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‎CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(m100_x3)
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set(CMAKE_VERBOSE_MAKEFILE "true")
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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else()
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message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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set(ADDITIONAL_CXX_FLAG "-Wall -O3")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CXX_FLAG}")
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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cv_bridge
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image_transport
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roscpp
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sensor_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# sensor_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES m100_x3
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# CATKIN_DEPENDS cv_bridge roscpp sensor_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(m100_x3
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# src/${PROJECT_NAME}/m100_x3.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(m100_x3 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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add_executable(m100_x3_node
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src/m100_x3_node.cpp
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src/djicam_utils.cpp
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)
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(m100_x3_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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target_link_libraries(m100_x3_node
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dcam
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS m100_x3 m100_x3_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_m100_x3.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎README.md

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# M100 X3 ROS Driver
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A ROS package which can read video stream from Zenmuse-X3-Camera on M100 and publish it as [sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html). Must be compiled and launched on Manifold.
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This package is based on [dji_sdk_manifold_read_cam](https://github.com/dji-sdk/Onboard-SDK-ROS/tree/2.3/dji_sdk_manifold_read_cam) and dji-sdk/Manifold-Cam. Refer to them for more infomation.
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### Steps for streaming video from X3 to Manifold, through SSH, without a hdmi-screen
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1. Install all the prerequisites in dji-sdk/Manifold-Cam
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2. (Optinal) Disable lightdm for stability:
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in `/etc/init/lightdm.conf`, line 12:
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Modify ```runlevel [!06]``` to ```runlevel [!026]```
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3. Add ```xinit&``` to a startup script, such as:
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```
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echo -e '#!/bin/bash\nxinit&' > /home/ubuntu/pre_x3
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chmod a+x /home/ubuntu/pre_x3
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```
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And add `/home/ubuntu/pre_x3` into `/etc/rc.local`
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4. Add ```export DISPLAY=:0``` to your bashrc or remember to set this environment variable to THE USER WHO WILL RUN THE CODE
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5. Run ```sudo -s``` to grant root privilege, because the driver need to operate many `/dev` `/sys` stuffs
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6. rosrun m100_x3 m100_x3_node
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### Steps for streaming video from X3 to Manifold with a hdmi-screen
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Same as 1, 2, 6 above
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‎package.xml

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<?xml version="1.0"?>
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<package>
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<name>m100_x3</name>
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<version>1.0.0</version>
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<description>The m100_x3 package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="LIUTianbo@todo.todo">LIUTianbo</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>BSD</license>
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<!-- Url tags are optional, but mutiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/m100_x3</url> -->
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<!-- Author tags are optional, mutiple are allowed, one per tag -->
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<!-- Authors do not have to be maintianers, but could be -->
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<!-- Example: -->
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<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
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<author>LIUTianbo</author>
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>cv_bridge</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>image_transport</build_depend>
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<run_depend>cv_bridge</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>image_transport</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎src/djicam.h

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/*
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*Copyright (C) 2015, DJI Innovations, Inc. All rights reserved.
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*
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*/
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#ifndef __DJICAM_H
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#define __DJICAM_H
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#define DISPLAY_MODE (1 << 0)
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#define GETBUFFER_MODE (1 << 1)
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#define TRANSFER_MODE (1 << 2)
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#define CAM_BLOCK 1
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#define CAM_NON_BLOCK 0
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief used for initialization
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* @param mode set mode as DISPLAY_MODE, GETBUFFER_MODE, TRANSFER_MODE
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* @return 0 on sucess, -1 on error
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*/
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int manifold_cam_init(int mode);
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/**
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* @brief get the datas of a frame decoded
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* @param buffer store datas of a frame, format NV12
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* @param nframe count the number of frames get
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* @param block CAM_BLOCK will wait until data available, CAM_NON_BLOCK will always return immediately
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* @return CAM_BLOCK mode: >0 on frame size, <0 on break or error
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* CAM_NON_BLOCK mode: >0 on frame size, 0 on no new frame, <0 on break or error
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*/
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int manifold_cam_read(unsigned char *buffer, unsigned int *nframe, unsigned int block);
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/**
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* @brief to check if exit ok
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* @return 1 on sucess, 0 if not ok
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*/
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int manifold_cam_exit();
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#ifdef __cplusplus
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}
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#endif
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#endif

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