Zhiyuan Li
108 linhas
2.3 KiB
C++
108 linhas
2.3 KiB
C++
/*! @file camera_stream_poll_sample.cpp
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* @version 3.5
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* @date Dec 06 2017
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*
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* @brief
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* AdvancedSensing, Camera Stream API usage in a Linux environment.
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* This sample shows how to use a callback function to process (view) the FPV or
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* main camera image.
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* (Optional) With OpenCV installed, user can visualize the images
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*
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* @copyright
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* 2016-17 DJI. All rights reserved.
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* */
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#include "dji_vehicle.hpp"
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#include <iostream>
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#include "dji_linux_helpers.hpp"
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#ifdef OPEN_CV_INSTALLED
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#include "opencv2/opencv.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#endif
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using namespace DJI::OSDK;
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using namespace cv;
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using namespace std;
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void show_rgb(CameraRGBImage img, void *p)
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{
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string name = string(reinterpret_cast<char *>(p));
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cout << "#### Got image from:\t" << name << endl;
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#ifdef OPEN_CV_INSTALLED
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Mat mat(img.height, img.width, CV_8UC3, img.rawData.data(), img.width*3);
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cvtColor(mat, mat, COLOR_RGB2BGR);
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imshow(name,mat);
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cv::waitKey(1);
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#endif
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}
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int main(int argc, char** argv)
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{
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bool f = false;
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bool m = false;
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char c = 0;
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cout << "Please enter the type of camera stream you want to view\n"
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<< "m: Main Camera\n"
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<< "f: FPV Camera" << endl;
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cin >> c;
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switch(c)
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{
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case 'm':
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m=true; break;
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case 'f':
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f=true; break;
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default:
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cout << "No camera selected";
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return 1;
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}
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// Setup OSDK.
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bool enableAdvancedSensing = true;
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LinuxSetup linuxEnvironment(argc, argv, enableAdvancedSensing);
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Vehicle* vehicle = linuxEnvironment.getVehicle();
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if (vehicle == NULL)
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{
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std::cout << "Vehicle not initialized, exiting.\n";
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return -1;
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}
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char fpvName[] = "FPV_CAM";
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char mainName[] = "MAIN_CAM";
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bool camResult = false;
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if(f)
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{
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camResult = vehicle->advancedSensing->startFPVCameraStream(&show_rgb, &fpvName);
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}
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else if(m)
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{
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camResult = vehicle->advancedSensing->startMainCameraStream(&show_rgb, &mainName);
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}
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if(!camResult)
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{
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cout << "Failed to open selected camera" << endl;
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return 1;
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}
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CameraRGBImage camImg;
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// main thread just sleep
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// callback function will be called whenever a new image is ready
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sleep(10);
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if(f)
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{
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vehicle->advancedSensing->stopFPVCameraStream();
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}
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else if(m)
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{
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vehicle->advancedSensing->stopMainCameraStream();
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}
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return 0;
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}
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