本文整理汇总了C++中ARDrone::willGetNewImage方法的典型用法代码示例。如果您正苦于以下问题：C++ ARDrone::willGetNewImage方法的具体用法？C++ ARDrone::willGetNewImage怎么用？C++ ARDrone::willGetNewImage使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ARDrone的用法示例。
在下文中一共展示了ARDrone::willGetNewImage方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
//.........这里部分代码省略.........
// Instructions
printf("***************************************\n");
printf("* CV Drone Tracker Program *\n");
printf("***************************************\n");
printf("* *\n");
printf("* - Controls - *\n");
printf("* 'Space' -- Takeoff/Landing *\n");
printf("* *\n");
printf("* - Others - *\n");
printf("* 'C' -- Change camera *\n");
printf("* 'Esc' -- Exit *\n");
printf("* *\n");
printf("***************************************\n\n");
{
cv::Mat image = ardrone.getImage();
quadrotor_affine::image_center_query.at<double>(0) = (double)(image.cols)/2.0;
quadrotor_affine::image_center_query.at<double>(1) = (double)(image.rows)/2.0;
quadrotor_affine::image_center_query.at<double>(2) = 1.0;
}
{
quadrotor_affine::image_center_training.at<double>(0) = (double)(quadrotor_matcher::image_template_gray.cols)/2.0;
quadrotor_affine::image_center_training.at<double>(1) = (double)(quadrotor_matcher::image_template_gray.rows)/2.0;
quadrotor_affine::image_center_training.at<double>(2) = 1.0;
}
unsigned long curTime = timeGetTime();
unsigned long lastTime = curTime;
unsigned long lastBatteryTime = curTime;
unsigned long lastControl = curTime;
int cameraMode = 0;
cv::Mat savedControl;
while (1)
{
curTime = timeGetTime();
// Battery
if(lastBatteryTime < curTime)
{
lastBatteryTime = curTime + 10000;
printf("Battery = %d%%\n", ardrone.getBatteryPercentage());
}
// Sleep and get key
int key = cv::waitKey(30);
switch(key)
{
case 0x1b:
quadrotor_pipeline.stopDebugging();
goto quit;
case ' ':
if (ardrone.onGround())
ardrone.takeoff();
else
ardrone.landing();
break;
case 'c':
ardrone.setCamera(++cameraMode%4);
break;
}
if(ardrone.willGetNewImage())
{
quadrotor_job* newjob = new quadrotor_job;
newjob->image_color = ardrone.getImage();
quadrotor_pipeline.pushJob("Image",newjob);
}
std::vector<std::shared_ptr<job_base>> finished_jobs;
quadrotor_pipeline.getFinishedJobs(finished_jobs);
if(!finished_jobs.empty())
{
std::shared_ptr<quadrotor_job> job = std::dynamic_pointer_cast<quadrotor_job, job_base>(finished_jobs.back());
if (job->good_match)
{
savedControl = job->control;
lastControl = curTime+500;
draw.drawContour(quadrotor_matcher::image_template_gray, job->image_gray, quadrotor_affine::Contour, quadrotor_matcher::keypoints_template, job->keypoints, job->Inliers_T, job->Inliers_Q, job->AT, cv::Scalar(0,255,255), "video", true);
}
else
{
//cout << "WARNING! No Affine Transformation could be computed" << endl;
draw.drawMatches(quadrotor_matcher::image_template_gray, job->image_gray, quadrotor_matcher::keypoints_template, job->keypoints, job->Initial_Matches_T, job->Initial_Matches_Q,"video",true);
}
}
if(curTime < lastControl)
{
ardrone.move3D(savedControl.at<double>(0), savedControl.at<double>(1), savedControl.at<double>(2), savedControl.at<double>(3));
}
}
// See you
quit:;
ardrone.close();
return 0;
}