M300无人机，ros系统下，怎么获取下视感知摄像头的数据？

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DJI Developer Support

• September 17, 2021 02:39

M300无人机，ros系统下，怎么获取下视感知摄像头的数据？

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  DJI Developer Support

  • September 17, 2021 03:27

  OSDK-ROS是基于OSDK Linux开发的应用，即ROS下可以通过调用Linux的接口来获取视觉图像，API： /*! @brief * * Subscribe the perception camera image stream (Only for M300 series) * * @platforms M300 * @param direction point out which direction's stream need to be subscribed * @param cb callback function that is called in a callback thread when a * perception image frame is received * @param userData a void pointer that users can manipulate inside the callback * @return Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode */ Perception::PerceptionErrCode subscribePerceptionImage(Perception::DirectionType direction, Perception::PerceptionImageCB cb, void* userData); ROS 4.1 demo中提供的接口是适配M210机型的API，可以在ROS中基于上述API实作获取，M300参考Linux demo： https://github.com/dji-sdk/Onboard-SDK/tree/master/sample/platform/linux/advanced-sensing/stereo_vision_new_sample

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