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NEW: release DJI Payload-SDK version 3.4

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-04-18 21:26:50 +08:00
parent b621c93fde
commit 29109dd0db
106 changed files with 3030521 additions and 1114 deletions
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samples/sample_c++/module_sample/liveview/data/tensorflow/frozen_inference_graph.pb Normal file
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11
samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.cpp
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@ -43,6 +43,7 @@ DJICameraStreamDecoder::DJICameraStreamDecoder()
cbThreadStatus(-1),
cb(nullptr),
cbUserParam(nullptr),
#ifdef FFMPEG_INSTALLED
pCodecCtx(nullptr),
pCodec(nullptr),
pCodecParserCtx(nullptr),
@ -50,6 +51,7 @@ DJICameraStreamDecoder::DJICameraStreamDecoder()
pFrameYUV(nullptr),
pFrameRGB(nullptr),
rgbBuf(nullptr),
#endif
bufSize(0)
{
pthread_mutex_init(&decodemutex, nullptr);
@ -75,6 +77,7 @@ bool DJICameraStreamDecoder::init()
return true;
}
#ifdef FFMPEG_INSTALLED
avcodec_register_all();
pCodecCtx = avcodec_alloc_context3(nullptr);
if (!pCodecCtx) {
@ -105,8 +108,8 @@ bool DJICameraStreamDecoder::init()
pSwsCtx = nullptr;
pCodecCtx->flags2 |= AV_CODEC_FLAG2_SHOW_ALL;
#endif
initSuccess = true;
pthread_mutex_unlock(&decodemutex);
return true;
@ -117,6 +120,8 @@ void DJICameraStreamDecoder::cleanup()
pthread_mutex_lock(&decodemutex);
initSuccess = false;
#ifdef FFMPEG_INSTALLED
if (nullptr != pSwsCtx) {
sws_freeContext(pSwsCtx);
pSwsCtx = nullptr;
@ -151,7 +156,7 @@ void DJICameraStreamDecoder::cleanup()
av_free(pFrameRGB);
pFrameRGB = nullptr;
}
#endif
pthread_mutex_unlock(&decodemutex);
}
@ -184,6 +189,7 @@ void DJICameraStreamDecoder::decodeBuffer(const uint8_t *buf, int bufLen)
int remainingLen = bufLen;
int processedLen = 0;
#ifdef FFMPEG_INSTALLED
AVPacket pkt;
av_init_packet(&pkt);
pthread_mutex_lock(&decodemutex);
@ -238,6 +244,7 @@ void DJICameraStreamDecoder::decodeBuffer(const uint8_t *buf, int bufLen)
}
pthread_mutex_unlock(&decodemutex);
av_free_packet(&pkt);
#endif
}
bool DJICameraStreamDecoder::registerCallback(CameraImageCallback f, void *param)

5
samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.hpp
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@ -29,9 +29,11 @@
/* Includes ------------------------------------------------------------------*/
extern "C" {
#ifdef FFMPEG_INSTALLED
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libswscale/swscale.h>
#endif
}
#include "pthread.h"
@ -66,6 +68,8 @@ private:
void *cbUserParam;
pthread_mutex_t decodemutex;
#ifdef FFMPEG_INSTALLED
AVCodecContext *pCodecCtx;
AVCodec *pCodec;
AVCodecParserContext *pCodecParserCtx;
@ -73,6 +77,7 @@ private:
AVFrame *pFrameYUV;
AVFrame *pFrameRGB;
#endif
uint8_t *rgbBuf;
size_t bufSize;
};

4
samples/sample_c++/module_sample/liveview/test_liveview.cpp
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@ -42,7 +42,7 @@ LiveviewSample::LiveviewSample()
returnCode = DjiLiveview_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Liveview init failed");
perror("Liveview init failed");
}
streamDecoder = {
@ -59,7 +59,7 @@ LiveviewSample::~LiveviewSample()
returnCode = DjiLiveview_Deinit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Liveview deinit failed");
perror("Liveview deinit failed");
}
for (auto pair : streamDecoder) {

15
samples/sample_c++/module_sample/liveview/test_liveview_entry.cpp
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@ -204,9 +204,17 @@ static void DjiUser_ShowRgbImageCallback(CameraRGBImage img, void *userData)
cout << " x: " << faces[i].x;
cout << " y: " << faces[i].y << endl;
#ifdef OPEN_CV_VERSION_3
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);
#endif
#ifdef OPEN_CV_VERSION_4
cv::rectangle(mat, cv::Point(faces[i].x, faces[i].y),
cv::Point(faces[i].x + faces[i].width, faces[i].y + faces[i].height),
Scalar(0, 0, 255), 2, 1, 0);
#endif
}
imshow(name, mat);
} else if (s_demoIndex == 3) {
@ -265,8 +273,15 @@ static void DjiUser_ShowRgbImageCallback(CameraRGBImage img, void *userData)
int baseLine = 0;
Size labelSize = getTextSize(label, FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine);
#ifdef OPEN_CV_VERSION_3
rectangle(mat, Rect(Point(xLeftBottom, yLeftBottom - labelSize.height),
Size(labelSize.width, labelSize.height + baseLine)), Scalar(0, 255, 0), CV_FILLED);
#endif
#ifdef OPEN_CV_VERSION_4
rectangle(mat, Rect(Point(xLeftBottom, yLeftBottom - labelSize.height),
Size(labelSize.width, labelSize.height + baseLine)), Scalar(0, 255, 0), cv::FILLED);
#endif
putText(mat, label, Point(xLeftBottom, yLeftBottom), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0));
}
}