The port for new video pipeline completed. The code compile and links. Just navdata works. Video untested.

CMakeLists.txt

@@ -33,4 +33,4 @@ link_directories(${PROJECT_SOURCE_DIR}/lib/)
 include_directories(${SDK} ${SDK}/FFMPEG/Includes ${SDK}/Soft/Common ${SDK}/Soft/Lib ${SDK}/VP_SDK ${SDK}/VP_SDK/VP_Os/linux )
 rosbuild_add_executable(ardrone_driver src/ardrone_driver.cpp src/video.cpp src/ardrone_sdk.cpp src/teleop_twist.cpp)
 #target_link_libraries(ardrone_driver vlib pc_ardrone sdk SDL avcodec avdevice avfilter avformat avutil swscale)
-target_link_libraries(ardrone_driver vlib pc_ardrone sdk SDL avcodec avutil swscale)
+target_link_libraries(ardrone_driver pc_ardrone avcodec avutil swscale vlib  sdk SDL )

src/ardrone_sdk.cpp

@@ -1,4 +1,5 @@
 #include "ardrone_sdk.h"
+#include "video.h"
 #include "teleop_twist.h"
 
 navdata_demo_t navdata;
@@ -72,7 +73,7 @@ extern "C" {
         
         START_THREAD(video_stage, params);
         video_stage_init();
-		//START_THREAD(video_update_thread, 0);
+		START_THREAD(video_update_thread, 0);
         //START_THREAD(mani, 0);
 		return C_OK;
 	}
@@ -94,6 +95,7 @@ extern "C" {
 	}
 
 	BEGIN_THREAD_TABLE
+    THREAD_TABLE_ENTRY(video_stage, 20)
 	THREAD_TABLE_ENTRY(video_update_thread, 20)
     //THREAD_TABLE_ENTRY(mani, 20)
 	THREAD_TABLE_ENTRY(navdata_update, 20)

src/ardrone_sdk.h

@@ -46,8 +46,6 @@ extern "C" {
 #include <ardrone_tool/Control/ardrone_control.h>
 #include <ardrone_tool/Navdata/ardrone_navdata_client.h>
 
-#include "video.h"
-
 #include <ardrone_tool/Video/video_stage.h>
 #include <ardrone_tool/Video/video_recorder_pipeline.h>
 

src/video.cpp

@@ -45,7 +45,7 @@ const vp_api_stage_funcs_t vp_stages_export_funcs =
 
 DEFINE_THREAD_ROUTINE(video_update_thread, data)
 {
-//    PRINT("***** Starting video capture thread ...\n");
+    PRINT("***** Starting video capture thread ...\n");
 //  C_RESULT res;
 //
 //  vp_api_io_pipeline_t    pipeline;
@@ -153,6 +153,6 @@ DEFINE_THREAD_ROUTINE(video_update_thread, data)
 //    vp_api_close(&pipeline, &pipeline_handle);
 //  }
 //
-//  return (THREAD_RET)0;
+  return (THREAD_RET)0;
 }