1.首先确保跑通了大疆官方的demo，demo功能是可以将本地h264的视频文件推到遥控器显示。

2.将264格式设置为普通264（默认为大疆264），更改demo里的代码如下

   //returnCode = DjiPayloadCamera_SetVideoStreamType(DJI_CAMERA_VIDEO_STREAM_TYPE_H264_DJI_FORMAT);returnCode = DjiPayloadCamera_SetVideoStreamType(DJI_CAMERA_VIDEO_STREAM_TYPE_H264_CUSTOM_FORMAT);if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {USER_LOG_ERROR("DJI camera set video stream error.");return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;}//s_cameraVideoStreamType = DJI_CAMERA_VIDEO_STREAM_TYPE_H264_DJI_FORMAT;s_cameraVideoStreamType = DJI_CAMERA_VIDEO_STREAM_TYPE_H264_CUSTOM_FORMAT;

3.通过ffmpeg将获取的摄像头数据进行264编码，然后通过DjiPayloadCamera_SendVideoStream函数将编码完的一帧数据发送出去，主要实现如下，以供参考。

void Ffmpeg_Encoder_Init(){av_register_all();avcodec_register_all();m_pRGBFrame = new AVFrame[1];//RGB帧数据赋值m_pYUVFrame = new AVFrame[1];//YUV帧数据赋值c = NULL;//解码器指针对象赋初值}void Ffmpeg_Encoder_Setpara(AVCodecID mycodeid, int vwidth, int vheight){pCodecH264 = avcodec_find_encoder(mycodeid);//查找h264编码器if (!pCodecH264){fprintf(stderr, "h264 codec not found\n");exit(1);}width = vwidth;height = vheight;c = avcodec_alloc_context3(pCodecH264);//函数用于分配一个AVCodecContext并设置默认值，如果失败返回NULL，并可用av_free()进行释放c = avcodec_alloc_context3(pCodecH264);//函数用于分配一个AVCodecContext并设置默认值，如果失败返回NULL，并可用av_free()进行释放c->bit_rate = 400000; //设置采样参数，即比特率c->width = vwidth;//设置编码视频宽度c->height = vheight; //设置编码视频高度c->time_base.den = 25;//设置帧率,num为分子和den为分母，如果是1/25则表示25帧/sc->time_base.num = 1;c->gop_size = 25; //设置GOP大小,该值表示每25帧会插入一个I帧c->pix_fmt = AV_PIX_FMT_YUV420P;//设置像素格式c->profile = FF_PROFILE_H264_BASELINE;//仅支持I帧P帧av_opt_set(c->priv_data, "tune", "zerolatency", 0);//设置编码器的延时，解决前面的几十帧不出数据的情况if (avcodec_open2(c, pCodecH264, NULL) < 0)return;//打开编码器nDataLen = vwidth*vheight * 3;//计算图像rgb数据区长度yuv_buff = new uint8_t[nDataLen / 2];//初始化数据区，为yuv图像帧准备填充缓存rgb_buff = new uint8_t[nDataLen];//初始化数据区，为rgb图像帧准备填充缓存outbuf_size = 100000;//初始化编码输出数据区outbuf = new uint8_t[outbuf_size];scxt = sws_getContext(c->width, c->height, AV_PIX_FMT_BGR24, c->width, c->height, AV_PIX_FMT_YUV420P, SWS_POINT, NULL, NULL, NULL);//初始化格式转换函数}void Ffmpeg_Encoder_Encode(FILE *file, uint8_t *data){av_init_packet(&pkt);memcpy(rgb_buff, data, nDataLen);//拷贝图像数据到rgb图像帧缓存中准备处理avpicture_fill((AVPicture*)m_pRGBFrame, (uint8_t*)rgb_buff, AV_PIX_FMT_RGB24, width, height);//将rgb_buff填充到m_pRGBFrame//av_image_fill_arrays((AVPicture*)m_pRGBFrame, (uint8_t*)rgb_buff, AV_PIX_FMT_RGB24, width, height);avpicture_fill((AVPicture*)m_pYUVFrame, (uint8_t*)yuv_buff, AV_PIX_FMT_YUV420P, width, height);//将yuv_buff填充到m_pYUVFramesws_scale(scxt, m_pRGBFrame->data, m_pRGBFrame->linesize, 0, c->height, m_pYUVFrame->data, m_pYUVFrame->linesize);// 将RGB转化为YUVint myoutputlen = 0;int returnvalue = avcodec_encode_video2(c, &pkt, m_pYUVFrame, &myoutputlen);if (returnvalue == 0){unsigned long dataLength = pkt.size;int lengthOfDataHaveBeenSent = 0;while (dataLength - lengthOfDataHaveBeenSent) { //如果发送完成一帧uint16_t lengthOfDataToBeSent = USER_UTIL_MIN(60000,dataLength - lengthOfDataHaveBeenSent);DjiPayloadCamera_SendVideoStream((const uint8_t *) pkt.data + lengthOfDataHaveBeenSent,lengthOfDataToBeSent); //发送一帧lengthOfDataHaveBeenSent += lengthOfDataToBeSent; //发送的大小}}av_free_packet(&pkt);}void Ffmpeg_Encoder_Close(){delete[]m_pRGBFrame;delete[]m_pYUVFrame;delete[]rgb_buff;delete[]yuv_buff;delete[]outbuf;sws_freeContext(scxt);avcodec_close(c);//关闭编码器av_free(c);}int main(){//开启大疆服务main1();cv::VideoCapture capture(10);if (!capture.isOpened()) {printf("Failed to open camera");}cv::Mat imageTemp;capture >> imageTemp;Ffmpeg_Encoder_Init();//初始化编码器Ffmpeg_Encoder_Setpara(AV_CODEC_ID_H264, imageTemp.cols, imageTemp.rows);//设置编码器参数//图象编码FILE *f = NULL;char * filename = "myData.h264";fopen_s(&f, filename, "wb");//打开文件存储编码完成数据while(1){capture >> imageTemp;Ffmpeg_Encoder_Encode(f, (uchar*)imageTemp.data);//编码//imshow("send", imageTemp);cv::waitKey(30);}return 0;}