fix: 更新电脑IP地址为192.168.89.6以确保正确连接

- 添加了样式表以改善用户界面的美观性。- 为各种按钮（上、下、左、右、主页、放大、缩小、相机、开始录制、停止录制、连接）引入了新图标。- 修改了按钮属性，以包含图标并调整了边距和间距，以实现更好的布局。- 更新了按钮文本，提供更清晰的功能描述（中文）。- 改善了资源文件结构以包括新的图标和样式。- 从 main.cpp 中移除了不必要的调试打印和 SDK 初始化代码。

model/音频定位顺序图.puml

@@ -3,45 +3,60 @@ title 声源定位功能顺序图
 
 actor 用户 as User
 participant "应用系统" as Application
-
 participant "阵列麦克风设备" as MicArray
 participant "信号处理模块" as SignalProcessing
+participant "声源识别模块" as SoundRecognition
 participant "声源定位模块" as Localization
 
 activate User
 User -> Application: 打开音频监听
 
 activate Application
-
-Application -> MicArray: 发送监听指令
-
+Application -> MicArray: 发送实时采集战场声学信号命令
 
 activate MicArray
 MicArray --> Application: 监听就绪确认
-
 Application --> User: 显示监听状态
 
-
-MicArray -> MicArray: 枪声传播
+MicArray -> MicArray: 检测到枪声
 
 MicArray -> SignalProcessing: 原始音频数据
 deactivate MicArray
 
 activate SignalProcessing
-SignalProcessing -> SignalProcessing: 预处理(滤波去噪)
-SignalProcessing -> Localization: 处理后的音频信号
+SignalProcessing -> SignalProcessing: 模数转换
+SignalProcessing -> SignalProcessing: 滤波去噪预处理
+SignalProcessing -> SoundRecognition: 处理后的音频信号
 deactivate SignalProcessing
 
-activate Localization
-Localization -> Localization: 时间延迟估计(TDOA)
-Localization -> Localization: 声源方位角计算(DOA)
-Localization -> Application: 返回音频定位结果
-deactivate Localization
-
+activate SoundRecognition
+SoundRecognition -> SoundRecognition: CAMPPlus声音分类模型
+SoundRecognition -> SoundRecognition: 声纹识别处理
+SoundRecognition -> SoundRecognition: 计算枪声识别置信度
+
+alt 置信度高 (>阈值)
+    SoundRecognition -> Localization: 确认声源信号 + 置信度
+    
+    activate Localization
+    Localization -> Localization: 时间延迟估计(TDOA)
+    Localization -> Localization: 声源方位角计算(DOA)
+    Localization -> Application: 返回音频定位结果 + 置信度
+    deactivate Localization
+    
+    Application -> Application: 处理定位信息
+    Application --> User: 显示定位信息及置信度
+   
+else 置信度低 (≤阈值)
+    SoundRecognition --> Application: 识别置信度不足，忽略信号
+end
+
+deactivate SoundRecognition
 
-Application -> Application: 处理定位信息
 User -> Application: 查看定位信息
-Application --> User: 显示定位信息
+Application --> User: 显示详细定位信息
 User -> Application: 关闭音频监听
 
+deactivate Application
+deactivate User
+
 @enduml

src/Linux_SDK/demo/demo_for_linux/Makefile

@@ -0,0 +1,55 @@
+MAKEFILE      = Makefile
+
+####### Compiler, tools and options
+
+CC            = aarch64-linux-gnu-gcc
+CXX           = aarch64-linux-gnu-g++
+DEFINES       = -DQT_QML_DEBUG
+CFLAGS        = -pipe -g -Wall -W -fPIC $(DEFINES)
+CXXFLAGS      = -pipe -g -std=gnu++11 -Wall -W -fPIC $(DEFINES)
+DEL_FILE      = rm -f
+CHK_DIR_EXISTS= test -d
+MKDIR         = mkdir -p
+COPY          = cp -f
+COPY_FILE     = cp -f
+COPY_DIR      = cp -f -R
+INSTALL_FILE  = install -m 644 -p
+INSTALL_PROGRAM = install -m 755 -p
+INSTALL_DIR   = cp -f -R
+DEL_FILE      = rm -f
+SYMLINK       = ln -f -s
+DEL_DIR       = rmdir
+MOVE          = mv -f
+TAR           = tar -cf
+COMPRESS      = gzip -9f
+LINK          = aarch64-linux-gnu-g++
+LFLAGS        = 
+LIBS          = $(SUBLIBS) -L./bin/linux-aarch64 -lViewLink 
+AR            = ar cqs
+RANLIB        = 
+SED           = sed
+STRIP         = strip
+
+####### Files
+SOURCES       = ./main.cpp 
+OBJECTS       = main.o
+DESTDIR       = ./bin/linux-aarch64/
+TARGET        = ./bin/linux-aarch64/demo_for_linux
+
+
+####### Build rules
+
+$(TARGET):  $(OBJECTS)  
+	@test -d ./bin/linux-aarch64/ || mkdir -p ./bin/linux-aarch64/
+	cp -f ../../bin/linux-aarch64/*.so ./bin/linux-aarch64
+	$(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
+
+clean:
+	rm -rf ./bin
+	rm -f *.o
+
+####### Compile
+
+main.o: ./main.cpp ../../inc/ViewLink.h \
+		./cmdline.h
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o main.o ./main.cpp

src/Linux_SDK/demo/demo_for_linux/bin/linux-x86_64/VLKLog/VLKLog-2021-10-28.log

@@ -0,0 +1,26 @@
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.0.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][75][VLK_Connect]VLK_Connect
+debug:[TCPConnection.cpp][161][SocketCallback]TCP Gimbal Connected !!!!!!!!!!!!
+debug:[DeviceConnection.cpp][1419][ProcSayHelloResponse]current connected device type: Q30T, 36T
+debug:[DeviceConnection.cpp][1489][ProcSayHelloResponse]hand shake success! enjoy !!!
+debug:[DeviceConnection.cpp][1419][ProcSayHelloResponse]current connected device type: Q30T, 36T
+debug:[DeviceConnection.cpp][1489][ProcSayHelloResponse]hand shake success! enjoy !!!
+debug:[DeviceConnection.cpp][1419][ProcSayHelloResponse]current connected device type: Q30T, 36T
+debug:[DeviceConnection.cpp][1489][ProcSayHelloResponse]hand shake success! enjoy !!!
+error:[DeviceConnection.cpp][1365][ProcReceivedFrame]bad frame CheckSum, it should be 0x80, but frame[46] = 0x6e
+debug:[DeviceConnection.cpp][1368][ProcReceivedFrame]================begin frame==================
+debug:[DeviceConnection.cpp][39][PrintHexData]frame size = 47, data: 55 aa dc ac 40 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 f3 50 ef 00 00 00 00 00 00 00 0f 0a 18 e2 00 0a 98 55 aa dc 04 12 78 6e 
+debug:[DeviceConnection.cpp][1370][ProcReceivedFrame]================end frame==================
+error:[DeviceConnection.cpp][1365][ProcReceivedFrame]bad frame CheckSum, it should be 0xa8, but frame[46] = 0xc6
+debug:[DeviceConnection.cpp][1368][ProcReceivedFrame]================begin frame==================
+debug:[DeviceConnection.cpp][39][PrintHexData]frame size = 47, data: 55 aa dc 6c 40 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 f3 60 e2 5c 00 00 00 00 00 00 0f 0a 18 e2 00 0a b9 55 aa dc 84 12 50 c6 
+debug:[DeviceConnection.cpp][1370][ProcReceivedFrame]================end frame==================
+error:[DeviceConnection.cpp][1365][ProcReceivedFrame]bad frame CheckSum, it should be 0x1d, but frame[46] = 0x73
+debug:[DeviceConnection.cpp][1368][ProcReceivedFrame]================begin frame==================
+debug:[DeviceConnection.cpp][39][PrintHexData]frame size = 47, data: 55 aa dc ec 40 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 f3 40 df fc 00 00 00 00 00 00 0f 0a 18 e2 00 0a 84 55 aa dc c4 12 a5 73 
+debug:[DeviceConnection.cpp][1370][ProcReceivedFrame]================end frame==================
+error:[DeviceConnection.cpp][1365][ProcReceivedFrame]bad frame CheckSum, it should be 0x50, but frame[46] = 0x00
+debug:[DeviceConnection.cpp][1368][ProcReceivedFrame]================begin frame==================
+debug:[DeviceConnection.cpp][39][PrintHexData]frame size = 47, data: 55 aa dc ec 40 00 00 55 aa dc ec 40 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 18 15 e0 a0 f2 cc 00 00 00 00 00 00 
+debug:[DeviceConnection.cpp][1370][ProcReceivedFrame]================end frame==================

src/Linux_SDK/demo/demo_for_linux/cmdline.h

@@ -0,0 +1,820 @@
+/*
+  Copyright (c) 2009, Hideyuki Tanaka
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+  * Redistributions of source code must retain the above copyright
+  notice, this list of conditions and the following disclaimer.
+  * Redistributions in binary form must reproduce the above copyright
+  notice, this list of conditions and the following disclaimer in the
+  documentation and/or other materials provided with the distribution.
+  * Neither the name of the <organization> nor the
+  names of its contributors may be used to endorse or promote products
+  derived from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY <copyright holder> ''AS IS'' AND ANY
+  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
+  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#pragma once
+
+#include <iostream>
+#include <sstream>
+#include <vector>
+#include <map>
+#include <string>
+#include <stdexcept>
+#include <typeinfo>
+#include <cstring>
+#include <algorithm>
+//当编译器非gcc时,不包含cxxabi.h头文件
+#ifdef __GNUC__
+#include <cxxabi.h>
+#endif
+#include <cstdlib>
+
+namespace cmdline{
+
+namespace detail{
+
+template <typename Target, typename Source, bool Same>
+class lexical_cast_t{
+public:
+  static Target cast(const Source &arg){
+    Target ret;
+    std::stringstream ss;
+    if (!(ss<<arg && ss>>ret && ss.eof()))
+      throw std::bad_cast();
+    
+    return ret;
+  }
+};
+
+template <typename Target, typename Source>
+class lexical_cast_t<Target, Source, true>{
+public:
+  static Target cast(const Source &arg){
+    return arg;
+  }  
+};
+
+template <typename Source>
+class lexical_cast_t<std::string, Source, false>{
+public:
+  static std::string cast(const Source &arg){
+    std::ostringstream ss;
+    ss<<arg;
+    return ss.str();
+  }
+};
+
+template <typename Target>
+class lexical_cast_t<Target, std::string, false>{
+public:
+  static Target cast(const std::string &arg){
+    Target ret;
+    std::istringstream ss(arg);
+    if (!(ss>>ret && ss.eof()))
+      throw std::bad_cast();
+    return ret;
+  }
+};
+
+template <typename T1, typename T2>
+struct is_same {
+  static const bool value = false;
+};
+
+template <typename T>
+struct is_same<T, T>{
+  static const bool value = true;
+};
+
+template<typename Target, typename Source>
+Target lexical_cast(const Source &arg)
+{
+  return lexical_cast_t<Target, Source, detail::is_same<Target, Source>::value>::cast(arg);
+}
+
+static inline std::string demangle(const std::string &name)
+{
+#ifdef _MSC_VER
+	return name; // 为MSVC编译器时直接返回name
+#elif defined(__GNUC__) 
+	// 为gcc编译器时还调用原来的代码
+	int status = 0;
+	char *p = abi::__cxa_demangle(name.c_str(), 0, 0, &status);
+	std::string ret(p);
+	free(p);
+	return ret;
+#else
+	// 其他不支持的编译器需要自己实现这个方法
+#error unexpected c complier (msc/gcc), Need to implement this method for demangle
+#endif
+}
+
+template <class T>
+std::string readable_typename()
+{
+  return demangle(typeid(T).name());
+}
+
+template <class T>
+std::string default_value(T def)
+{
+  return detail::lexical_cast<std::string>(def);
+}
+
+template <>
+inline std::string readable_typename<std::string>()
+{
+  return "string";
+}
+
+} // detail
+
+//-----
+
+class cmdline_error : public std::exception {
+public:
+  cmdline_error(const std::string &msg): msg(msg){}
+  ~cmdline_error() throw() {}
+  const char *what() const throw() { return msg.c_str(); }
+private:
+  std::string msg;
+};
+
+template <class T>
+struct default_reader{
+  T operator()(const std::string &str){
+    return detail::lexical_cast<T>(str);
+  }
+};
+
+template <class T>
+struct range_reader{
+  range_reader(const T &low, const T &high): low(low), high(high) {}
+  T operator()(const std::string &s) const {
+    T ret=default_reader<T>()(s);
+    if (!(ret>=low && ret<=high)) throw cmdline::cmdline_error("range_error");
+    return ret;
+  }
+private:
+  T low, high;
+};
+
+template <class T>
+range_reader<T> range(const T &low, const T &high)
+{
+  return range_reader<T>(low, high);
+}
+
+template <class T>
+struct oneof_reader{
+  T operator()(const std::string &s){
+    T ret=default_reader<T>()(s);
+    if (std::find(alt.begin(), alt.end(), ret)==alt.end())
+      throw cmdline_error("");
+    return ret;
+  }
+  void add(const T &v){ alt.push_back(v); }
+private:
+  std::vector<T> alt;
+};
+
+template <class T>
+oneof_reader<T> oneof(T a1)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7, T a8)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  ret.add(a8);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7, T a8, T a9)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  ret.add(a8);
+  ret.add(a9);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7, T a8, T a9, T a10)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  ret.add(a8);
+  ret.add(a9);
+  ret.add(a10);
+  return ret;
+}
+
+//-----
+
+class parser{
+public:
+  parser(){
+  }
+  ~parser(){
+    for (std::map<std::string, option_base*>::iterator p=options.begin();
+         p!=options.end(); p++)
+      delete p->second;
+  }
+
+  void add(const std::string &name,
+           char short_name=0,
+           const std::string &desc=""){
+    if (options.count(name)) throw cmdline_error("multiple definition: "+name);
+    options[name]=new option_without_value(name, short_name, desc);
+    ordered.push_back(options[name]);
+  }
+
+  template <class T>
+  void add(const std::string &name,
+           char short_name=0,
+           const std::string &desc="",
+           bool need=true,
+           const T def=T()){
+    add(name, short_name, desc, need, def, default_reader<T>());
+  }
+
+  template <class T, class F>
+  void add(const std::string &name,
+           char short_name=0,
+           const std::string &desc="",
+           bool need=true,
+           const T def=T(),
+           F reader=F()){
+    if (options.count(name)) throw cmdline_error("multiple definition: "+name);
+    options[name]=new option_with_value_with_reader<T, F>(name, short_name, need, def, desc, reader);
+    ordered.push_back(options[name]);
+  }
+
+  void footer(const std::string &f){
+    ftr=f;
+  }
+
+  void set_program_name(const std::string &name){
+    prog_name=name;
+  }
+
+  bool exist(const std::string &name) const {
+    if (options.count(name)==0) throw cmdline_error("there is no flag: --"+name);
+    return options.find(name)->second->has_set();
+  }
+
+  template <class T>
+  const T &get(const std::string &name) const {
+    if (options.count(name)==0) throw cmdline_error("there is no flag: --"+name);
+    const option_with_value<T> *p=dynamic_cast<const option_with_value<T>*>(options.find(name)->second);
+    if (p==NULL) throw cmdline_error("type mismatch flag '"+name+"'");
+    return p->get();
+  }
+
+  const std::vector<std::string> &rest() const {
+    return others;
+  }
+
+  bool parse(const std::string &arg){
+    std::vector<std::string> args;
+
+    std::string buf;
+    bool in_quote=false;
+    for (std::string::size_type i=0; i<arg.length(); i++){
+      if (arg[i]=='\"'){
+        in_quote=!in_quote;
+        continue;
+      }
+
+      if (arg[i]==' ' && !in_quote){
+        args.push_back(buf);
+        buf="";
+        continue;
+      }
+
+      if (arg[i]=='\\'){
+        i++;
+        if (i>=arg.length()){
+          errors.push_back("unexpected occurrence of '\\' at end of string");
+          return false;
+        }
+      }
+
+      buf+=arg[i];
+    }
+
+    if (in_quote){
+      errors.push_back("quote is not closed");
+      return false;
+    }
+
+    if (buf.length()>0)
+      args.push_back(buf);
+
+    for (size_t i=0; i<args.size(); i++)
+      std::cout<<"\""<<args[i]<<"\""<<std::endl;
+
+    return parse(args);
+  }
+
+  bool parse(const std::vector<std::string> &args){
+    int argc=static_cast<int>(args.size());
+    std::vector<const char*> argv(argc);
+
+    for (int i=0; i<argc; i++)
+      argv[i]=args[i].c_str();
+
+    return parse(argc, &argv[0]);
+  }
+
+  bool parse(int argc, const char * const argv[]){
+    errors.clear();
+    others.clear();
+
+    if (argc<1){
+      errors.push_back("argument number must be longer than 0");
+      return false;
+    }
+    if (prog_name=="")
+      prog_name=argv[0];
+
+    std::map<char, std::string> lookup;
+    for (std::map<std::string, option_base*>::iterator p=options.begin();
+         p!=options.end(); p++){
+      if (p->first.length()==0) continue;
+      char initial=p->second->short_name();
+      if (initial){
+        if (lookup.count(initial)>0){
+          lookup[initial]="";
+          errors.push_back(std::string("short option '")+initial+"' is ambiguous");
+          return false;
+        }
+        else lookup[initial]=p->first;
+      }
+    }
+
+    for (int i=1; i<argc; i++){
+      if (strncmp(argv[i], "--", 2)==0){
+        const char *p=strchr(argv[i]+2, '=');
+        if (p){
+          std::string name(argv[i]+2, p);
+          std::string val(p+1);
+          set_option(name, val);
+        }
+        else{
+          std::string name(argv[i]+2);
+          if (options.count(name)==0){
+            errors.push_back("undefined option: --"+name);
+            continue;
+          }
+          if (options[name]->has_value()){
+            if (i+1>=argc){
+              errors.push_back("option needs value: --"+name);
+              continue;
+            }
+            else{
+              i++;
+              set_option(name, argv[i]);
+            }
+          }
+          else{
+            set_option(name);
+          }
+        }
+      }
+      else if (strncmp(argv[i], "-", 1)==0){
+        if (!argv[i][1]) continue;
+        char last=argv[i][1];
+        for (int j=2; argv[i][j]; j++){
+          last=argv[i][j];
+          if (lookup.count(argv[i][j-1])==0){
+            errors.push_back(std::string("undefined short option: -")+argv[i][j-1]);
+            continue;
+          }
+          if (lookup[argv[i][j-1]]==""){
+            errors.push_back(std::string("ambiguous short option: -")+argv[i][j-1]);
+            continue;
+          }
+          set_option(lookup[argv[i][j-1]]);
+        }
+
+        if (lookup.count(last)==0){
+          errors.push_back(std::string("undefined short option: -")+last);
+          continue;
+        }
+        if (lookup[last]==""){
+          errors.push_back(std::string("ambiguous short option: -")+last);
+          continue;
+        }
+
+        if (i+1<argc && options[lookup[last]]->has_value()){
+          set_option(lookup[last], argv[i+1]);
+          i++;
+        }
+        else{
+          set_option(lookup[last]);
+        }
+      }
+      else{
+        others.push_back(argv[i]);
+      }
+    }
+
+    for (std::map<std::string, option_base*>::iterator p=options.begin();
+         p!=options.end(); p++)
+      if (!p->second->valid())
+        errors.push_back("need option: --"+std::string(p->first));
+
+    return errors.size()==0;
+  }
+
+  void parse_check(const std::string &arg){
+    if (!options.count("help"))
+      add("help", '?', "print this message");
+    check(0, parse(arg));
+  }
+
+  void parse_check(const std::vector<std::string> &args){
+    if (!options.count("help"))
+      add("help", '?', "print this message");
+    check(args.size(), parse(args));
+  }
+
+  void parse_check(int argc, char *argv[]){
+    if (!options.count("help"))
+      add("help", '?', "print this message");
+    check(argc, parse(argc, argv));
+  }
+
+  std::string error() const{
+    return errors.size()>0?errors[0]:"";
+  }
+
+  std::string error_full() const{
+    std::ostringstream oss;
+    for (size_t i=0; i<errors.size(); i++)
+      oss<<errors[i]<<std::endl;
+    return oss.str();
+  }
+
+  std::string usage() const {
+    std::ostringstream oss;
+    oss<<"usage: "<<prog_name<<" ";
+    for (size_t i=0; i<ordered.size(); i++){
+      if (ordered[i]->must())
+        oss<<ordered[i]->short_description()<<" ";
+    }
+    
+    oss<<"[options] ... "<<ftr<<std::endl;
+    oss<<"options:"<<std::endl;
+
+    size_t max_width=0;
+    for (size_t i=0; i<ordered.size(); i++){
+      max_width=std::max(max_width, ordered[i]->name().length());
+    }
+    for (size_t i=0; i<ordered.size(); i++){
+      if (ordered[i]->short_name()){
+        oss<<"  -"<<ordered[i]->short_name()<<", ";
+      }
+      else{
+        oss<<"      ";
+      }
+
+      oss<<"--"<<ordered[i]->name();
+      for (size_t j=ordered[i]->name().length(); j<max_width+4; j++)
+        oss<<' ';
+      oss<<ordered[i]->description()<<std::endl;
+    }
+    return oss.str();
+  }
+
+private:
+
+  void check(int argc, bool ok){
+    if ((argc==1 && !ok) || exist("help")){
+      std::cerr<<usage();
+      exit(0);
+    }
+
+    if (!ok){
+      std::cerr<<error()<<std::endl<<usage();
+      exit(1);
+    }
+  }
+
+  void set_option(const std::string &name){
+    if (options.count(name)==0){
+      errors.push_back("undefined option: --"+name);
+      return;
+    }
+    if (!options[name]->set()){
+      errors.push_back("option needs value: --"+name);
+      return;
+    }
+  }
+
+  void set_option(const std::string &name, const std::string &value){
+    if (options.count(name)==0){
+      errors.push_back("undefined option: --"+name);
+      return;
+    }
+    if (!options[name]->set(value)){
+      errors.push_back("option value is invalid: --"+name+"="+value);
+      return;
+    }
+  }
+
+  class option_base{
+  public:
+    virtual ~option_base(){}
+
+    virtual bool has_value() const=0;
+    virtual bool set()=0;
+    virtual bool set(const std::string &value)=0;
+    virtual bool has_set() const=0;
+    virtual bool valid() const=0;
+    virtual bool must() const=0;
+
+    virtual const std::string &name() const=0;
+    virtual char short_name() const=0;
+    virtual const std::string &description() const=0;
+    virtual std::string short_description() const=0;
+  };
+
+  class option_without_value : public option_base {
+  public:
+    option_without_value(const std::string &name,
+                         char short_name,
+                         const std::string &desc)
+      :nam(name), snam(short_name), desc(desc), has(false){
+    }
+    ~option_without_value(){}
+
+    bool has_value() const { return false; }
+
+    bool set(){
+      has=true;
+      return true;
+    }
+
+    bool set(const std::string &){
+      return false;
+    }
+
+    bool has_set() const {
+      return has;
+    }
+
+    bool valid() const{
+      return true;
+    }
+
+    bool must() const{
+      return false;
+    }
+
+    const std::string &name() const{
+      return nam;
+    }
+
+    char short_name() const{
+      return snam;
+    }
+
+    const std::string &description() const {
+      return desc;
+    }
+
+    std::string short_description() const{
+      return "--"+nam;
+    }
+
+  private:
+    std::string nam;
+    char snam;
+    std::string desc;
+    bool has;
+  };
+
+  template <class T>
+  class option_with_value : public option_base {
+  public:
+    option_with_value(const std::string &name,
+                      char short_name,
+                      bool need,
+                      const T &def,
+                      const std::string &desc)
+      : nam(name), snam(short_name), need(need), has(false)
+      , def(def), actual(def) {
+      this->desc=full_description(desc);
+    }
+    ~option_with_value(){}
+
+    const T &get() const {
+      return actual;
+    }
+
+    bool has_value() const { return true; }
+
+    bool set(){
+      return false;
+    }
+
+    bool set(const std::string &value){
+      try{
+        actual=read(value);
+        has=true;
+      }
+      catch(const std::exception &e){
+        return false;
+      }
+      return true;
+    }
+
+    bool has_set() const{
+      return has;
+    }
+
+    bool valid() const{
+      if (need && !has) return false;
+      return true;
+    }
+
+    bool must() const{
+      return need;
+    }
+
+    const std::string &name() const{
+      return nam;
+    }
+
+    char short_name() const{
+      return snam;
+    }
+
+    const std::string &description() const {
+      return desc;
+    }
+
+    std::string short_description() const{
+      return "--"+nam+"="+detail::readable_typename<T>();
+    }
+
+  protected:
+    std::string full_description(const std::string &desc){
+      return
+        desc+" ("+detail::readable_typename<T>()+
+        (need?"":" [="+detail::default_value<T>(def)+"]")
+        +")";
+    }
+
+    virtual T read(const std::string &s)=0;
+
+    std::string nam;
+    char snam;
+    bool need;
+    std::string desc;
+
+    bool has;
+    T def;
+    T actual;
+  };
+
+  template <class T, class F>
+  class option_with_value_with_reader : public option_with_value<T> {
+  public:
+    option_with_value_with_reader(const std::string &name,
+                                  char short_name,
+                                  bool need,
+                                  const T def,
+                                  const std::string &desc,
+                                  F reader)
+      : option_with_value<T>(name, short_name, need, def, desc), reader(reader){
+    }
+
+  private:
+    T read(const std::string &s){
+      return reader(s);
+    }
+
+    F reader;
+  };
+
+  std::map<std::string, option_base*> options;
+  std::vector<option_base*> ordered;
+  std::string ftr;
+
+  std::string prog_name;
+  std::vector<std::string> others;
+
+  std::vector<std::string> errors;
+};
+
+} // cmdline

src/Linux_SDK/demo/demo_for_linux/demo_for_linux.pro

@@ -0,0 +1,44 @@
+TEMPLATE = app
+CONFIG += console c++11
+CONFIG -= app_bundle
+CONFIG -= qt
+
+SOURCES += main.cpp
+
+HEADERS += cmdline.h
+
+win32{
+contains(QT_ARCH, x86_64){
+    LIBS += -L$$PWD/../../lib/win64 -lViewLink
+    DESTDIR = $$PWD/bin/win64
+
+    DllSrc = $$PWD/../../bin/win64/*.dll
+    DllSrc = $$replace(DllSrc, /, \\)
+    DllDst = $$replace(DESTDIR, /, \\)
+
+    QMAKE_PRE_LINK += $$QMAKE_COPY $$DllSrc $$DllDst
+}else{
+    LIBS += -L$$PWD/../../lib/win32 -lViewLink
+    DESTDIR =$$PWD/bin/win32
+
+    DllSrc = $$PWD/../../bin/win32/*.dll
+    DllSrc = $$replace(DllSrc, /, \\)
+    DllDst = $$replace(DESTDIR, /, \\)
+
+    QMAKE_PRE_LINK += $$QMAKE_COPY $$DllSrc $$DllDst
+}
+}
+linux{
+contains(QT_ARCH, x86_64){
+    DESTDIR =$$PWD/bin/linux-x86_64
+    LIBS += -L$$DESTDIR -lViewLink
+    QMAKE_PRE_LINK += $$QMAKE_COPY $$PWD/../../bin/linux-x86_64/*.so $$DESTDIR
+}
+contains(QT_ARCH, aarch64){
+    DESTDIR =$$PWD/bin/linux-aarch64
+    LIBS += -L$$DESTDIR -lViewLink
+    QMAKE_PRE_LINK += $$QMAKE_COPY $$PWD/../../bin/linux-aarch64/*.so $$DESTDIR
+}
+}
+
+

src/Linux_SDK/demo/demo_for_linux/demo_for_linux.pro.user

@@ -0,0 +1,314 @@
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src/Linux_SDK/demo/demo_for_linux/main.cpp

@@ -0,0 +1,226 @@
+#include <iostream>
+#include <string>
+#include <mutex>
+#include <chrono>
+#include <thread>
+using namespace std;
+#include "../../inc/ViewLink.h"
+#include "cmdline.h"
+
+bool g_bConnected = false;
+int VLK_ConnStatusCallback(int iConnStatus, const char* szMessage, int iMsgLen, void* pUserParam)
+{
+    if (VLK_CONN_STATUS_TCP_CONNECTED == iConnStatus)
+    {
+        cout << "TCP Gimbal connected !!!" << endl;
+        g_bConnected = true;
+    }
+    else if (VLK_CONN_STATUS_TCP_DISCONNECTED == iConnStatus)
+    {
+        cout << "TCP Gimbal disconnected !!!" << endl;
+        g_bConnected = false;
+    }
+    else if (VLK_CONN_STATUS_SERIAL_PORT_CONNECTED == iConnStatus)
+    {
+        cout << "serial port connected !!!" << endl;
+        g_bConnected = true;
+    }
+    else if (VLK_CONN_STATUS_SERIAL_PORT_DISCONNECTED == iConnStatus)
+    {
+        cout << "serial port disconnected !!!" << endl;
+        g_bConnected = false;
+    }
+    else
+    {
+        cout << "unknown connection stauts: " << iConnStatus << endl;
+        g_bConnected = false;
+    }
+
+    return 0;
+}
+
+int VLK_DevStatusCallback(int iType, const char* szBuffer, int iBufLen, void* pUserParam)
+{
+    if (VLK_DEV_STATUS_TYPE_MODEL == iType)
+    {
+        VLK_DEV_MODEL* pModel = (VLK_DEV_MODEL*)szBuffer;
+        cout << "model code: " << pModel->cModelCode << ", model name: " << pModel->szModelName << endl;
+    }
+    else if (VLK_DEV_STATUS_TYPE_CONFIG == iType)
+    {
+        VLK_DEV_CONFIG* pDevConfig = (VLK_DEV_CONFIG*)szBuffer;
+        cout << "VersionNO: " << pDevConfig->cVersionNO << ", DeviceID: " << pDevConfig->cDeviceID << ", SerialNO: " << pDevConfig->cSerialNO << endl;
+    }
+    else if (VLK_DEV_STATUS_TYPE_TELEMETRY == iType)
+    {
+        /*
+         * once device is connected, telemetry information will keep updating,
+         * in order to avoid disturbing user input, comment out printing telemetry information
+         */
+        // VLK_DEV_TELEMETRY* pTelemetry = (VLK_DEV_TELEMETRY*)szBuffer;
+        // cout << "Yaw: " << pTelemetry->dYaw << ", Pitch: " << pTelemetry->dPitch << ", sensor type: " << pTelemetry->emSensorType << ", Zoom mag times: " << pTelemetry->sZoomMagTimes << endl;
+    }
+    else
+    {
+        cout << "error: unknown status type: " << iType << endl;
+    }
+
+
+    return 0;
+}
+
+int main(int argc, char *argv[])
+{
+   // parse cmd line
+    cmdline::parser a;
+    a.add<string>("type", 't', "connection type", true, "tcp", cmdline::oneof<string>("serial", "tcp"));
+    a.add<string>("ip", 'i', "gimbal tcp ip", false, "192.168.2.119");
+    a.add<int>("port", 'p', "gimbal tcp port", false, 2000);
+    a.add<string>("serial", 's', "serial port name", false, "/dev/ttyS0");
+    a.add<int>("baudrate", 'b', "serial port baudrate", false, 115200);
+    a.parse_check(argc, argv);
+
+    // print sdk version
+    cout << "ViewLink SDK version: " << GetSDKVersion() << endl;
+
+    // initialize sdk
+    int iRet = VLK_Init();
+    if (VLK_ERROR_NO_ERROR != iRet)
+    {
+       cout << "VLK_Init failed, error: " << iRet << endl;
+       return -1;
+    }
+
+    // register device status callback
+    VLK_RegisterDevStatusCB(VLK_DevStatusCallback, NULL);
+
+    // connect device
+    if (0 == a.get<string>("type").compare("tcp"))
+    {
+        VLK_CONN_PARAM param;
+        memset(&param, 0, sizeof(param));
+        param.emType = VLK_CONN_TYPE_TCP;
+        strncpy(param.ConnParam.IPAddr.szIPV4, a.get<string>("ip").c_str(), sizeof(param.ConnParam.IPAddr.szIPV4) - 1);
+        param.ConnParam.IPAddr.iPort = a.get<int>("port");
+
+        cout << "connecting gimbal ip: " << a.get<string>("ip") << ", port: " << a.get<int>("port") << "..." << endl;
+        iRet = VLK_Connect(&param, VLK_ConnStatusCallback, NULL);
+        if (VLK_ERROR_NO_ERROR != iRet)
+        {
+           cout << "VLK_Connect failed, error: " << iRet << endl;
+           goto quit;
+        }
+    }
+    else if (0 == a.get<string>("type").compare("serial"))
+    {
+        VLK_CONN_PARAM param;
+        memset(&param, 0, sizeof(param));
+        param.emType = VLK_CONN_TYPE_SERIAL_PORT;
+        strncpy(param.ConnParam.SerialPort.szSerialPortName, a.get<string>("serial").c_str(), sizeof(param.ConnParam.SerialPort.szSerialPortName) - 1);
+        param.ConnParam.SerialPort.iBaudRate = a.get<int>("baudrate");
+
+        cout << "connecting gimbal serial: " << a.get<string>("serial") << ", baudrate: " << a.get<int>("baudrate") << "..." << endl;
+        iRet = VLK_Connect(&param, VLK_ConnStatusCallback, NULL);
+        if (VLK_ERROR_NO_ERROR != iRet)
+        {
+           cout << "VLK_Connect failed, error: " << iRet << endl;
+           goto quit;
+        }
+    }
+    else
+    {
+        cout << "unknown conntion type !!!" << endl;
+        goto quit;
+    }
+
+
+    cout << "wait device connected..." << endl;
+    while (1)
+    {
+        if (g_bConnected)
+        {
+           break;
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    }
+
+
+    while (1)
+    {
+        cout << "press \'w\' move up \n";
+        cout << "press \'s\' move down \n";
+        cout << "press \'a\' move left \n";
+        cout << "press \'d\' move right \n";
+        cout << "press \'h\' move to home posiion \n";
+        cout << "press \'1\' zoom in, \'2\' zoom out\n";
+        cout << "press \'3\' begin track, \'4\' stop track\n";
+        cout << "press \'c\' exit"<< endl;
+        char input;
+        cin >> input;
+        if (input == 'w' || input == 'W')
+        {
+            VLK_Move(0, 1000);
+            std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+            VLK_Stop();
+        }
+        else if (input == 's' || input == 'S')
+        {
+            VLK_Move(0, -1000);
+            std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+            VLK_Stop();
+        }
+        else if (input == 'a' || input == 'A')
+        {
+            VLK_Move(-1000, 0);
+            std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+            VLK_Stop();
+        }
+        else if (input == 'd' || input == 'D')
+        {
+            VLK_Move(1000, 0);
+            std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+            VLK_Stop();
+        }
+        else if (input == 'h' || input == 'H')
+        {
+            VLK_Home();
+        }
+        else if (input == '1')
+        {
+            VLK_ZoomIn(4);
+            std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+            VLK_StopZoom();
+        }
+        else if (input == '2')
+        {
+            VLK_ZoomOut(4);
+            std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+            VLK_StopZoom();
+        }
+        else if (input == '3')
+        {
+            VLK_TRACK_MODE_PARAM param;
+            memset(&param, 0, sizeof(param));
+            param.emTrackSensor = VLK_SENSOR_VISIBLE1;
+            param.emTrackTempSize = VLK_TRACK_TEMPLATE_SIZE_AUTO;
+            VLK_TrackTargetPositionEx(&param, 100, 100, 1280, 720);
+        }
+        else if (input == '4')
+        {
+            VLK_DisableTrackMode();
+        }
+        else if (input == 'c' || input == 'C')
+        {
+            break;
+        }
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    }
+
+quit:
+    // uninitial sdk
+    VLK_UnInit();
+
+    system("PAUSE");
+    return 0;
+}

src/Linux_SDK/demo/demo_for_qt/FFVideoFormatConvert.cpp

@@ -0,0 +1,135 @@
+#include "FFVideoFormatConvert.h"
+#include "VideoObjNetwork.h"
+
+CFFVideoFormatConvert::CFFVideoFormatConvert(void)
+	: m_img_convert_ctx(NULL)
+	, m_pFrame(NULL)
+	, m_pBuffer(NULL), m_uBufferSize(0)
+	, m_iWidth(0), m_iHeight(0)
+	, m_pImage(NULL)
+{
+}
+
+
+CFFVideoFormatConvert::~CFFVideoFormatConvert(void)
+{
+	Close();
+}
+
+void CFFVideoFormatConvert::Close()
+{
+	if (m_img_convert_ctx)
+	{
+		sws_freeContext(m_img_convert_ctx);
+		m_img_convert_ctx = NULL;
+	}
+
+	if (m_pFrame)
+	{
+		av_frame_free(&m_pFrame);
+		m_pFrame = NULL;
+	}
+
+	if (m_pBuffer)
+	{
+		av_free(m_pBuffer);
+		m_pBuffer = NULL;
+		m_uBufferSize = 0;
+	}
+
+	if (m_pImage != NULL)
+	{
+		delete m_pImage;
+		m_pImage = NULL;
+	}
+
+	m_iWidth = 0;
+	m_iHeight = 0;
+}
+
+bool CFFVideoFormatConvert::RGB32toYUV420P(const QImage* pIn, AVFrame** pOut)
+{
+    // reinitialize object if image width or height changed
+	if (pIn->width() != m_iWidth || pIn->height() != m_iHeight)
+	{
+		Close();
+	}
+
+	if (m_pBuffer == NULL)
+	{
+		m_iWidth = pIn->width();
+		m_iHeight = pIn->height();
+		m_uBufferSize = av_image_get_buffer_size(AV_PIX_FMT_YUV420P, pIn->width(), pIn->height(), 1);
+		m_pBuffer = (uint8_t *) av_malloc(m_uBufferSize);
+	}
+
+	if (m_pFrame == NULL)
+	{
+		m_pFrame = av_frame_alloc();
+		m_pFrame->width = pIn->width();
+		m_pFrame->height = pIn->height();
+		av_image_fill_arrays(m_pFrame->data, m_pFrame->linesize,
+			m_pBuffer, AV_PIX_FMT_YUV420P, pIn->width(), pIn->height(), 1);
+	}
+
+	if (m_img_convert_ctx == NULL)
+	{
+		m_img_convert_ctx = sws_getContext(pIn->width(), pIn->height(), 
+			AV_PIX_FMT_RGB32,
+			pIn->width(), pIn->height(),
+			AV_PIX_FMT_YUV420P, SWS_BICUBIC, NULL, NULL, NULL);
+	}
+
+	const uint8_t *const srcSlice[] = { pIn->bits() };
+	const int srcStride[] = { pIn->bytesPerLine()};
+	sws_scale(m_img_convert_ctx,
+		srcSlice,
+		srcStride, 0, pIn->height(),
+		m_pFrame->data,
+		m_pFrame->linesize);
+
+	*pOut = m_pFrame;
+	return true;
+}
+
+bool CFFVideoFormatConvert::YUV420P2RGB32(const AVFrame* pIn, QImage** pOut)
+{
+    // reinitialize object if image width or height changed
+	if (pIn->width != m_iWidth || pIn->height != m_iHeight)
+	{
+		Close();
+	}
+
+	if (m_pBuffer == NULL)
+	{
+		m_iWidth = pIn->width;
+		m_iHeight = pIn->height;
+		m_uBufferSize = av_image_get_buffer_size(AV_PIX_FMT_RGB32, pIn->width, pIn->height, 1);
+		m_pBuffer = (uint8_t *)av_malloc(m_uBufferSize);
+	}
+
+	if (m_pFrame == NULL)
+	{
+		m_pFrame = av_frame_alloc();
+		av_image_fill_arrays(m_pFrame->data, m_pFrame->linesize,
+			m_pBuffer, AV_PIX_FMT_RGB32, pIn->width, pIn->height, 1);
+	}
+
+	if (m_img_convert_ctx == NULL)
+	{
+		m_img_convert_ctx = sws_getContext(pIn->width, pIn->height,
+			AV_PIX_FMT_YUV420P,
+			pIn->width, pIn->height,
+			AV_PIX_FMT_RGB32, SWS_BICUBIC, NULL, NULL, NULL);
+	}
+
+	sws_scale(m_img_convert_ctx,
+		(uint8_t const * const *)pIn->data,
+		pIn->linesize, 0, pIn->height,
+		m_pFrame->data,
+		m_pFrame->linesize);
+
+	*pOut = new QImage((uchar *)m_pFrame->data[0], m_iWidth, m_iHeight, QImage::Format_RGB32);
+
+	return true;
+}

src/Linux_SDK/demo/demo_for_qt/FFVideoFormatConvert.h

@@ -0,0 +1,28 @@
+#pragma once
+#include <QImage>
+
+struct AVFrame;
+struct SwsContext;
+
+class CFFVideoFormatConvert
+{
+public:
+	CFFVideoFormatConvert(void);
+	~CFFVideoFormatConvert(void);
+
+	bool RGB32toYUV420P(const QImage* pIn, AVFrame** pOut);
+	bool YUV420P2RGB32(const AVFrame* pIn, QImage** pOut);
+private:
+	void Close();
+private:
+	SwsContext* m_img_convert_ctx;
+	AVFrame* m_pFrame;
+	
+	uint8_t* m_pBuffer;
+	uint m_uBufferSize;
+	int m_iWidth;
+	int m_iHeight;
+
+	QImage* m_pImage;
+};
+

src/Linux_SDK/demo/demo_for_qt/QtCameraCapture.cpp

@@ -1,30 +1,10 @@
 #include "QtCameraCapture.h"
 
-/**
- * @brief QtCameraCapture构造函数
- * @param parent 父对象指针
- * 
- * 初始化摄像头捕获对象，继承自QAbstractVideoSurface，
- * 用于处理视频帧数据
- */
 QtCameraCapture::QtCameraCapture(QObject *parent) : QAbstractVideoSurface(parent)
 {
 
 }
 
-/**
- * @brief 获取支持的像素格式列表
- * @param handleType 视频缓冲区句柄类型（未使用）
- * @return 支持的像素格式列表
- * 
- * 返回该视频表面支持的所有像素格式，包括：
- * - ARGB32系列格式（带透明通道）
- * - RGB32系列格式（24位和32位）
- * - BGR系列格式（OpenCV常用格式）
- * - YUV系列格式（视频压缩常用）
- * - 灰度格式（Y8、Y16）
- * - 压缩格式（JPEG、RAW等）
- */
 QList<QVideoFrame::PixelFormat> QtCameraCapture::supportedPixelFormats(QAbstractVideoBuffer::HandleType handleType) const
 {
     Q_UNUSED(handleType);
@@ -63,35 +43,16 @@ QList<QVideoFrame::PixelFormat> QtCameraCapture::supportedPixelFormats(QAbstract
             << QVideoFrame::Format_AdobeDng;
 }
 
-/**
- * @brief 处理视频帧数据
- * @param frame 输入的视频帧
- * @return 处理成功返回true，失败返回false
- * 
- * 当摄像头捕获到新的视频帧时，此函数会被调用。
- * 函数会：
- * 1. 检查帧是否有效
- * 2. 克隆帧数据以避免数据竞争
- * 3. 将视频帧映射到内存进行读取
- * 4. 将帧数据转换为QImage格式
- * 5. 发送frameAvailable信号通知其他组件
- * 6. 解除内存映射并返回处理结果
- */
 bool QtCameraCapture::present(const QVideoFrame &frame)
 {
     if (frame.isValid()) {
-        // 克隆帧数据以避免数据竞争问题
         QVideoFrame cloneFrame(frame);
-        // 将帧数据映射到内存，以只读方式访问
         cloneFrame.map(QAbstractVideoBuffer::ReadOnly);
-        // 将视频帧转换为QImage格式
         const QImage image(cloneFrame.bits(),
                            cloneFrame.width(),
                            cloneFrame.height(),
                            QVideoFrame::imageFormatFromPixelFormat(cloneFrame.pixelFormat()));
-        // 发送信号通知其他组件有新帧可用
         emit frameAvailable(image);
-        // 解除内存映射
         cloneFrame.unmap();
         return true;
     }

src/Linux_SDK/demo/demo_for_qt/QtCameraCapture.h

@@ -0,0 +1,70 @@
+#ifndef QTCAMERACAPTURE_H
+#define QTCAMERACAPTURE_H
+
+#include <QObject>
+#include <QAbstractVideoSurface>
+#include <QDebug>
+
+class QtCameraCapture : public QAbstractVideoSurface
+{
+    Q_OBJECT
+public:
+    enum PixelFormat {
+        Format_Invalid,
+        Format_ARGB32,
+        Format_ARGB32_Premultiplied,
+        Format_RGB32,
+        Format_RGB24,
+        Format_RGB565,
+        Format_RGB555,
+        Format_ARGB8565_Premultiplied,
+        Format_BGRA32,
+        Format_BGRA32_Premultiplied,
+        Format_BGR32,
+        Format_BGR24,
+        Format_BGR565,
+        Format_BGR555,
+        Format_BGRA5658_Premultiplied,
+
+        Format_AYUV444,
+        Format_AYUV444_Premultiplied,
+        Format_YUV444,
+        Format_YUV420P,
+        Format_YV12,
+        Format_UYVY,
+        Format_YUYV,
+        Format_NV12,
+        Format_NV21,
+        Format_IMC1,
+        Format_IMC2,
+        Format_IMC3,
+        Format_IMC4,
+        Format_Y8,
+        Format_Y16,
+
+        Format_Jpeg,
+
+        Format_CameraRaw,
+        Format_AdobeDng,
+
+#ifndef Q_QDOC
+        NPixelFormats,
+#endif
+        Format_User = 1000
+    };
+
+    Q_ENUM(PixelFormat)
+
+    explicit QtCameraCapture(QObject *parent = 0);
+
+    QList<QVideoFrame::PixelFormat> supportedPixelFormats(
+            QAbstractVideoBuffer::HandleType handleType = QAbstractVideoBuffer::NoHandle) const;
+
+    bool present(const QVideoFrame &frame) override;
+
+signals:
+    void frameAvailable(QImage frame);
+
+};
+
+#endif // QTCAMERACAPTURE_H

src/Linux_SDK/demo/demo_for_qt/ShaderSourceCode.h

@@ -0,0 +1,36 @@
+#pragma once
+#define GET_STR(x) #x
+#define A_VER 3
+#define T_VER  4
+
+// vertex shader
+const char *vString = GET_STR(
+	attribute vec4 vertexIn;
+attribute vec2 textureIn;
+varying vec2 textureOut;
+void main(void)
+{
+	gl_Position = vertexIn;
+	textureOut = textureIn;
+}
+);
+
+// texture shader
+const char *tString = GET_STR(
+	varying vec2 textureOut;
+uniform sampler2D tex_y;
+uniform sampler2D tex_u;
+uniform sampler2D tex_v;
+void main(void)
+{
+	vec3 yuv;
+	vec3 rgb;
+	yuv.x = texture2D(tex_y, textureOut).r;
+	yuv.y = texture2D(tex_u, textureOut).r - 0.5;
+	yuv.z = texture2D(tex_v, textureOut).r - 0.5;
+	rgb = mat3(1.0, 1.0, 1.0,
+		0.0, -0.39465, 2.03211,
+		1.13983, -0.58060, 0.0) * yuv;
+	gl_FragColor = vec4(rgb, 1.0);
+}
+);

src/Linux_SDK/demo/demo_for_qt/VLKVideoWidget.cpp

@@ -12,12 +12,6 @@ extern "C" {
 
 #define LOCAL_RECORD_FLASH_ELAPSE 500
 
-/**
- * @brief OpenGL顶点和纹理坐标数据
- * 
- * 定义用于渲染YUV视频的顶点坐标和纹理坐标
- * 前4个值为顶点坐标，后4个值为纹理坐标
- */
 static const GLfloat vertices[] = {
     // vertex coordinate
 	-1.0f, -1.0f,
@@ -31,12 +25,6 @@ static const GLfloat vertices[] = {
 	1.0f, 0.0f
 };
 
-/**
- * @brief VLKVideoWidget构造函数
- * 
- * 初始化OpenGL视频显示组件，设置着色器、纹理、UI元素等
- * 支持拖拽、鼠标交互、本地录制闪烁等功能
- */
 VLKVideoWidget::VLKVideoWidget(QWidget *parent)
 	: QOpenGLWidget(parent)
     , m_textureUniformY(0), m_textureUniformU(0), m_textureUniformV(0)
@@ -51,8 +39,6 @@ VLKVideoWidget::VLKVideoWidget(QWidget *parent)
 	, m_iCheckDragDistanceTimer(0)
 	, m_bIsRendering(false)
 	, m_iLocalRecordingFlashTimer(0), m_bFlashFlag(false)
-	, m_keepAspectRatio(true)
-	, m_targetAspectRatio(16.0f / 9.0f) // 初始化为1920:1080的比例
 {
 	setAcceptDrops(true);
 	connect(this, SIGNAL(SignalEndOfFile()), this, SLOT(onSlotEndOfFile()));
@@ -78,11 +64,6 @@ VLKVideoWidget::VLKVideoWidget(QWidget *parent)
 	m_fontNoSignal.setLetterSpacing(QFont::AbsoluteSpacing, 0);
 }
 
-/**
- * @brief VLKVideoWidget析构函数
- * 
- * 清理OpenGL资源，删除纹理、缓冲区、定时器等
- */
 VLKVideoWidget::~VLKVideoWidget()
 {
 	makeCurrent();
@@ -109,11 +90,6 @@ VLKVideoWidget::~VLKVideoWidget()
 	}
 }
 
-/**
- * @brief 初始化OpenGL
- * 
- * 初始化着色器程序和纹理对象
- */
 void VLKVideoWidget::initializeGL()
 {
 	m_mutex.lock();
@@ -124,12 +100,6 @@ void VLKVideoWidget::initializeGL()
 	m_mutex.unlock();
 }
 
-/**
- * @brief 初始化着色器程序
- * 
- * 加载顶点着色器和片段着色器，编译链接程序，
- * 设置顶点属性位置和纹理uniform变量
- */
 bool VLKVideoWidget::InitShader()
 {
     // intialize openGL (function of QOpenGLFunctions)
@@ -175,11 +145,6 @@ bool VLKVideoWidget::InitShader()
 	return true;
 }
 
-/**
- * @brief 初始化纹理对象
- * 
- * 创建Y、U、V三个纹理对象，设置纹理参数
- */
 bool VLKVideoWidget::InitTexture()
 {
 	if (m_TextureIDY != 0)
@@ -218,11 +183,6 @@ bool VLKVideoWidget::InitTexture()
 	return 0;
 }
 
-/**
- * @brief OpenGL绘制函数
- * 
- * 渲染YUV视频数据，绘制UI覆盖层（方向操作图标、录制闪烁、状态信息等）
- */
 void VLKVideoWidget::paintGL()
 {
 	QPainter painter;
@@ -262,75 +222,49 @@ void VLKVideoWidget::paintGL()
 	painter.end();	
 }
 
-/**
- * @brief 渲染YUV视频数据
- * 
- * 使用OpenGL着色器渲染YUV420P格式的视频帧，
- * 支持宽高比保持和视口调整
- */
 void VLKVideoWidget::RenderYUV()
 {
-	if (m_iPixelW <= 0 || m_iPixelH <= 0) {
+	m_mutex.lock();
+	if (!m_pYData)
+	{
+		m_mutex.unlock();
 		return;
 	}
-	
-	m_mutex.lock();
-	
-	// 计算实际显示区域
-	QRect displayRect = m_keepAspectRatio ? m_displayRect : rect();
-	
-	// 设置视口
-	glViewport(displayRect.x(), displayRect.y(), displayRect.width(), displayRect.height());
-	
-	// 启用着色器程序
-	m_ShaderProgram.bind();
-	
-	// 设置Y纹理
+
+	m_ShaderProgram.enableAttributeArray(m_vertexInAttr);
+	m_ShaderProgram.enableAttributeArray(m_textureInAttr);
+	m_vbo.bind();
+	m_ShaderProgram.setAttributeBuffer(m_vertexInAttr, GL_FLOAT, 0, 2, 2 * sizeof(GLfloat));
+	m_ShaderProgram.setAttributeBuffer(m_textureInAttr, GL_FLOAT, 8 * sizeof(GLfloat), 2, 2 * sizeof(GLfloat));
+	m_vbo.release();
+
 	glActiveTexture(GL_TEXTURE0);
-	glBindTexture(GL_TEXTURE_2D, m_TextureIDY);
+    glBindTexture(GL_TEXTURE_2D, m_TextureIDY); // bind 0 layer to Y texture
+    // copy Y data to texture
 	glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, m_iPixelW, m_iPixelH, 0, GL_RED, GL_UNSIGNED_BYTE, m_pYData);
 	glUniform1i(m_textureUniformY, 0);
 
-	// 设置U纹理
 	glActiveTexture(GL_TEXTURE1);
-	glBindTexture(GL_TEXTURE_2D, m_TextureIDU);
+    glBindTexture(GL_TEXTURE_2D, m_TextureIDU); // bind 1 layer to U texture
+    // copy U data to texture
 	glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, m_iPixelW / 2, m_iPixelH / 2, 0, GL_RED, GL_UNSIGNED_BYTE, m_pUData);
 	glUniform1i(m_textureUniformU, 1);
 
-	// 设置V纹理
 	glActiveTexture(GL_TEXTURE2);
-	glBindTexture(GL_TEXTURE_2D, m_TextureIDV);
+    glBindTexture(GL_TEXTURE_2D, m_TextureIDV); // bind 2 layer to V texture
+    // copy V data to texture
 	glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, m_iPixelW / 2, m_iPixelH / 2, 0, GL_RED, GL_UNSIGNED_BYTE, m_pVData);
 	glUniform1i(m_textureUniformV, 2);
 
-	// 顶点数据
-	m_vbo.bind();
-	m_ShaderProgram.enableAttributeArray(m_vertexInAttr);
-	m_ShaderProgram.setAttributeBuffer(m_vertexInAttr, GL_FLOAT, 0, 2, 2 * sizeof(float));
-	
-	// 纹理坐标
-	m_ShaderProgram.enableAttributeArray(m_textureInAttr);
-	m_ShaderProgram.setAttributeBuffer(m_textureInAttr, GL_FLOAT, 8 * sizeof(float), 2, 2 * sizeof(float));
-	
-	// 绘制
 	glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 
-	// 禁用顶点数组
+    // disable attribute array to make the QPainter available
 	m_ShaderProgram.disableAttributeArray(m_vertexInAttr);
 	m_ShaderProgram.disableAttributeArray(m_textureInAttr);
-	m_vbo.release();
-
-	// 禁用着色器程序
-	m_ShaderProgram.release();
 
 	m_mutex.unlock();
 }
 
-/**
- * @brief 绘制方向操作图标
- * 
- * 在视频上绘制拖拽操作的开始和结束位置图标
- */
 void VLKVideoWidget::DrawDirectionOperateImg(QPainter& painter)
 {
 	if (!m_bLButtonPressed || m_ptBegin == m_ptEnd)
@@ -352,11 +286,6 @@ void VLKVideoWidget::DrawDirectionOperateImg(QPainter& painter)
 	painter.restore();
 }
 
-/**
- * @brief 绘制本地录制闪烁图标
- * 
- * 在视频右上角显示录制状态的闪烁图标
- */
 void VLKVideoWidget::DrawLocalRecordFlash(QPainter& painter)
 {
 	if (m_iLocalRecordingFlashTimer != 0 && m_bFlashFlag)
@@ -367,11 +296,6 @@ void VLKVideoWidget::DrawLocalRecordFlash(QPainter& painter)
 	}
 }
 
-/**
- * @brief 绘制遥测信息
- * 
- * 在视频上显示高度、视场角等遥测数据
- */
 void VLKVideoWidget::DrawTelemetryInfo(QPainter& painter)
 {
 	painter.save();
@@ -383,11 +307,6 @@ void VLKVideoWidget::DrawTelemetryInfo(QPainter& painter)
 	painter.restore();
 }
 
-/**
- * @brief 绘制视频状态信息
- * 
- * 当没有视频信号时显示"No signal"提示
- */
 void VLKVideoWidget::DrawVideoStatus(QPainter& painter)
 {
 	painter.save();
@@ -403,39 +322,21 @@ void VLKVideoWidget::DrawVideoStatus(QPainter& painter)
 	painter.restore();
 }
 
-/**
- * @brief 窗口大小改变事件
- * 
- * 重新计算保持宽高比的显示区域
- */
 void VLKVideoWidget::resizeGL(int width, int height)
 {
     Q_UNUSED(width);
     Q_UNUSED(height);
-    
-    if (m_keepAspectRatio) {
-        m_displayRect = calculateAspectRatioRect();
-    } else {
-        m_displayRect = rect();
-    }
+    // m_mutex.lock();
+	// qDebug() << "resizeGL " << width << " : " << height;
+    // m_mutex.unlock();
 }
 
-/**
- * @brief 初始化函数
- * 
- * 预留的初始化接口，当前未使用
- */
 void VLKVideoWidget::Init(int width, int height)
 {
     Q_UNUSED(width);
     Q_UNUSED(height);
 }
 
-/**
- * @brief 重绘视频帧
- * 
- * 接收FFmpeg解码后的AVFrame，更新YUV数据并触发重绘
- */
 void VLKVideoWidget::Repaint(const AVFrame *frame)
 {
 	if (!frame)
@@ -488,21 +389,11 @@ void VLKVideoWidget::Repaint(const AVFrame *frame)
 	update();
 }
 
-/**
- * @brief 文件结束信号
- * 
- * 发送文件结束信号
- */
 void VLKVideoWidget::EndOfFile()
 {
 	emit SignalEndOfFile();
 }
 
-/**
- * @brief 文件结束槽函数
- * 
- * 处理文件结束事件，清空视频数据并停止录制闪烁
- */
 void VLKVideoWidget::onSlotEndOfFile()
 {
 	Clear();
@@ -510,11 +401,6 @@ void VLKVideoWidget::onSlotEndOfFile()
 	ShowLocalRecordFlash(false);
 }
 
-/**
- * @brief 清空视频数据
- * 
- * 释放YUV数据内存，清空OpenGL缓冲区
- */
 void VLKVideoWidget::Clear()
 {
 	m_mutex.lock();
@@ -536,11 +422,6 @@ void VLKVideoWidget::Clear()
 	update();
 }
 
-/**
- * @brief 拖拽进入事件
- * 
- * 处理拖拽进入事件，允许外部拖拽
- */
 void VLKVideoWidget::dragEnterEvent(QDragEnterEvent *event)
 {
 	if (event->source() == this)
@@ -549,11 +430,6 @@ void VLKVideoWidget::dragEnterEvent(QDragEnterEvent *event)
 		event->accept();
 }
 
-/**
- * @brief 拖拽释放事件
- * 
- * 处理拖拽释放事件，当前未实现具体功能
- */
 void VLKVideoWidget::dropEvent(QDropEvent *event)
 {
     Q_UNUSED(event);
@@ -564,11 +440,6 @@ void VLKVideoWidget::dropEvent(QDropEvent *event)
 */
 }
 
-/**
- * @brief 右键菜单事件
- * 
- * 处理右键菜单事件，当前未实现
- */
 void VLKVideoWidget::contextMenuEvent(QContextMenuEvent * event)
 {
     Q_UNUSED(event);
@@ -576,21 +447,11 @@ void VLKVideoWidget::contextMenuEvent(QContextMenuEvent * event)
 	// m_menu->show();
 }
 
-/**
- * @brief 右键菜单槽函数
- * 
- * 处理右键菜单动作，当前未实现
- */
 void VLKVideoWidget::on_SlotContextMenu(QAction* action)
 {
      Q_UNUSED(action);
 }
 
-/**
- * @brief 鼠标双击事件
- * 
- * 处理鼠标双击，发送目标跟踪命令
- */
 void VLKVideoWidget::mouseDoubleClickEvent(QMouseEvent *event)
 {
     // check if the device has track capability
@@ -608,11 +469,6 @@ void VLKVideoWidget::mouseDoubleClickEvent(QMouseEvent *event)
     VLK_TrackTargetPositionEx(&param, iImgPosX, iImgPosY, m_iPixelW, m_iPixelH);
 }
 
-/**
- * @brief 鼠标滚轮事件
- * 
- * 处理鼠标滚轮，控制缩放功能
- */
 void VLKVideoWidget::wheelEvent(QWheelEvent* event)
 {
     if (event->delta() > 0) // wheel is moving forward
@@ -639,11 +495,6 @@ void VLKVideoWidget::wheelEvent(QWheelEvent* event)
 	}
 }
 
-/**
- * @brief 鼠标按下事件
- * 
- * 处理鼠标按下，开始拖拽操作或停止跟踪
- */
 void VLKVideoWidget::mousePressEvent(QMouseEvent *event)
 {
 	if (event->button() == Qt::LeftButton)
@@ -664,11 +515,6 @@ void VLKVideoWidget::mousePressEvent(QMouseEvent *event)
 	}
 }
 
-/**
- * @brief 鼠标移动事件
- * 
- * 处理鼠标移动，更新拖拽结束位置
- */
 void VLKVideoWidget::mouseMoveEvent(QMouseEvent *event)
 {
 	if (m_bLButtonPressed)
@@ -678,11 +524,6 @@ void VLKVideoWidget::mouseMoveEvent(QMouseEvent *event)
 	}
 }
 
-/**
- * @brief 鼠标释放事件
- * 
- * 处理鼠标释放，结束拖拽操作并发送停止移动命令
- */
 void VLKVideoWidget::mouseReleaseEvent(QMouseEvent *event)
 {
     Q_UNUSED(event);
@@ -707,11 +548,6 @@ void VLKVideoWidget::mouseReleaseEvent(QMouseEvent *event)
 	update();
 }
 
-/**
- * @brief 定时器事件
- * 
- * 处理各种定时器事件：停止缩放、拖拽距离检查、录制闪烁
- */
 void VLKVideoWidget::timerEvent(QTimerEvent *event)
 {
 	if (event->timerId() == m_nStopZoomTimerID)
@@ -752,11 +588,6 @@ void VLKVideoWidget::timerEvent(QTimerEvent *event)
 	}
 }
 
-/**
- * @brief 显示本地录制闪烁
- * 
- * 控制录制状态闪烁图标的显示和隐藏
- */
 void VLKVideoWidget::ShowLocalRecordFlash(bool bShow)
 {
 	if (bShow)
@@ -774,53 +605,3 @@ void VLKVideoWidget::ShowLocalRecordFlash(bool bShow)
 		}
 	}
 }
-
-/**
- * @brief 设置标准尺寸
- * 
- * 设置目标宽高比，用于保持视频显示比例
- */
-void VLKVideoWidget::setStandardSize(int width, int height)
-{
-    if (width > 0 && height > 0) {
-        m_targetAspectRatio = static_cast<float>(width) / static_cast<float>(height);
-        update();
-    }
-}
-
-/**
- * @brief 计算宽高比矩形
- * 
- * 根据目标宽高比计算实际显示区域，保持视频比例不变形
- */
-QRect VLKVideoWidget::calculateAspectRatioRect() const
-{
-    QRect result = rect();
-    
-    if (m_targetAspectRatio <= 0) {
-        return result;
-    }
-    
-    float currentRatio = static_cast<float>(result.width()) / static_cast<float>(result.height());
-    
-    if (qAbs(currentRatio - m_targetAspectRatio) < 0.001f) {
-        // 比例已经正确，不需要调整
-        return result;
-    }
-    
-    if (currentRatio > m_targetAspectRatio) {
-        // 当前区域太宽，需要减小宽度
-        int newWidth = qRound(result.height() * m_targetAspectRatio);
-        int offsetX = (result.width() - newWidth) / 2;
-        result.setLeft(result.left() + offsetX);
-        result.setRight(result.right() - offsetX);
-    } else {
-        // 当前区域太高，需要减小高度
-        int newHeight = qRound(result.width() / m_targetAspectRatio);
-        int offsetY = (result.height() - newHeight) / 2;
-        result.setTop(result.top() + offsetY);
-        result.setBottom(result.bottom() - offsetY);
-    }
-    
-    return result;
-}

src/Linux_SDK/demo/demo_for_qt/VLKVideoWidget.h

@@ -11,24 +11,6 @@
 
 struct AVFrame;
 class Widget;
-
-/**
- * @brief VLK视频显示组件类
- * 
- * 基于OpenGL的高性能视频显示组件，专门用于显示YUV420P格式的视频流。
- * 继承自QOpenGLWidget和QOpenGLFunctions，提供硬件加速的视频渲染功能。
- * 
- * 主要功能包括：
- * - 使用OpenGL着色器渲染YUV420P视频数据
- * - 支持鼠标交互（拖拽、缩放、双击跟踪）
- * - 保持视频宽高比，避免画面变形
- * - 显示UI覆盖层（操作图标、录制状态、遥测信息等）
- * - 支持拖拽操作和右键菜单
- * - 本地录制状态闪烁提示
- * - 线程安全的视频数据更新
- * 
- * 适用于需要高性能视频显示和丰富交互功能的监控、无人机控制等应用场景。
- */
 class VLKVideoWidget : public QOpenGLWidget, protected QOpenGLFunctions
 {
 	Q_OBJECT
@@ -41,14 +23,6 @@ public:
     VLKVideoWidget(QWidget *parent);
 	~VLKVideoWidget();
 	void ShowLocalRecordFlash(bool bShow);
-	
-	// 设置是否保持宽高比
-	void setKeepAspectRatio(bool keep) { m_keepAspectRatio = keep; update(); }
-	// 设置目标宽高比
-	void setTargetAspectRatio(float ratio) { m_targetAspectRatio = ratio; update(); }
-	// 设置标准尺寸
-	void setStandardSize(int width, int height);
-	
 signals:
 	void RecieveFirstFrame();
 	void SignalEndOfFile();
@@ -77,10 +51,6 @@ private:
 	void DrawTelemetryInfo(QPainter& painter);
 	void DrawVideoStatus(QPainter& painter);
 	void DrawLocalRecordFlash(QPainter& painter);
-	
-	// 计算保持宽高比的实际显示区域
-	QRect calculateAspectRatioRect() const;
-	
 private:
 	QGLShaderProgram m_ShaderProgram;
 	QOpenGLBuffer m_vbo;
@@ -125,13 +95,6 @@ private:
 	QPixmap m_pixmapLocalRecord;
 	int m_iLocalRecordingFlashTimer;
 	bool m_bFlashFlag;
-	
-	// 是否保持宽高比
-	bool m_keepAspectRatio;
-	// 目标宽高比 (宽/高)
-	float m_targetAspectRatio;
-	// 实际显示区域
-	QRect m_displayRect;
 };
 
 #endif // VLKVIDEOWIDGET_H

src/Linux_SDK/demo/demo_for_qt/VideoObjNetwork.cpp

@@ -2,64 +2,33 @@
 #include "VLKVideoWidget.h"
 #include <chrono>
 
-/**
- * @brief 静态初始化标志
- * 
- * 用于标记FFmpeg库是否已经初始化，避免重复初始化
- */
 bool CVideoObjNetwork::m_bInit = false;
 
-/**
- * @brief 有理数转浮点数工具函数
- * @param r AVRational有理数结构
- * @return 转换后的浮点数值
- * 
- * 将FFmpeg中的有理数格式转换为浮点数，用于时间基准转换
- */
 static double r2d(AVRational r)
 {
 	return r.den == 0 ? 0 : (double)r.num / (double)r.den;
 }
 
-/**
- * @brief CVideoObjNetwork构造函数
- * 
- * 初始化网络视频对象，设置所有成员变量为默认值
- */
 CVideoObjNetwork::CVideoObjNetwork()
-	: m_pAVFmtContext(NULL)        // FFmpeg格式上下文
-	, m_iVideoStreamIndex(-1)      // 视频流索引
-	, m_iAudioStreamIndex(-1)      // 音频流索引
-    , m_iWidth(0), m_iHeight(0)    // 视频宽度和高度
-    , m_pThread(NULL)              // 解码线程指针
-    , m_cbFunc(NULL)               // 回调函数指针
-    , m_lUserParam(0)              // 用户参数
-    , m_bExit(false)               // 退出标志
-	, m_pCodecContext(NULL)        // 解码器上下文
-    , m_pVideoWidget(NULL)         // 视频显示组件
+	: m_pAVFmtContext(NULL)
+	, m_iVideoStreamIndex(-1)
+	, m_iAudioStreamIndex(-1)
+    , m_iWidth(0), m_iHeight(0)
+    , m_pThread(NULL)
+    , m_cbFunc(NULL)
+    , m_lUserParam(0)
+    , m_bExit(false)
+	, m_pCodecContext(NULL)
+    , m_pVideoWidget(NULL)
 {
 }
 
 
-/**
- * @brief CVideoObjNetwork析构函数
- * 
- * 清理资源，关闭所有连接和释放内存
- */
 CVideoObjNetwork::~CVideoObjNetwork()
 {
 	Close();
 }
 
-/**
- * @brief FFmpeg日志回调函数
- * @param ptr 日志上下文指针
- * @param level 日志级别
- * @param fmt 格式化字符串
- * @param vl 可变参数列表
- * 
- * 将FFmpeg的日志输出重定向到Qt的调试输出
- */
 void ffmpeg_log_callback(void* ptr, int level, const char* fmt, va_list vl)
 {
     // va_start(vl, fmt);
@@ -69,14 +38,6 @@ void ffmpeg_log_callback(void* ptr, int level, const char* fmt, va_list vl)
     qDebug() << strResult;
 }
 
-/**
- * @brief 打开网络视频流
- * @param strURL 视频流URL地址
- * @param pVideoWidget 视频显示组件指针
- * @return 成功返回true，失败返回false
- * 
- * 初始化FFmpeg库，创建解码线程，开始接收和处理视频流
- */
 bool CVideoObjNetwork::Open(const std::string& strURL, VLKVideoWidget* pVideoWidget)
 {
     if (!m_bInit)
@@ -101,35 +62,17 @@ bool CVideoObjNetwork::Open(const std::string& strURL, VLKVideoWidget* pVideoWid
 	return true;
 }
 
-/**
- * @brief 检查是否已打开视频流
- * @return 已打开返回true，否则返回false
- * 
- * 通过检查解码线程是否存在来判断视频流是否已打开
- */
 bool CVideoObjNetwork::IsOpen()
 {
    return m_pThread != NULL;
 }
 
-/**
- * @brief 设置视频数据回调函数
- * @param pVideoDataCB 回调函数指针
- * @param lUserParam 用户参数
- * 
- * 设置当接收到视频帧数据时的回调函数
- */
 void CVideoObjNetwork::SetDataCallback(VideoDataCallback pVideoDataCB, long lUserParam)
 {
 	m_cbFunc = pVideoDataCB;
     m_lUserParam = lUserParam;
 }
 
-/**
- * @brief 关闭视频流连接
- * 
- * 停止解码线程，关闭解复用器和解码器，清理所有资源
- */
 void CVideoObjNetwork::Close()
 {
 	if (m_pThread != NULL)
@@ -145,14 +88,6 @@ void CVideoObjNetwork::Close()
 	CloseDecoder();
 }
 
-/**
- * @brief 打开视频流解复用器
- * @param strURL 视频流URL地址
- * @return 成功返回true，失败返回false
- * 
- * 使用FFmpeg打开网络视频流，获取视频和音频流信息，
- * 设置中断回调函数以支持优雅退出
- */
 bool CVideoObjNetwork::OpenDemux(const std::string& strURL)
 {
 	AVDictionary *opts = NULL;
@@ -218,11 +153,6 @@ bool CVideoObjNetwork::OpenDemux(const std::string& strURL)
 	return true;
 }
 
-/**
- * @brief 关闭解复用器
- * 
- * 停止本地录制，关闭FFmpeg格式上下文，重置流索引
- */
 void CVideoObjNetwork::CloseDemux()
 {
 	StopLocalRecord();
@@ -235,14 +165,6 @@ void CVideoObjNetwork::CloseDemux()
 	m_iAudioStreamIndex = -1;
 }
 
-/**
- * @brief FFmpeg中断回调函数
- * @param para 用户参数指针（指向CVideoObjNetwork对象）
- * @return 需要中断返回1，否则返回0
- * 
- * 用于FFmpeg网络操作的超时和中断控制，
- * 当m_bExit为true时返回1表示需要中断操作
- */
 int CVideoObjNetwork::interrupt_callback(void* para)
 {
 	// qDebug() << __FUNCTION__;
@@ -260,12 +182,6 @@ int CVideoObjNetwork::interrupt_callback(void* para)
 	return 0;
 }
 
-/**
- * @brief 线程函数入口
- * @param pThis CVideoObjNetwork对象指针
- * 
- * 静态线程函数，调用对象的OnThreadFunc方法
- */
 void CVideoObjNetwork::ThreadFunc(CVideoObjNetwork* pThis)
 {
 	if (pThis != NULL)
@@ -274,15 +190,6 @@ void CVideoObjNetwork::ThreadFunc(CVideoObjNetwork* pThis)
 	}
 }
 
-/**
- * @brief 主线程处理函数
- * 
- * 视频解码的主循环，负责：
- * 1. 打开解复用器
- * 2. 打开解码器
- * 3. 读取数据包循环
- * 4. 出错时重连
- */
 void CVideoObjNetwork::OnThreadFunc()
 {
     while (!m_bExit)
@@ -310,12 +217,6 @@ void CVideoObjNetwork::OnThreadFunc()
     }
 }
 
-/**
- * @brief 数据包读取循环
- * 
- * 持续从视频流中读取数据包，进行时间戳转换，
- * 并将视频数据包发送给解码器处理
- */
 void CVideoObjNetwork::ReadPacketLoop()
 {
     while (!m_bExit)
@@ -354,22 +255,11 @@ void CVideoObjNetwork::ReadPacketLoop()
 	}
 }
 
-/**
- * @brief 写入本地录制文件
- * @param pkt 数据包指针
- * 
- * 将视频数据包写入本地文件进行录制（当前未实现）
- */
 void CVideoObjNetwork::WriteLocalRecord(const AVPacket* pkt)
 {
     Q_UNUSED(pkt);
 }
 
-/**
- * @brief 清空缓冲区
- * 
- * 清空FFmpeg格式上下文的缓冲区，丢弃所有待处理的数据
- */
 void CVideoObjNetwork::Clear()
 {
     m_mutex.lock();
@@ -380,45 +270,21 @@ void CVideoObjNetwork::Clear()
     m_mutex.unlock();
 }
 
-/**
- * @brief 开始本地录制
- * @return 成功返回true
- * 
- * 开始将视频流录制到本地文件（当前未实现）
- */
 bool CVideoObjNetwork::StartLocalRecord()
 {
 	return true;
 }
 
-/**
- * @brief 停止本地录制
- * 
- * 停止本地录制功能（当前未实现）
- */
 void CVideoObjNetwork::StopLocalRecord()
 {
 
 }
 
-/**
- * @brief 截图功能
- * 
- * 捕获当前视频帧并保存为图片（当前未实现）
- */
 void CVideoObjNetwork::Capture()
 {
 
 }
 
-/**
- * @brief 打开视频解码器
- * @param para 编解码器参数
- * @return 成功返回true，失败返回false
- * 
- * 根据视频流的编解码器参数创建和配置解码器，
- * 设置单线程解码以提高稳定性
- */
 bool CVideoObjNetwork::OpenDecoder(const AVCodecParameters *para)
 {
 	AVCodec *vcodec = avcodec_find_decoder(para->codec_id);
@@ -445,11 +311,6 @@ bool CVideoObjNetwork::OpenDecoder(const AVCodecParameters *para)
 	return true;
 }
 
-/**
- * @brief 关闭解码器
- * 
- * 关闭并释放解码器上下文，清理解码器资源
- */
 void CVideoObjNetwork::CloseDecoder()
 {
 	if (m_pCodecContext)
@@ -459,13 +320,6 @@ void CVideoObjNetwork::CloseDecoder()
 	}
 }
 
-/**
- * @brief 发送数据包到解码器
- * @param pkt 视频数据包指针
- * 
- * 将视频数据包发送给解码器进行解码，
- * 然后循环接收解码后的视频帧并发送给显示组件
- */
 void CVideoObjNetwork::Send2Decode(const AVPacket *pkt)
 {
 	if (!pkt || pkt->size <= 0 || !pkt->data || !m_pCodecContext)
@@ -498,12 +352,6 @@ void CVideoObjNetwork::Send2Decode(const AVPacket *pkt)
 	}
 }
 
-/**
- * @brief 发送视频帧到显示组件
- * @param frame 解码后的视频帧指针
- * 
- * 将解码后的视频帧发送给视频显示组件进行渲染显示
- */
 void CVideoObjNetwork::Send2Display(const AVFrame* frame)
 {
 	if (!frame || frame->data[0] == NULL || frame->linesize[0] == 0)

src/Linux_SDK/demo/demo_for_qt/VideoObjNetwork.h

@@ -0,0 +1,66 @@
+#pragma once
+#include <string>
+#include <mutex>
+#include <thread>
+
+extern "C"
+{
+#include "libavcodec/avcodec.h"
+#include "libavformat/avformat.h"
+#include "libavutil/avutil.h"
+#include "libswscale/swscale.h"
+#include "libavutil/imgutils.h"
+};
+
+typedef void (*VideoDataCallback)(int iEncode, int iWidth, int iHeight, const char* pData, long lLen, long lPTS, void* pUserParam);
+
+class VLKVideoWidget;
+class CVideoObjNetwork
+{
+public:
+	CVideoObjNetwork();
+	virtual ~CVideoObjNetwork();
+
+    virtual bool Open(const std::string& strURL, VLKVideoWidget* pVideoWidget);
+    virtual bool IsOpen();
+	void SetDataCallback(VideoDataCallback pVideoDataCB, long lUserParam);
+	virtual void Clear();
+	virtual void Close();
+	virtual bool StartLocalRecord();
+	virtual void StopLocalRecord();
+	virtual void Capture();
+private:
+	static void ThreadFunc(CVideoObjNetwork* pThis);
+    virtual void OnThreadFunc();
+
+	bool OpenDemux(const std::string& strURL);
+	void CloseDemux();
+	void WriteLocalRecord(const AVPacket* pkt);
+	static int  interrupt_callback(void* para);
+	void ReadPacketLoop();
+    
+	bool OpenDecoder(const AVCodecParameters *para);
+	void Send2Decode(const AVPacket* pkt);
+	void Send2Display(const AVFrame* frame);
+	void CloseDecoder();
+private:
+	static bool m_bInit;
+    std::mutex m_mutex;
+	std::string m_strURL;
+    VLKVideoWidget* m_pVideoWidget;
+
+	AVFormatContext* m_pAVFmtContext;
+	int m_iVideoStreamIndex;
+	int m_iAudioStreamIndex;
+    int m_iWidth;
+    int m_iHeight;
+
+	std::thread* m_pThread;
+    bool m_bExit;
+
+	VideoDataCallback m_cbFunc;
+    long m_lUserParam;
+
+	AVCodecContext* m_pCodecContext;
+};
+

src/Linux_SDK/demo/demo_for_qt/VideoObjUSBCamera.cpp

@@ -2,45 +2,19 @@
 #include "VLKVideoWidget.h"
 #include "VideoObjNetwork.h"
 
-/**
- * @brief CVideoObjUSBCamera构造函数
- * 
- * 初始化USB摄像头对象，创建摄像头捕获组件，
- * 连接信号槽以处理摄像头帧数据
- */
 CVideoObjUSBCamera::CVideoObjUSBCamera()
-    : m_pWidget(NULL)              // 视频显示组件指针
-	, m_camera(NULL)               // 摄像头对象指针
+    : m_pWidget(NULL)
+	, m_camera(NULL)
 {
-	/**
-	 * 创建摄像头捕获组件
-	 * 用于从摄像头获取视频帧数据
-	 */
 	m_cameraCapture = new QtCameraCapture;
-	
-	/**
-	 * 连接信号槽
-	 * 当摄像头有新帧可用时，调用grabImage函数处理
-	 */
 	connect(m_cameraCapture, SIGNAL(frameAvailable(QImage)), this, SLOT(grabImage(QImage)));
 }
 
 
-/**
- * @brief CVideoObjUSBCamera析构函数
- * 
- * 清理资源，关闭摄像头连接，释放摄像头捕获组件
- */
 CVideoObjUSBCamera::~CVideoObjUSBCamera()
 {
-	/**
-	 * 关闭摄像头连接
-	 */
 	Close();
 
-	/**
-	 * 释放摄像头捕获组件
-	 */
 	if (m_cameraCapture != NULL)
 	{
 		delete m_cameraCapture;
@@ -48,40 +22,19 @@ CVideoObjUSBCamera::~CVideoObjUSBCamera()
 	}
 }
 
-/**
- * @brief 打开USB摄像头
- * @param strCameraDescription 摄像头描述信息
- * @param pVideoWidget 视频显示组件指针
- * @return 成功返回true，失败返回false
- * 
- * 根据摄像头描述信息查找并打开对应的USB摄像头，
- * 设置摄像头参数并开始视频流
- */
 bool CVideoObjUSBCamera::Open(const QString& strCameraDescription, VLKVideoWidget* pVideoWidget)
 {
-	/**
-	 * 先关闭之前的连接
-	 */
 	Close();
 
-    /**
-     * 保存摄像头描述和显示组件指针
-     */
     m_strCameraDescription = strCameraDescription;
     m_pWidget = pVideoWidget;
 
-    /**
-     * 根据描述信息查找摄像头设备
-     * 遍历所有可用的摄像头设备
-     */
+    // find Camera by description
 	QByteArray byteCameraName;
 	QList<QByteArray> listAvailableCamera = QCamera::availableDevices();
 	for (QList<QByteArray>::const_iterator it = listAvailableCamera.begin();
 		it != listAvailableCamera.end(); ++it)
 	{
-		/**
-		 * 比较摄像头描述信息，找到匹配的设备
-		 */
 		if (0 == m_strCameraDescription.compare(QCamera::deviceDescription(*it)))
 		{
 			byteCameraName = *it;
@@ -89,65 +42,34 @@ bool CVideoObjUSBCamera::Open(const QString& strCameraDescription, VLKVideoWidge
 		}
 	}
 
-	/**
-	 * 检查是否找到匹配的摄像头
-	 */
 	if (byteCameraName.isEmpty())
 	{
 		qCritical() << "could not find camera which description is " << m_strCameraDescription;
 		return false;
 	}
 
-	/**
-	 * 创建摄像头对象并开始视频流
-	 */
 	m_camera = new QCamera(byteCameraName);
 	m_camera->setViewfinder(m_cameraCapture);
 	m_camera->start();
 
-	/**
-	 * 输出摄像头能力信息用于调试
-	 */
 	DumpCameraCapability(m_camera);
 	return true;
 }
 
-/**
- * @brief 检查摄像头是否已打开
- * @return 已打开返回true，否则返回false
- * 
- * 通过检查摄像头对象是否存在来判断摄像头状态
- */
 bool CVideoObjUSBCamera::IsOpen()
 {
     return m_camera != NULL;
 }
 
-/**
- * @brief 清空缓冲区
- * 
- * 清空摄像头相关的缓冲区数据（当前未实现）
- */
 void CVideoObjUSBCamera::Clear()
 {
 
 }
 
-/**
- * @brief 关闭摄像头连接
- * 
- * 停止本地录制，停止摄像头视频流，释放摄像头对象
- */
 void CVideoObjUSBCamera::Close()
 {
-	/**
-	 * 停止本地录制功能
-	 */
 	StopLocalRecord();
 
-	/**
-	 * 停止摄像头并释放资源
-	 */
 	if (m_camera != NULL)
 	{
 		m_camera->stop();
@@ -156,23 +78,8 @@ void CVideoObjUSBCamera::Close()
 	}
 }
 
-/**
- * @brief 处理摄像头帧数据
- * @param image 摄像头捕获的QImage图像
- * 
- * 当摄像头有新帧可用时，此函数会被调用。
- * 函数会：
- * 1. 修正图像方向（默认配置使图像上下颠倒）
- * 2. 将RGB32格式转换为YUV420P格式
- * 3. 设置时间戳
- * 4. 发送给显示组件进行渲染
- */
 void CVideoObjUSBCamera::grabImage(QImage image)
 {
-	/**
-	 * 静态时间戳计数器
-	 * 用于为每一帧分配递增的时间戳
-	 */
 	static ulong ulPTS = 0;
 	// static QTime time = QTime::currentTime();
 	// qDebug () << "=============== frame duration: " << time.msecsTo(QTime::currentTime());
@@ -180,29 +87,19 @@ void CVideoObjUSBCamera::grabImage(QImage image)
 //	qDebug() << " width: " << image.width() << ", height: " << image.height() << ", byteCount: " << image.byteCount()
 //		<< ", depth: " << image.depth() << ", format: " << image.format();
 
-    /**
-     * 修正图像方向
-     * 默认配置使图像上下颠倒，需要手动翻转
-     * 通过交换上下半部分的像素数据来实现
-     */
+    // the default configuration makes image upside down
+    // we need to correct it
 	int* pRGBData = (int*)image.bits();
 	for (int i = 0; i < image.height()>>1; ++i)
 	{
 		for (int j = 0; j < image.width(); ++j)
 		{
-			/**
-			 * 交换上下对称位置的像素值
-			 */
 			int uVal = pRGBData[i * image.width() + j];
 			pRGBData[i * image.width() + j] = pRGBData[(image.height() - 1 - i) * image.width() + j];
 			pRGBData[(image.height() - 1 - i) * image.width() + j] = uVal;
 		}
 	}
 
-	/**
-	 * 格式转换和显示
-	 * 将RGB32格式转换为YUV420P格式，设置时间戳，发送给显示组件
-	 */
 	AVFrame *frame = NULL;
 	m_Converter.RGB32toYUV420P(&image, &frame);
 	frame->pts = ulPTS;
@@ -213,26 +110,13 @@ void CVideoObjUSBCamera::grabImage(QImage image)
 	}
 }
 
-/**
- * @brief 输出摄像头能力信息
- * @param pCamera 摄像头对象指针
- * 
- * 调试函数，输出摄像头的支持分辨率、像素格式、
- * 当前设置等信息，用于开发和调试
- */
 void CVideoObjUSBCamera::DumpCameraCapability(const QCamera* pCamera)
 {
-	/**
-	 * 检查摄像头对象是否有效
-	 */
 	if (NULL == pCamera)
 	{
 		return;
 	}
 
-	/**
-	 * 输出支持的分辨率列表
-	 */
 	QList<QSize> listResolutions = pCamera->supportedViewfinderResolutions();
 	qDebug() << "################ supported resulution: ################";
 	for (QList<QSize>::iterator it = listResolutions.begin(); it != listResolutions.end(); ++it)
@@ -240,9 +124,6 @@ void CVideoObjUSBCamera::DumpCameraCapability(const QCamera* pCamera)
 		qDebug() << " width: " << it->width() << ", height: " << it->height();
 	}
 
-	/**
-	 * 输出支持的像素格式列表
-	 */
 	QList<QVideoFrame::PixelFormat> listPixelFormat = pCamera->supportedViewfinderPixelFormats();
 	qDebug() << "################ supported pixel format: ################";
 	for (QList<QVideoFrame::PixelFormat>::iterator it = listPixelFormat.begin(); it != listPixelFormat.end(); ++it)
@@ -250,9 +131,6 @@ void CVideoObjUSBCamera::DumpCameraCapability(const QCamera* pCamera)
 		qDebug() << "pixel format: " << *it;
 	}
 
-	/**
-	 * 输出当前摄像头设置信息
-	 */
 	 QCameraViewfinderSettings settings = pCamera->viewfinderSettings();
 	qDebug() << "################ current camera video width:" << settings.resolution().width() << ", height: " << settings.resolution().height();
 	qDebug() << "################ current camera video pixelFormat:" << settings.pixelFormat() << ", minimum frame rate: " << settings.minimumFrameRate();
@@ -261,31 +139,15 @@ void CVideoObjUSBCamera::DumpCameraCapability(const QCamera* pCamera)
     // m_sFrameDuration = 100;
 }
 
-/**
- * @brief 开始本地录制
- * @return 成功返回true
- * 
- * 开始将摄像头视频流录制到本地文件（当前未实现）
- */
 bool CVideoObjUSBCamera::StartLocalRecord()
 {
 	return true;
 }
 
-/**
- * @brief 停止本地录制
- * 
- * 停止本地录制功能（当前未实现）
- */
 void CVideoObjUSBCamera::StopLocalRecord()
 {
 }
 
-/**
- * @brief 截图功能
- * 
- * 捕获当前摄像头帧并保存为图片（当前未实现）
- */
 void CVideoObjUSBCamera::Capture()
 {
 }

src/Linux_SDK/demo/demo_for_qt/VideoObjUSBCamera.h

@@ -5,19 +5,6 @@
 #include "FFVideoFormatConvert.h"
 
 class VLKVideoWidget;
-
-/**
- * @brief USB摄像头对象类
- * 
- * 该类负责USB摄像头的连接、视频流获取和格式转换。
- * 继承自QObject以支持信号槽机制，使用Qt的多媒体框架实现摄像头的连接、
- * 视频流处理和格式转换功能。主要功能包括：
- * - 根据描述信息查找并打开USB摄像头
- * - 处理摄像头视频帧数据并进行格式转换
- * - 支持图像方向修正（上下翻转）
- * - 提供本地录制和截图功能（待实现）
- * - 输出摄像头能力信息用于调试
- */
 class CVideoObjUSBCamera : public QObject
 {
 	Q_OBJECT

src/Linux_SDK/demo/demo_for_qt/bin/linux-x86_64/VLKLog/VLKLog-2025-05-14.log

@@ -0,0 +1,122 @@
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][113][VLK_IsSerialPortConnected]VLK_IsSerialPortConnected
+debug:[ViewLink.cpp][107][VLK_IsTCPConnected]VLK_IsTCPConnected
+debug:[ViewLink.cpp][75][VLK_Connect]VLK_Connect
+debug:[TCPConnection.cpp][161][SocketCallback]TCP Gimbal Connected !!!!!!!!!!!!
+debug:[DeviceConnection.cpp][1454][ProcSayHelloResponse]current connected device type: TIR
+debug:[DeviceConnection.cpp][1514][ProcSayHelloResponse]hand shake success! enjoy !!!
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][196][VLK_StopZoom]VLK_StopZoom
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][64][VLK_UnInit]########### ViewLink SDK 3.4.7 uninitialized ###########
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][113][VLK_IsSerialPortConnected]VLK_IsSerialPortConnected
+debug:[ViewLink.cpp][107][VLK_IsTCPConnected]VLK_IsTCPConnected
+debug:[ViewLink.cpp][75][VLK_Connect]VLK_Connect
+debug:[TCPConnection.cpp][161][SocketCallback]TCP Gimbal Connected !!!!!!!!!!!!
+debug:[DeviceConnection.cpp][1454][ProcSayHelloResponse]current connected device type: TIR
+debug:[DeviceConnection.cpp][1514][ProcSayHelloResponse]hand shake success! enjoy !!!
+debug:[ViewLink.cpp][302][VLK_Home]VLK_Home
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][64][VLK_UnInit]########### ViewLink SDK 3.4.7 uninitialized ###########
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][113][VLK_IsSerialPortConnected]VLK_IsSerialPortConnected
+debug:[ViewLink.cpp][107][VLK_IsTCPConnected]VLK_IsTCPConnected
+debug:[ViewLink.cpp][75][VLK_Connect]VLK_Connect
+debug:[TCPConnection.cpp][161][SocketCallback]TCP Gimbal Connected !!!!!!!!!!!!
+debug:[DeviceConnection.cpp][1454][ProcSayHelloResponse]current connected device type: TIR
+debug:[DeviceConnection.cpp][1514][ProcSayHelloResponse]hand shake success! enjoy !!!
+debug:[ViewLink.cpp][248][VLK_TrackTargetPositionEx]VLK_TrackTargetPositionEx
+debug:[ViewLink.cpp][248][VLK_TrackTargetPositionEx]VLK_TrackTargetPositionEx
+debug:[ViewLink.cpp][248][VLK_TrackTargetPositionEx]VLK_TrackTargetPositionEx
+debug:[ViewLink.cpp][302][VLK_Home]VLK_Home
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][302][VLK_Home]VLK_Home
+debug:[ViewLink.cpp][248][VLK_TrackTargetPositionEx]VLK_TrackTargetPositionEx
+debug:[ViewLink.cpp][248][VLK_TrackTargetPositionEx]VLK_TrackTargetPositionEx
+debug:[ViewLink.cpp][248][VLK_TrackTargetPositionEx]VLK_TrackTargetPositionEx
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][107][VLK_IsTCPConnected]VLK_IsTCPConnected
+debug:[ViewLink.cpp][113][VLK_IsSerialPortConnected]VLK_IsSerialPortConnected
+debug:[ViewLink.cpp][75][VLK_Connect]VLK_Connect
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][113][VLK_IsSerialPortConnected]VLK_IsSerialPortConnected
+debug:[ViewLink.cpp][107][VLK_IsTCPConnected]VLK_IsTCPConnected
+debug:[ViewLink.cpp][75][VLK_Connect]VLK_Connect
+debug:[TCPConnection.cpp][171][SocketCallback]YEK_CONNECT_RESPONSE event->status() == 110
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][408][VLK_SetImageColor]VLK_SetImageColor
+debug:[ViewLink.cpp][302][VLK_Home]VLK_Home
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][64][VLK_UnInit]########### ViewLink SDK 3.4.7 uninitialized ###########
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][64][VLK_UnInit]########### ViewLink SDK 3.4.7 uninitialized ###########
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][64][VLK_UnInit]########### ViewLink SDK 3.4.7 uninitialized ###########
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][64][VLK_UnInit]########### ViewLink SDK 3.4.7 uninitialized ###########
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][302][VLK_Home]VLK_Home
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][186][VLK_ZoomOut]VLK_ZoomOut
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][176][VLK_ZoomIn]VLK_ZoomIn
+debug:[ViewLink.cpp][196][VLK_StopZoom]VLK_StopZoom
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][64][VLK_UnInit]########### ViewLink SDK 3.4.7 uninitialized ###########
+debug:[ViewLink.cpp][57][VLK_Init]########### ViewLink SDK 3.4.7 initialized ###########
+debug:[ViewLink.cpp][145][VLK_RegisterDevStatusCB]VLK_RegisterDevStatusCB
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][119][VLK_Disconnect]VLK_Disconnect
+debug:[ViewLink.cpp][64][VLK_UnInit]########### ViewLink SDK 3.4.7 uninitialized ###########

src/Linux_SDK/demo/demo_for_qt/build/Desktop_Qt_5_15_2_GCC_64bit-Debug/.qmake.stash

@@ -0,0 +1,23 @@
+QMAKE_CXX.QT_COMPILER_STDCXX = 201703L
+QMAKE_CXX.QMAKE_GCC_MAJOR_VERSION = 11
+QMAKE_CXX.QMAKE_GCC_MINOR_VERSION = 4
+QMAKE_CXX.QMAKE_GCC_PATCH_VERSION = 0
+QMAKE_CXX.COMPILER_MACROS = \
+    QT_COMPILER_STDCXX \
+    QMAKE_GCC_MAJOR_VERSION \
+    QMAKE_GCC_MINOR_VERSION \
+    QMAKE_GCC_PATCH_VERSION
+QMAKE_CXX.INCDIRS = \
+    /usr/include/c++/11 \
+    /usr/include/x86_64-linux-gnu/c++/11 \
+    /usr/include/c++/11/backward \
+    /usr/lib/gcc/x86_64-linux-gnu/11/include \
+    /usr/local/include \
+    /usr/include/x86_64-linux-gnu \
+    /usr/include
+QMAKE_CXX.LIBDIRS = \
+    /usr/lib/gcc/x86_64-linux-gnu/11 \
+    /usr/lib/x86_64-linux-gnu \
+    /usr/lib \
+    /lib/x86_64-linux-gnu \
+    /lib