自定义一个VideoCapturer（WebRTC）用于获取大疆无人机实时视频

WebRTC做大疆无人机直播

大疆带屏遥控器有直播功能，用的是rtmp，但是延时有点大，所以在遥控器里安装自己的软件，用webrtc来做一个无人机视频实时传输。需要自定义一个VideoCapturer来获取无人机视频封装成便于webrtc使用的流。

1、自定义一个CapturerAircraft类来实现VideoCapturer接口

public class CapturerDefault implements VideoCapturer {
    @Override
    public void initialize(SurfaceTextureHelper surfaceTextureHelper, Context context, CapturerObserver capturerObserver) {

    }

    @Override
    public void startCapture(int i, int i1, int i2) {

    }

    @Override
    public void stopCapture() throws InterruptedException {

    }

    @Override
    public void changeCaptureFormat(int i, int i1, int i2) {

    }

    @Override
    public void dispose() {

    }

    @Override
    public boolean isScreencast() {
        return false;
    }
}

2、构造函数传入DJICodecManager参数

    public CapturerAircraft(DJICodecManager manager) {
        dji_code_manager_ = manager;
        dji_code_manager_.resetKeyFrame();
        if (isM300Product()) {
            OcuSyncLink ocuSyncLink = DJILogIn.getProductInstance().getAirLink().getOcuSyncLink();
            // If your MutltipleLensCamera is set at right or top, you need to change the PhysicalSource to RIGHT_CAM or TOP_CAM.
            ocuSyncLink.assignSourceToPrimaryChannel(PhysicalSource.LEFT_CAM, PhysicalSource.FPV_CAM, new CommonCallbacks.CompletionCallback() {
                @Override
                public void onResult(DJIError error) {
                    if (error == null) {
//                        showToast("assignSourceToPrimaryChannel success.");
                    } else {
//                        showToast("assignSourceToPrimaryChannel fail, reason: "+ error.getDescription());
                    }
                }
            });
        }
    }

    public static boolean isM300Product() {
        if (DJISDKManager.getInstance().getProduct() == null) {
            return false;
        }
        Model model = DJISDKManager.getInstance().getProduct().getModel();
        return model == Model.MATRICE_300_RTK;
    }

3、initialize函数里面创建一个DJIYuvDataCallback实例

DJIYuvDataCallback的onYuvDataReceived函数用来接收每一帧的yuv数据，再实例化一个CapturerObserver对象&#