of this
|
||||
* information, including but not limited to data and other proprietary
|
||||
* material(s) incorporated within the information, in any form, is strictly
|
||||
* prohibited without the express written consent of DJI.
|
||||
*
|
||||
* If you receive this source code without DJI’s authorization, you may not
|
||||
* further disseminate the information, and you must immediately remove the
|
||||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||||
* legal actions against you for any loss(es) or damage(s) caused by your
|
||||
* failure to do so.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef DJI_CAMERA_IMAGE_HANDLER_H
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#define DJI_CAMERA_IMAGE_HANDLER_H
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/* Includes ------------------------------------------------------------------*/
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#include "pthread.h"
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#include <cstdint>
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#include <vector>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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struct CameraRGBImage {
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std::vector<uint8_t> rawData;
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int height;
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int width;
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};
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typedef void (*CameraImageCallback)(CameraRGBImage pImg, void *userData);
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typedef void (*H264Callback)(const uint8_t *buf, int bufLen, void *userData);
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class DJICameraImageHandler {
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public:
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DJICameraImageHandler();
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~DJICameraImageHandler();
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void writeNewImageWithLock(uint8_t *buf, int bufSize, int width, int height);
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bool getNewImageWithLock(CameraRGBImage ©OfImage, int timeoutMilliSec);
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private:
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pthread_mutex_t m_mutex;
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pthread_cond_t m_condv;
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CameraRGBImage m_img;
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bool m_newImageFlag;
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};
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/* Exported functions --------------------------------------------------------*/
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#ifdef __cplusplus
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}
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#endif
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#endif // DJI_CAMERA_IMAGE_HANDLER_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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@ -0,0 +1,277 @@
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/**
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********************************************************************
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* @file dji_camera_stream_decoder.cpp
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||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 DJI. All rights reserved.
|
||||
*
|
||||
* All information contained herein is, and remains, the property of DJI.
|
||||
* The intellectual and technical concepts contained herein are proprietary
|
||||
* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
||||
* and protected by trade secret or copyright law. Dissemination of this
|
||||
* information, including but not limited to data and other proprietary
|
||||
* material(s) incorporated within the information, in any form, is strictly
|
||||
* prohibited without the express written consent of DJI.
|
||||
*
|
||||
* If you receive this source code without DJI’s authorization, you may not
|
||||
* further disseminate the information, and you must immediately remove the
|
||||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||||
* legal actions against you for any loss(es) or damage(s) caused by your
|
||||
* failure to do so.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
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||||
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/* Includes ------------------------------------------------------------------*/
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#include "dji_camera_stream_decoder.hpp"
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#include "unistd.h"
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#include "pthread.h"
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#include "dji_logger.h"
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/* Private constants ---------------------------------------------------------*/
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||||
|
||||
/* Private types -------------------------------------------------------------*/
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||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
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||||
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||||
/* Exported functions definition ---------------------------------------------*/
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DJICameraStreamDecoder::DJICameraStreamDecoder()
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: initSuccess(false),
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cbThreadIsRunning(false),
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cbThreadStatus(-1),
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cb(nullptr),
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cbUserParam(nullptr),
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pCodecCtx(nullptr),
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pCodec(nullptr),
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pCodecParserCtx(nullptr),
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pSwsCtx(nullptr),
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pFrameYUV(nullptr),
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pFrameRGB(nullptr),
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rgbBuf(nullptr),
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bufSize(0)
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{
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pthread_mutex_init(&decodemutex, nullptr);
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}
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DJICameraStreamDecoder::~DJICameraStreamDecoder()
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{
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pthread_mutex_destroy(&decodemutex);
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if(cb)
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{
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registerCallback(nullptr, nullptr);
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}
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cleanup();
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}
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bool DJICameraStreamDecoder::init()
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{
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pthread_mutex_lock(&decodemutex);
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if (true == initSuccess) {
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USER_LOG_INFO("Decoder already initialized.\n");
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return true;
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}
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avcodec_register_all();
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pCodecCtx = avcodec_alloc_context3(nullptr);
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if (!pCodecCtx) {
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return false;
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}
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pCodecCtx->thread_count = 4;
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pCodec = avcodec_find_decoder(AV_CODEC_ID_H264);
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if (!pCodec || avcodec_open2(pCodecCtx, pCodec, nullptr) < 0) {
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return false;
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}
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pCodecParserCtx = av_parser_init(AV_CODEC_ID_H264);
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if (!pCodecParserCtx) {
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return false;
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}
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pFrameYUV = av_frame_alloc();
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if (!pFrameYUV) {
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return false;
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}
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pFrameRGB = av_frame_alloc();
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if (!pFrameRGB) {
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return false;
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}
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pSwsCtx = nullptr;
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pCodecCtx->flags2 |= AV_CODEC_FLAG2_SHOW_ALL;
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initSuccess = true;
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pthread_mutex_unlock(&decodemutex);
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return true;
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}
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void DJICameraStreamDecoder::cleanup()
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{
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pthread_mutex_lock(&decodemutex);
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initSuccess = false;
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if (nullptr != pSwsCtx) {
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sws_freeContext(pSwsCtx);
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pSwsCtx = nullptr;
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}
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if (nullptr != pFrameYUV) {
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av_free(pFrameYUV);
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pFrameYUV = nullptr;
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}
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if (nullptr != pCodecParserCtx) {
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||||
av_parser_close(pCodecParserCtx);
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pCodecParserCtx = nullptr;
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}
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if (nullptr != pCodec) {
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||||
avcodec_close(pCodecCtx);
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pCodec = nullptr;
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}
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||||
if (nullptr != pCodecCtx) {
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av_free(pCodecCtx);
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pCodecCtx = nullptr;
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}
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if (nullptr != rgbBuf) {
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av_free(rgbBuf);
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rgbBuf = nullptr;
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}
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|
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if (nullptr != pFrameRGB) {
|
||||
av_free(pFrameRGB);
|
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pFrameRGB = nullptr;
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&decodemutex);
|
||||
}
|
||||
|
||||
void *DJICameraStreamDecoder::callbackThreadEntry(void *p)
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{
|
||||
//DSTATUS_PRIVATE("****** Decoder Callback Thread Start ******\n");
|
||||
usleep(50 * 1000);
|
||||
static_cast<DJICameraStreamDecoder *>(p)->callbackThreadFunc();
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
void DJICameraStreamDecoder::callbackThreadFunc()
|
||||
{
|
||||
while (cbThreadIsRunning) {
|
||||
CameraRGBImage copyOfImage;
|
||||
if (!decodedImageHandler.getNewImageWithLock(copyOfImage, 1000)) {
|
||||
//DDEBUG_PRIVATE("Decoder Callback Thread: Get image time out\n");
|
||||
continue;
|
||||
}
|
||||
|
||||
if (cb) {
|
||||
(*cb)(copyOfImage, cbUserParam);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void DJICameraStreamDecoder::decodeBuffer(const uint8_t *buf, int bufLen)
|
||||
{
|
||||
const uint8_t *pData = buf;
|
||||
int remainingLen = bufLen;
|
||||
int processedLen = 0;
|
||||
|
||||
AVPacket pkt;
|
||||
av_init_packet(&pkt);
|
||||
pthread_mutex_lock(&decodemutex);
|
||||
while (remainingLen > 0) {
|
||||
if (!pCodecParserCtx || !pCodecCtx) {
|
||||
//DSTATUS("Invalid decoder ctx.");
|
||||
break;
|
||||
}
|
||||
processedLen = av_parser_parse2(pCodecParserCtx, pCodecCtx,
|
||||
&pkt.data, &pkt.size,
|
||||
pData, remainingLen,
|
||||
AV_NOPTS_VALUE, AV_NOPTS_VALUE, AV_NOPTS_VALUE);
|
||||
remainingLen -= processedLen;
|
||||
pData += processedLen;
|
||||
|
||||
if (pkt.size > 0) {
|
||||
int gotPicture = 0;
|
||||
avcodec_decode_video2(pCodecCtx, pFrameYUV, &gotPicture, &pkt);
|
||||
|
||||
if (!gotPicture) {
|
||||
////DSTATUS_PRIVATE("Got Frame, but no picture\n");
|
||||
continue;
|
||||
} else {
|
||||
int w = pFrameYUV->width;
|
||||
int h = pFrameYUV->height;
|
||||
////DSTATUS_PRIVATE("Got picture! size=%dx%d\n", w, h);
|
||||
|
||||
if (nullptr == pSwsCtx) {
|
||||
pSwsCtx = sws_getContext(w, h, pCodecCtx->pix_fmt,
|
||||
w, h, AV_PIX_FMT_RGB24,
|
||||
4, nullptr, nullptr, nullptr);
|
||||
}
|
||||
|
||||
if (nullptr == rgbBuf) {
|
||||
bufSize = avpicture_get_size(AV_PIX_FMT_RGB24, w, h);
|
||||
rgbBuf = (uint8_t *) av_malloc(bufSize);
|
||||
avpicture_fill((AVPicture *) pFrameRGB, rgbBuf, AV_PIX_FMT_RGB24, w, h);
|
||||
}
|
||||
|
||||
if (nullptr != pSwsCtx && nullptr != rgbBuf) {
|
||||
sws_scale(pSwsCtx,
|
||||
(uint8_t const *const *) pFrameYUV->data, pFrameYUV->linesize, 0, pFrameYUV->height,
|
||||
pFrameRGB->data, pFrameRGB->linesize);
|
||||
|
||||
pFrameRGB->height = h;
|
||||
pFrameRGB->width = w;
|
||||
|
||||
decodedImageHandler.writeNewImageWithLock(pFrameRGB->data[0], bufSize, w, h);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
pthread_mutex_unlock(&decodemutex);
|
||||
av_free_packet(&pkt);
|
||||
}
|
||||
|
||||
bool DJICameraStreamDecoder::registerCallback(CameraImageCallback f, void *param)
|
||||
{
|
||||
cb = f;
|
||||
cbUserParam = param;
|
||||
|
||||
/* When users register a non-nullptr callback, we will start the callback thread. */
|
||||
if (nullptr != cb) {
|
||||
if (!cbThreadIsRunning) {
|
||||
cbThreadStatus = pthread_create(&callbackThread, nullptr, callbackThreadEntry, this);
|
||||
if (0 == cbThreadStatus) {
|
||||
//DSTATUS_PRIVATE("User callback thread created successfully!\n");
|
||||
cbThreadIsRunning = true;
|
||||
return true;
|
||||
} else {
|
||||
//DERROR_PRIVATE("User called thread creation failed!\n");
|
||||
cbThreadIsRunning = false;
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
//DERROR_PRIVATE("Callback thread already running!\n");
|
||||
return true;
|
||||
}
|
||||
} else {
|
||||
if (cbThreadStatus == 0) {
|
||||
cbThreadIsRunning = false;
|
||||
pthread_join(callbackThread, nullptr);
|
||||
cbThreadStatus = -1;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,96 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_camera_stream_decoder.hpp
|
||||
* @brief This is the header file for "dji_camera_stream_decoder.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 DJI. All rights reserved.
|
||||
*
|
||||
* All information contained herein is, and remains, the property of DJI.
|
||||
* The intellectual and technical concepts contained herein are proprietary
|
||||
* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
||||
* and protected by trade secret or copyright law. Dissemination of this
|
||||
* information, including but not limited to data and other proprietary
|
||||
* material(s) incorporated within the information, in any form, is strictly
|
||||
* prohibited without the express written consent of DJI.
|
||||
*
|
||||
* If you receive this source code without DJI’s authorization, you may not
|
||||
* further disseminate the information, and you must immediately remove the
|
||||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||||
* legal actions against you for any loss(es) or damage(s) caused by your
|
||||
* failure to do so.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef DJI_CAMERA_STREAM_DECCODER_H
|
||||
#define DJI_CAMERA_STREAM_DECCODER_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
extern "C" {
|
||||
#include <libavcodec/avcodec.h>
|
||||
#include <libavformat/avformat.h>
|
||||
#include <libswscale/swscale.h>
|
||||
}
|
||||
|
||||
#include "pthread.h"
|
||||
#include "dji_camera_image_handler.hpp"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
class DJICameraStreamDecoder {
|
||||
public:
|
||||
DJICameraStreamDecoder();
|
||||
~DJICameraStreamDecoder();
|
||||
bool init();
|
||||
void cleanup();
|
||||
|
||||
void callbackThreadFunc();
|
||||
void decodeBuffer(const uint8_t *pBuf, int len);
|
||||
static void *callbackThreadEntry(void *p);
|
||||
bool registerCallback(CameraImageCallback f, void *param);
|
||||
DJICameraImageHandler decodedImageHandler;
|
||||
|
||||
private:
|
||||
pthread_t callbackThread;
|
||||
bool initSuccess;
|
||||
bool cbThreadIsRunning;
|
||||
int cbThreadStatus;
|
||||
CameraImageCallback cb;
|
||||
void *cbUserParam;
|
||||
|
||||
pthread_mutex_t decodemutex;
|
||||
AVCodecContext *pCodecCtx;
|
||||
AVCodec *pCodec;
|
||||
AVCodecParserContext *pCodecParserCtx;
|
||||
SwsContext *pSwsCtx;
|
||||
|
||||
AVFrame *pFrameYUV;
|
||||
AVFrame *pFrameRGB;
|
||||
uint8_t *rgbBuf;
|
||||
size_t bufSize;
|
||||
};
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // DJI_CAMERA_STREAM_DECCODER_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
209
samples/sample_c++/module_sample/liveview/test_liveview.cpp
Normal file
209
samples/sample_c++/module_sample/liveview/test_liveview.cpp
Normal file
@ -0,0 +1,209 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 DJI. All rights reserved.
|
||||
*
|
||||
* All information contained herein is, and remains, the property of DJI.
|
||||
* The intellectual and technical concepts contained herein are proprietary
|
||||
* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
||||
* and protected by trade secret or copyright law. Dissemination of this
|
||||
* information, including but not limited to data and other proprietary
|
||||
* material(s) incorporated within the information, in any form, is strictly
|
||||
* prohibited without the express written consent of DJI.
|
||||
*
|
||||
* If you receive this source code without DJI’s authorization, you may not
|
||||
* further disseminate the information, and you must immediately remove the
|
||||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||||
* legal actions against you for any loss(es) or damage(s) caused by your
|
||||
* failure to do so.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "test_liveview.hpp"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
std::map<::E_DjiLiveViewCameraPosition, DJICameraStreamDecoder *> streamDecoder;
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void LiveviewConvertH264ToRgbCallback(E_DjiLiveViewCameraPosition position, const uint8_t *buf, uint32_t bufLen);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
LiveviewSample::LiveviewSample()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Liveview init failed");
|
||||
}
|
||||
|
||||
streamDecoder = {
|
||||
{DJI_LIVEVIEW_CAMERA_POSITION_FPV, (new DJICameraStreamDecoder())},
|
||||
{DJI_LIVEVIEW_CAMERA_POSITION_NO_1, (new DJICameraStreamDecoder())},
|
||||
{DJI_LIVEVIEW_CAMERA_POSITION_NO_2, (new DJICameraStreamDecoder())},
|
||||
{DJI_LIVEVIEW_CAMERA_POSITION_NO_3, (new DJICameraStreamDecoder())},
|
||||
};
|
||||
}
|
||||
|
||||
LiveviewSample::~LiveviewSample()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_Deinit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Liveview deinit failed");
|
||||
}
|
||||
|
||||
for (auto pair : streamDecoder) {
|
||||
if (pair.second) {
|
||||
delete pair.second;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StartFpvCameraStream(CameraImageCallback callback, void *userData)
|
||||
{
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_FPV);
|
||||
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->init();
|
||||
deocder->second->registerCallback(callback, userData);
|
||||
|
||||
return DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
LiveviewConvertH264ToRgbCallback);
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StartMainCameraStream(CameraImageCallback callback, void *userData)
|
||||
{
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_1);
|
||||
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->init();
|
||||
deocder->second->registerCallback(callback, userData);
|
||||
|
||||
return DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_1, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
LiveviewConvertH264ToRgbCallback);
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StartViceCameraStream(CameraImageCallback callback, void *userData)
|
||||
{
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_2);
|
||||
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->init();
|
||||
deocder->second->registerCallback(callback, userData);
|
||||
|
||||
return DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_2, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
LiveviewConvertH264ToRgbCallback);
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StartTopCameraStream(CameraImageCallback callback, void *userData)
|
||||
{
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_3);
|
||||
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->init();
|
||||
deocder->second->registerCallback(callback, userData);
|
||||
|
||||
return DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_3, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
LiveviewConvertH264ToRgbCallback);
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StopFpvCameraStream()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_FPV);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->cleanup();
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StopMainCameraStream()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_1);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_1);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->cleanup();
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StopViceCameraStream()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_2);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_2);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->cleanup();
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StopTopCameraStream()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_3);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_3);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->cleanup();
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static void LiveviewConvertH264ToRgbCallback(E_DjiLiveViewCameraPosition position, const uint8_t *buf, uint32_t bufLen)
|
||||
{
|
||||
auto deocder = streamDecoder.find(position);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->decodeBuffer(buf, bufLen);
|
||||
}
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
70
samples/sample_c++/module_sample/liveview/test_liveview.hpp
Normal file
70
samples/sample_c++/module_sample/liveview/test_liveview.hpp
Normal file
@ -0,0 +1,70 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview.hpp
|
||||
* @brief This is the header file for "test_liveview.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 DJI. All rights reserved.
|
||||
*
|
||||
* All information contained herein is, and remains, the property of DJI.
|
||||
* The intellectual and technical concepts contained herein are proprietary
|
||||
* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
||||
* and protected by trade secret or copyright law. Dissemination of this
|
||||
* information, including but not limited to data and other proprietary
|
||||
* material(s) incorporated within the information, in any form, is strictly
|
||||
* prohibited without the express written consent of DJI.
|
||||
*
|
||||
* If you receive this source code without DJI’s authorization, you may not
|
||||
* further disseminate the information, and you must immediately remove the
|
||||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||||
* legal actions against you for any loss(es) or damage(s) caused by your
|
||||
* failure to do so.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_LIVEVIEW_H
|
||||
#define TEST_LIVEVIEW_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_liveview.h"
|
||||
#include <map>
|
||||
#include "dji_camera_stream_decoder.hpp"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
using namespace std;
|
||||
|
||||
class LiveviewSample {
|
||||
public:
|
||||
LiveviewSample();
|
||||
~LiveviewSample();
|
||||
|
||||
T_DjiReturnCode StartFpvCameraStream(CameraImageCallback callback, void *userData);
|
||||
T_DjiReturnCode StopFpvCameraStream();
|
||||
|
||||
T_DjiReturnCode StartMainCameraStream(CameraImageCallback callback, void *userData);
|
||||
T_DjiReturnCode StopMainCameraStream();
|
||||
|
||||
T_DjiReturnCode StartViceCameraStream(CameraImageCallback callback, void *userData);
|
||||
T_DjiReturnCode StopViceCameraStream();
|
||||
|
||||
T_DjiReturnCode StartTopCameraStream(CameraImageCallback callback, void *userData);
|
||||
T_DjiReturnCode StopTopCameraStream();
|
||||
};
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_LIVEVIEW_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
309
samples/sample_c++/module_sample/liveview/test_liveview_entry.cpp
Executable file
309
samples/sample_c++/module_sample/liveview/test_liveview_entry.cpp
Executable file
@ -0,0 +1,309 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview_entry.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 DJI. All rights reserved.
|
||||
*
|
||||
* All information contained herein is, and remains, the property of DJI.
|
||||
* The intellectual and technical concepts contained herein are proprietary
|
||||
* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
||||
* and protected by trade secret or copyright law. Dissemination of this
|
||||
* information, including but not limited to data and other proprietary
|
||||
* material(s) incorporated within the information, in any form, is strictly
|
||||
* prohibited without the express written consent of DJI.
|
||||
*
|
||||
* If you receive this source code without DJI’s authorization, you may not
|
||||
* further disseminate the information, and you must immediately remove the
|
||||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||||
* legal actions against you for any loss(es) or damage(s) caused by your
|
||||
* failure to do so.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include <iostream>
|
||||
#include <dji_logger.h>
|
||||
#include "test_liveview_entry.hpp"
|
||||
#include "test_liveview.hpp"
|
||||
|
||||
#ifdef OPEN_CV_INSTALLED
|
||||
|
||||
#include "opencv2/opencv.hpp"
|
||||
#include "opencv2/dnn.hpp"
|
||||
#include "opencv2/highgui/highgui.hpp"
|
||||
#include "../../../sample_c/module_sample/utils/util_misc.h"
|
||||
|
||||
using namespace cv;
|
||||
#endif
|
||||
using namespace std;
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
const char *classNames[] = {"background", "person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck",
|
||||
"boat", "traffic light",
|
||||
"fire hydrant", "background", "stop sign", "parking meter", "bench", "bird", "cat", "dog",
|
||||
"horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "background", "backpack",
|
||||
"umbrella", "background", "background", "handbag", "tie", "suitcase", "frisbee", "skis",
|
||||
"snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard",
|
||||
"surfboard", "tennis racket",
|
||||
"bottle", "background", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana",
|
||||
"apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut",
|
||||
"cake", "chair", "couch", "potted plant", "bed", "background", "dining table", "background",
|
||||
"background", "toilet", "background", "tv", "laptop", "mouse", "remote", "keyboard",
|
||||
"cell phone", "microwave", "oven", "toaster", "sink", "refrigerator", "background", "book",
|
||||
"clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"};
|
||||
|
||||
const size_t inWidth = 320;
|
||||
const size_t inHeight = 300;
|
||||
const float WHRatio = inWidth / (float) inHeight;
|
||||
static int32_t s_demoIndex = -1;
|
||||
char curFileDirPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
char tempFileDirPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
char prototxtFileDirPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
char weightsFileDirPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void DjiUser_ShowRgbImageCallback(CameraRGBImage img, void *userData);
|
||||
static T_DjiReturnCode DjiUser_GetCurrentFileDirPath(const char *filePath, uint32_t pathBufferSize, char *dirPath);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
void DjiUser_RunCameraStreamViewSample()
|
||||
{
|
||||
char cameraIndexChar = 0;
|
||||
char demoIndexChar = 0;
|
||||
char isQuit = 0;
|
||||
CameraRGBImage camImg;
|
||||
char fpvName[] = "FPV_CAM";
|
||||
char mainName[] = "MAIN_CAM";
|
||||
char viceName[] = "VICE_CAM";
|
||||
char topName[] = "TOP_CAM";
|
||||
auto *liveviewSample = new LiveviewSample();
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiUser_GetCurrentFileDirPath(__FILE__, DJI_FILE_PATH_SIZE_MAX, curFileDirPath);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
|
||||
}
|
||||
|
||||
cout << "Please enter the type of camera stream you want to view\n\n"
|
||||
<< "--> [f] Fpv Camera\n"
|
||||
<< "--> [m] Main Camera\n"
|
||||
<< "--> [v] Vice Camera\n"
|
||||
<< "--> [t] Top Camera\n"
|
||||
<< endl;
|
||||
cin >> cameraIndexChar;
|
||||
|
||||
switch (cameraIndexChar) {
|
||||
case 'f':
|
||||
case 'F':
|
||||
liveviewSample->StartFpvCameraStream(&DjiUser_ShowRgbImageCallback, &fpvName);
|
||||
break;
|
||||
case 'm':
|
||||
case 'M':
|
||||
liveviewSample->StartMainCameraStream(&DjiUser_ShowRgbImageCallback, &mainName);
|
||||
break;
|
||||
case 'v':
|
||||
case 'V':
|
||||
liveviewSample->StartViceCameraStream(&DjiUser_ShowRgbImageCallback, &viceName);
|
||||
break;
|
||||
case 't':
|
||||
case 'T':
|
||||
liveviewSample->StartTopCameraStream(&DjiUser_ShowRgbImageCallback, &topName);
|
||||
break;
|
||||
default:
|
||||
cout << "No camera selected";
|
||||
delete liveviewSample;
|
||||
return;
|
||||
}
|
||||
|
||||
cout << "Please choose the stream demo you want to run\n\n"
|
||||
<< "--> [0] Normal RGB image display\n"
|
||||
<< "--> [1] Binary image display\n"
|
||||
<< "--> [2] Faces detection demo\n"
|
||||
<< "--> [3] Tensorflow Object detection demo\n"
|
||||
<< endl;
|
||||
cin >> demoIndexChar;
|
||||
|
||||
switch (demoIndexChar) {
|
||||
case '0':
|
||||
s_demoIndex = 0;
|
||||
break;
|
||||
case '1':
|
||||
s_demoIndex = 1;
|
||||
break;
|
||||
case '2':
|
||||
s_demoIndex = 2;
|
||||
break;
|
||||
case '3':
|
||||
s_demoIndex = 3;
|
||||
break;
|
||||
default:
|
||||
cout << "No demo selected";
|
||||
delete liveviewSample;
|
||||
return;
|
||||
}
|
||||
|
||||
cout << "Please enter the 'q' or 'Q' to quit camera stream view\n"
|
||||
<< endl;
|
||||
|
||||
while (true) {
|
||||
cin >> isQuit;
|
||||
if (isQuit == 'q' || isQuit == 'Q') {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
switch (cameraIndexChar) {
|
||||
case 'f':
|
||||
case 'F':
|
||||
liveviewSample->StopFpvCameraStream();
|
||||
break;
|
||||
case 'm':
|
||||
case 'M':
|
||||
liveviewSample->StopMainCameraStream();
|
||||
break;
|
||||
case 'v':
|
||||
case 'V':
|
||||
liveviewSample->StopViceCameraStream();
|
||||
break;
|
||||
case 't':
|
||||
case 'T':
|
||||
liveviewSample->StopTopCameraStream();
|
||||
break;
|
||||
default:
|
||||
cout << "No camera selected";
|
||||
delete liveviewSample;
|
||||
return;
|
||||
}
|
||||
|
||||
delete liveviewSample;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static void DjiUser_ShowRgbImageCallback(CameraRGBImage img, void *userData)
|
||||
{
|
||||
string name = string(reinterpret_cast<char *>(userData));
|
||||
|
||||
#ifdef OPEN_CV_INSTALLED
|
||||
Mat mat(img.height, img.width, CV_8UC3, img.rawData.data(), img.width * 3);
|
||||
|
||||
if (s_demoIndex == 0) {
|
||||
cvtColor(mat, mat, COLOR_RGB2BGR);
|
||||
imshow(name, mat);
|
||||
} else if (s_demoIndex == 1) {
|
||||
cvtColor(mat, mat, COLOR_RGB2GRAY);
|
||||
Mat mask;
|
||||
cv::threshold(mat, mask, 0, 255, cv::THRESH_BINARY | cv::THRESH_OTSU);
|
||||
imshow(name, mask);
|
||||
} else if (s_demoIndex == 2) {
|
||||
cvtColor(mat, mat, COLOR_RGB2BGR);
|
||||
snprintf(tempFileDirPath, DJI_FILE_PATH_SIZE_MAX, "%s/data/haarcascade_frontalface_alt.xml", curFileDirPath);
|
||||
auto faceDetector = cv::CascadeClassifier(tempFileDirPath);
|
||||
std::vector<Rect> faces;
|
||||
faceDetector.detectMultiScale(mat, faces, 1.1, 3, 0, Size(50, 50));
|
||||
|
||||
for (int i = 0; i < faces.size(); ++i) {
|
||||
cout << "index: " << i;
|
||||
cout << " x: " << faces[i].x;
|
||||
cout << " y: " << faces[i].y << endl;
|
||||
|
||||
cv::rectangle(mat, cvPoint(faces[i].x, faces[i].y),
|
||||
cvPoint(faces[i].x + faces[i].width, faces[i].y + faces[i].height),
|
||||
Scalar(0, 0, 255), 2, 1, 0);
|
||||
}
|
||||
imshow(name, mat);
|
||||
} else if (s_demoIndex == 3) {
|
||||
snprintf(prototxtFileDirPath, DJI_FILE_PATH_SIZE_MAX,
|
||||
"%s/data/tensorflow/ssd_inception_v2_coco_2017_11_17.pbtxt",
|
||||
curFileDirPath);
|
||||
//Attention: If you want to run the Tensorflow Object detection demo, Please download the tensorflow model.
|
||||
//Download Url: http://download.tensorflow.org/models/object_detection/ssd_inception_v2_coco_2017_11_17.tar.gz
|
||||
snprintf(weightsFileDirPath, DJI_FILE_PATH_SIZE_MAX, "%s/data/tensorflow/frozen_inference_graph.pb",
|
||||
curFileDirPath);
|
||||
|
||||
dnn::Net net = cv::dnn::readNetFromTensorflow(weightsFileDirPath, prototxtFileDirPath);
|
||||
Size frame_size = mat.size();
|
||||
|
||||
Size cropSize;
|
||||
if (frame_size.width / (float) frame_size.height > WHRatio) {
|
||||
cropSize = Size(static_cast<int>(frame_size.height * WHRatio),
|
||||
frame_size.height);
|
||||
} else {
|
||||
cropSize = Size(frame_size.width,
|
||||
static_cast<int>(frame_size.width / WHRatio));
|
||||
}
|
||||
|
||||
Rect crop(Point((frame_size.width - cropSize.width) / 2,
|
||||
(frame_size.height - cropSize.height) / 2),
|
||||
cropSize);
|
||||
|
||||
cv::Mat blob = cv::dnn::blobFromImage(mat, 1, Size(300, 300));
|
||||
net.setInput(blob);
|
||||
Mat output = net.forward();
|
||||
Mat detectionMat(output.size[2], output.size[3], CV_32F, output.ptr<float>());
|
||||
|
||||
mat = mat(crop);
|
||||
float confidenceThreshold = 0.50;
|
||||
|
||||
for (int i = 0; i < detectionMat.rows; i++) {
|
||||
float confidence = detectionMat.at<float>(i, 2);
|
||||
if (confidence > confidenceThreshold) {
|
||||
auto objectClass = (size_t) (detectionMat.at<float>(i, 1));
|
||||
|
||||
int xLeftBottom = static_cast<int>(detectionMat.at<float>(i, 3) * mat.cols);
|
||||
int yLeftBottom = static_cast<int>(detectionMat.at<float>(i, 4) * mat.rows);
|
||||
int xRightTop = static_cast<int>(detectionMat.at<float>(i, 5) * mat.cols);
|
||||
int yRightTop = static_cast<int>(detectionMat.at<float>(i, 6) * mat.rows);
|
||||
|
||||
ostringstream ss;
|
||||
ss << confidence;
|
||||
String conf(ss.str());
|
||||
|
||||
Rect object((int) xLeftBottom, (int) yLeftBottom,
|
||||
(int) (xRightTop - xLeftBottom),
|
||||
(int) (yRightTop - yLeftBottom));
|
||||
|
||||
rectangle(mat, object, Scalar(0, 255, 0), 2);
|
||||
String label = String(classNames[objectClass]) + ": " + conf;
|
||||
|
||||
int baseLine = 0;
|
||||
Size labelSize = getTextSize(label, FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine);
|
||||
rectangle(mat, Rect(Point(xLeftBottom, yLeftBottom - labelSize.height),
|
||||
Size(labelSize.width, labelSize.height + baseLine)), Scalar(0, 255, 0), CV_FILLED);
|
||||
putText(mat, label, Point(xLeftBottom, yLeftBottom), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0));
|
||||
}
|
||||
}
|
||||
imshow(name, mat);
|
||||
}
|
||||
|
||||
cv::waitKey(1);
|
||||
#endif
|
||||
}
|
||||
|
||||
static T_DjiReturnCode DjiUser_GetCurrentFileDirPath(const char *filePath, uint32_t pathBufferSize, char *dirPath)
|
||||
{
|
||||
uint32_t i = strlen(filePath) - 1;
|
||||
uint32_t dirPathLen;
|
||||
|
||||
while (filePath[i] != '/') {
|
||||
i--;
|
||||
}
|
||||
|
||||
dirPathLen = i + 1;
|
||||
|
||||
if (dirPathLen + 1 > pathBufferSize) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
memcpy(dirPath, filePath, dirPathLen);
|
||||
dirPath[dirPathLen] = 0;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,48 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview_entry.hpp
|
||||
* @brief This is the header file for "test_liveview_entry.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 DJI. All rights reserved.
|
||||
*
|
||||
* All information contained herein is, and remains, the property of DJI.
|
||||
* The intellectual and technical concepts contained herein are proprietary
|
||||
* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
||||
* and protected by trade secret or copyright law. Dissemination of this
|
||||
* information, including but not limited to data and other proprietary
|
||||
* material(s) incorporated within the information, in any form, is strictly
|
||||
* prohibited without the express written consent of DJI.
|
||||
*
|
||||
* If you receive this source code without DJI’s authorization, you may not
|
||||
* further disseminate the information, and you must immediately remove the
|
||||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||||
* legal actions against you for any loss(es) or damage(s) caused by your
|
||||
* failure to do so.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_LIVEVIEW_ENTRY_H
|
||||
#define TEST_LIVEVIEW_ENTRY_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
void DjiUser_RunCameraStreamViewSample();
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_LIVEVIEW_ENTRY_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
Reference in New Issue
Block a user