妙算获得相机图像（一）

一. 根据专门的读取相机包获得图像

1.从下边的GitHub地址下载相关程序文件

GitHub地址：https://github.com/dji-sdk/Manifold-Cam

2.按照上图进行硬件连接

如果之前没有连接妙算和云台，现在将连接云台的8-pin线连入妙算的CAM_IN口，用另外一根8-pin连接妙算的CAM_OUT口和云台的8-pin接口。

3.编译文件

分别执行：

$ sudo make install         //install the libdcam.so to /usr/lib, you need to install the library first

$ make //compile to the obj file 'test'

4.运行获得图像

$ sudo ./test [-dgt]

Usage:
-d --display display video stream
-g --getbuffer get NV12 format buffer
-t --transfer transfer video datas to RC
其中-d和-g不能同时使用，而且上述命令在远程桌面下不能使用。

 

5.若要在远程界面下调用该命令，参考以下命令：

1. (Optional) Disable lightdm for stability:

   in /etc/init/lightdm.conf line 12:

   Modify runlevel [!06] to runlevel [!026]

2.  

   Add xinit& to a startup script, such as:

   echo -e '#!/bin/bash\nxinit&' > /home/ubuntu/pre_x3
   chmod a+x /home/ubuntu/pre_x3
   And add /home/ubuntu/pre_x3 into /etc/rc.local. The ubuntu here is the current user, you may need to change it into yours.

3.  

   Add export DISPLAY=:0 to your .bashrc or remember to set this environment variable to THE USER WHO WILL RUN THE CODE

4.  

   (Maybe a reboot at first) Run the ./test with paramters you want.