The first working video, still nasty

src/ardrone_driver.cpp

@@ -95,7 +95,7 @@ void ARDroneDriver::run()
 		}
 		if (true) //(current_frame_id != last_frame_id)
 		{
-			//publish_video();
+			publish_video();
 			publish_navdata();
 			last_frame_id = current_frame_id;
 		}

src/ardrone_sdk.cpp

@@ -70,10 +70,12 @@ extern "C" {
         params->post_processing_stages_list = driver_post_stages;
         params->needSetPriority = 0;
         params->priority = 0;
-        
+        // Using the provided threaded pipeline implementation from SDK
         START_THREAD(video_stage, params);
         video_stage_init();
-		START_THREAD(video_update_thread, 0);
+        // Threads do not start automatically
+        video_stage_resume_thread();
+		//START_THREAD(video_update_thread, 0);
         //START_THREAD(mani, 0);
 		return C_OK;
 	}
@@ -96,7 +98,7 @@ extern "C" {
 
 	BEGIN_THREAD_TABLE
     THREAD_TABLE_ENTRY(video_stage, 20)
-	THREAD_TABLE_ENTRY(video_update_thread, 20)
+	//THREAD_TABLE_ENTRY(video_update_thread, 20)
     //THREAD_TABLE_ENTRY(mani, 20)
 	THREAD_TABLE_ENTRY(navdata_update, 20)
 	THREAD_TABLE_ENTRY(ATcodec_Commands_Client, 20)

src/video.cpp

@@ -16,17 +16,17 @@ extern "C" C_RESULT export_stage_open( void *cfg, vp_api_io_data_t *in, vp_api_i
 
 extern "C" C_RESULT export_stage_transform( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
 {
-    
-    PRINT("In Transform before copy\n");
-    vp_os_mutex_lock(&video_update_lock);
-    /* Get a reference to the last decoded picture */
-    pixbuf_data      = (uint8_t*)in->buffers[0];
-    /* Copy the entire buffer, TODO: can we movet this to the thread to make the transform faster?*/
+//    PRINT("In Transform before copy\n");
+//    printf("The size of buffer is %d\n", in->size);
+//    vp_os_mutex_lock(&video_update_lock);
+//    /* Get a reference to the last decoded picture */
+//    pixbuf_data      = (uint8_t*)in->buffers[0];
+//    /* Copy the entire buffer, TODO: can we movet this to the thread to make the transform faster?*/
 	memcpy(buffer, in->buffers[0], STREAM_WIDTH * STREAM_HEIGHT * 3);
-    //memcpy(buffer, in->buffers[0], in->size);
-    vp_os_mutex_unlock(&video_update_lock);
-    PRINT("In Transform after copy\n");
-	current_frame_id++;
+//    //memcpy(buffer, in->buffers[0], in->size);
+//    vp_os_mutex_unlock(&video_update_lock);
+//    PRINT("In Transform after copy\n");
+//	current_frame_id++;
  	return (SUCCESS);
 }