Classes
struct	ImageSelection
	This struct provides an interface for user to determine what images to subscribe to. More...

Public Types
enum	ReceivedImgDesc { RECV_FRONT_LEFT = 10, RECV_FRONT_RIGHT = 11, RECV_DOWN_BACK = 0, RECV_DOWN_FRONT = 1, RECV_FRONT_DEPTH = 15 }
	This struct is used to pair img data with camera.

typedef struct DJI::OSDK::AdvancedSensing::ImageSelection	ImageSelection
	This struct provides an interface for user to determine what images to subscribe to.

Public Member Functions
	AdvancedSensing (Vehicle *vehiclePtr)

void	init ()
	subscribe to QVGA (240x320) stereo images at 20 fps More...

void	deinit ()

void	subscribeStereoImages (const ImageSelection *select, VehicleCallBack callback=0, UserData userData=0)
	subscribe to 240p stereo images at 20 fps More...

void	subscribeFrontStereoVGA (const uint8_t freq, VehicleCallBack callback=0, UserData userData=0)
	subscribe to VGA (480x640) front stereo images at 10 or 20 fps More...

void	subscribeFrontStereoDisparity (VehicleCallBack callback=0, UserData userData=0)
	subscribe to QVGA (240x320) stereo depth map at 10 fps More...

void	unsubscribeStereoImages ()
	unsubscribe to QVGA (240x320) stereo depth map or images More...

void	unsubscribeVGAImages ()
	unsubscribe to VGA (480x640) stereo images More...

bool	startFPVCameraStream (CameraImageCallback cb=NULL, void *cbParam=NULL)
	Start the FPV Camera Stream. More...

bool	startMainCameraStream (CameraImageCallback cb=NULL, void *cbParam=NULL)
	Start the Main Camera Stream. More...

void	setAcmDevicePath (const char *acm_path)
	Set the ACM device path, mainly for M210V2. More...

void	stopFPVCameraStream ()
	Stop the FPV RGB Stream. More...

void	stopMainCameraStream ()
	Stop the Main Camera RGB Stream. More...

bool	newFPVCameraImageIsReady ()
	Check if a new image from the FPV camera is received. More...

bool	newMainCameraImageReady ()
	Check if a new image from the main camera is received. More...

bool	getFPVCameraImage (CameraRGBImage &copyOfImage)
	Get a copy of the new image from the FPV camera. More...

bool	getMainCameraImage (CameraRGBImage &copyOfImage)
	Get a copy of the new image from the main camera. More...

LiveView::LiveViewErrCode	changeH264Source (LiveView::LiveViewCameraPosition pos, LiveView::LiveViewCameraSource source)
	Change the camera stream source from one payload device. (Beta API) More...

LiveView::LiveViewErrCode	startH264Stream (LiveView::LiveViewCameraPosition pos, H264Callback cb, void *userData)
	Start the FPV or Camera H264 Stream. More...

LiveView::LiveViewErrCode	stopH264Stream (LiveView::LiveViewCameraPosition pos)
	Stop the FPV or Camera H264 Stream. More...

Perception::PerceptionErrCode	subscribePerceptionImage (Perception::DirectionType direction, Perception::PerceptionImageCB cb, void *userData)
	Subscribe the perception camera image stream (Only for M300 series) More...

Perception::PerceptionErrCode	unsubscribePerceptionImage (Perception::DirectionType direction)
	Unsubscribe the perception camera image stream (Only for M300 series) More...

Perception::PerceptionErrCode	triggerStereoCamParamsPushing ()
	Trigger the perception parameters to be passed to the callback which is registered by DJI::OSDK::Perception::setStereoCamParamsObserver. (Only for M300 series) More...

void	setStereoCamParamsObserver (Perception::PerceptionCamParamCB cb, void *userData)
	Set the callback to catch the perception camera parameters. (Only for M300 series) More...

AdvancedSensingProtocol *	getAdvancedSensingProtocol ()

Static Public Member Functions
static void	stereoCallback (Vehicle *vehiclePtr, RecvContainer recvFrame, UserData userData)
	A default callback function for QVGA stereo images. More...

static void	VGACallback (Vehicle *vehiclePtr, RecvContainer recvFrame, UserData userData)
	A default callback function for VGA stereo images. More...

Public Attributes
VehicleCallBackHandler	stereoHandler

VehicleCallBackHandler	vgaHandler

Detailed Description

APIs to access stereo camera, FPV camera and the main gimbaled camera on M210 and M210RTK

Member Function Documentation

◆ changeH264Source()

LiveView::LiveViewErrCode DJI::OSDK::AdvancedSensing::changeH264Source	(	LiveView::LiveViewCameraPosition	pos,
		LiveView::LiveViewCameraSource	source
	)

Change the camera stream source from one payload device. (Beta API)

Supported Platforms : M300

Note: Only support for payload device : H20/H20T

Parameters

pos	point out which camera to output the H264 stream
source	change to be the target camera of the payload, ref to LiveView::LiveViewCameraSource

Returns: Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode

◆ getFPVCameraImage()

bool DJI::OSDK::AdvancedSensing::getFPVCameraImage ( CameraRGBImage & copyOfImage )

Get a copy of the new image from the FPV camera.

Supported Platforms : M210V2, M300

Parameters

copyOfImage A copy of the new available image will be put here. It is safe for user to manipulate this image.

Note: If a new image is not ready upon calling this function, it will wait for 30ms till timeout.

Returns: true if a new image frame is ready, false if timeout

◆ getMainCameraImage()

bool DJI::OSDK::AdvancedSensing::getMainCameraImage ( CameraRGBImage & copyOfImage )

Get a copy of the new image from the main camera.

Supported Platforms : M210V2, M300

Parameters

A	copy of the new available image will be put here. It is safe for user to manipulate this image.

Note: If a new image is not ready upon calling this function, it will wait for 30ms till timeout.

Returns: true if a new image frame is ready, false if timeout

◆ init()

void DJI::OSDK::AdvancedSensing::init ( )

subscribe to QVGA (240x320) stereo images at 20 fps

Parameters

images	to subscribe
callback	callback function
userData	user data (void ptr)

◆ newFPVCameraImageIsReady()

bool DJI::OSDK::AdvancedSensing::newFPVCameraImageIsReady ( )

Check if a new image from the FPV camera is received.

Supported Platforms : M210V2, M300

Returns: true if a new image frame is ready, false otherwise

◆ newMainCameraImageReady()

bool DJI::OSDK::AdvancedSensing::newMainCameraImageReady ( )

Check if a new image from the main camera is received.

Supported Platforms : M210V2, M300

Returns: true if a new image frame is ready, false otherwise

◆ setAcmDevicePath()

void DJI::OSDK::AdvancedSensing::setAcmDevicePath ( const char * acm_path )

Set the ACM device path, mainly for M210V2.

Supported Platforms : M210V2

◆ setStereoCamParamsObserver()

void DJI::OSDK::AdvancedSensing::setStereoCamParamsObserver	(	Perception::PerceptionCamParamCB	cb,
		void *	userData
	)

Set the callback to catch the perception camera parameters. (Only for M300 series)

Supported Platforms : M300

Note: The callback will be triggered by calling DJI::OSDK::Perception::triggerStereoCamParamsPushing() or when the parameters of perception cameras are refreshed.

Parameters

cb	callback function that is called in a callback thread when the getting the parameters of perception cameras.
userData	a void pointer that users can manipulate inside the callback

◆ startFPVCameraStream()

bool DJI::OSDK::AdvancedSensing::startFPVCameraStream	(	CameraImageCallback	cb = `NULL`,
		void *	cbParam = `NULL`
	)

Start the FPV Camera Stream.

Supported Platforms : M210V2, M300

Parameters

cb	callback function that is called in a callback thread when a new image is received and decoded
cbParam	a void pointer that users can manipulate inside the callback

Returns: true if successfully started, false otherwise

◆ startH264Stream()

LiveView::LiveViewErrCode DJI::OSDK::AdvancedSensing::startH264Stream	(	LiveView::LiveViewCameraPosition	pos,
		H264Callback	cb,
		void *	userData
	)

Start the FPV or Camera H264 Stream.

Supported Platforms : M210V2, M300

Note: For M210 V2 series, only OSDK_CAMERA_POSITION_NO_1 and OSDK_CAMERA_POSITION_FPV are supported.; For M300, all the poss are supported.

Parameters

pos	point out which camera to output the H264 stream
cb	callback function that is called in a callback thread when a new h264 frame is received
cbParam	a void pointer that users can manipulate inside the callback

Returns: Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode

◆ startMainCameraStream()

bool DJI::OSDK::AdvancedSensing::startMainCameraStream	(	CameraImageCallback	cb = `NULL`,
		void *	cbParam = `NULL`
	)

Start the Main Camera Stream.

Supported Platforms : M210V2, M300

Parameters

cb	callback function that is called in a callback thread when a new image is received and decoded
cbParam	a void pointer that users can manipulate inside the callback

Returns: true if successfully started, false otherwise

◆ stereoCallback()

static void DJI::OSDK::AdvancedSensing::stereoCallback	(	Vehicle *	vehiclePtr,
		RecvContainer	recvFrame,
		UserData	userData
	)

static

A default callback function for QVGA stereo images.

Parameters

vehicle	pointer
recvFrame	the data comes with the callback function
userData	a void ptr that user can manipulate inside the callback

◆ stopFPVCameraStream()

void DJI::OSDK::AdvancedSensing::stopFPVCameraStream ( )

Stop the FPV RGB Stream.

Supported Platforms : M210V2, M300

◆ stopH264Stream()

LiveView::LiveViewErrCode DJI::OSDK::AdvancedSensing::stopH264Stream ( LiveView::LiveViewCameraPosition pos )

Stop the FPV or Camera H264 Stream.

Supported Platforms : M210V2, M300

Note: For M210 V2 series, only OSDK_CAMERA_POSITION_NO_1 and OSDK_CAMERA_POSITION_FPV are supported.; For M300, all the poss are supported.

Parameters

pos	point out which camera to output the H264 stream

Returns: Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode

◆ stopMainCameraStream()

void DJI::OSDK::AdvancedSensing::stopMainCameraStream ( )

Stop the Main Camera RGB Stream.

Supported Platforms : M210V2, M300

◆ subscribeFrontStereoDisparity()

void DJI::OSDK::AdvancedSensing::subscribeFrontStereoDisparity	(	VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

subscribe to QVGA (240x320) stereo depth map at 10 fps

Supported Platforms : M210V2

Parameters

callback	callback function
userData	user data (void ptr)

◆ subscribeFrontStereoVGA()

void DJI::OSDK::AdvancedSensing::subscribeFrontStereoVGA	(	const uint8_t	freq,
		VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

subscribe to VGA (480x640) front stereo images at 10 or 20 fps

Supported Platforms : M210V2, M300

Parameters

frequency	of images using enum from AdvancedSensingProtocol::FREQ
callback	callback function
userData	user data (void ptr)

◆ subscribePerceptionImage()

Perception::PerceptionErrCode DJI::OSDK::AdvancedSensing::subscribePerceptionImage	(	Perception::DirectionType	direction,
		Perception::PerceptionImageCB	cb,
		void *	userData
	)

Subscribe the perception camera image stream (Only for M300 series)

Supported Platforms : M300

Parameters

direction	point out which direction's stream need to be subscribed
cb	callback function that is called in a callback thread when a perception image frame is received
userData	a void pointer that users can manipulate inside the callback

Returns: Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode

◆ subscribeStereoImages()

void DJI::OSDK::AdvancedSensing::subscribeStereoImages	(	const ImageSelection *	select,
		VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

subscribe to 240p stereo images at 20 fps

Supported Platforms : M210V2

Parameters

select	the choice of the image direction, ref to AdvancedSensing::ImageSelection
callback	callback function
userData	user data (void ptr)

◆ triggerStereoCamParamsPushing()

Perception::PerceptionErrCode DJI::OSDK::AdvancedSensing::triggerStereoCamParamsPushing ( )

Trigger the perception parameters to be passed to the callback which is registered by DJI::OSDK::Perception::setStereoCamParamsObserver. (Only for M300 series)

Supported Platforms : M300

Returns: Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode

◆ unsubscribePerceptionImage()

Perception::PerceptionErrCode DJI::OSDK::AdvancedSensing::unsubscribePerceptionImage ( Perception::DirectionType direction )

Unsubscribe the perception camera image stream (Only for M300 series)

Supported Platforms : M300

Parameters

direction point out which direction's stream need to be unsubscribed

Returns: Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode

◆ unsubscribeStereoImages()

void DJI::OSDK::AdvancedSensing::unsubscribeStereoImages ( )

unsubscribe to QVGA (240x320) stereo depth map or images

Supported Platforms : M210V2, M300

◆ unsubscribeVGAImages()

void DJI::OSDK::AdvancedSensing::unsubscribeVGAImages ( )

unsubscribe to VGA (480x640) stereo images

Supported Platforms : M210V2, M300

◆ VGACallback()

static void DJI::OSDK::AdvancedSensing::VGACallback	(	Vehicle *	vehiclePtr,
		RecvContainer	recvFrame,
		UserData	userData
	)

static

A default callback function for VGA stereo images.

Parameters

vehicle	pointer
recvFrame	the data comes with the callback function
userData	a void ptr that user can manipulate inside the callback

The documentation for this class was generated from the following file:

osdk-core/advanced-sensing/api/inc/dji_advanced_sensing.hpp

Onboard SDK

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ changeH264Source()

◆ getFPVCameraImage()

◆ getMainCameraImage()

◆ init()

◆ newFPVCameraImageIsReady()

◆ newMainCameraImageReady()

◆ setAcmDevicePath()

◆ setStereoCamParamsObserver()

◆ startFPVCameraStream()

◆ startH264Stream()

◆ startMainCameraStream()

◆ stereoCallback()

◆ stopFPVCameraStream()

◆ stopH264Stream()

◆ stopMainCameraStream()

◆ subscribeFrontStereoDisparity()

◆ subscribeFrontStereoVGA()

◆ subscribePerceptionImage()

◆ subscribeStereoImages()

◆ triggerStereoCamParamsPushing()

◆ unsubscribePerceptionImage()

◆ unsubscribeStereoImages()

◆ unsubscribeVGAImages()

◆ VGACallback()