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C++ DJI_lock::leave方法代码示例

本文整理汇总了C++中DJI_lock::leave方法的典型用法代码示例。如果您正苦于以下问题：C++ DJI_lock::leave方法的具体用法？C++ DJI_lock::leave怎么用？C++ DJI_lock::leave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DJI_lock的用法示例。


在下文中一共展示了DJI_lock::leave方法的7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: my_callback

int my_callback(int data_type, int data_len, char *content)
{
	printf("enter callback..\n");
	g_lock.enter();
	if (e_image == data_type && NULL != content)
	{
		printf("callback: type is image..\n");
		image_data data;
		memcpy((char*)&data, content, sizeof(data));
		memcpy(g_imleft.data, data.m_greyscale_image_left[selected_vbus], IMAGE_SIZE);
		memcpy(g_imright.data, data.m_greyscale_image_right[selected_vbus], IMAGE_SIZE);
		memcpy(g_depth.data, data.m_depth_image[selected_vbus], IMAGE_SIZE * 2);
	}
	g_lock.leave();
	g_event.set_event();
	return 0;
}
开发者ID:39M，项目名称:Matrice100，代码行数:17，代码来源:run.cpp

示例2: my_callback


//.........这里部分代码省略.........
			g_depth.copyTo(depth_16.image);
			depth_16.header.frame_id  = "guidance";
			depth_16.header.stamp	  = ros::Time::now();
			depth_16.encoding	  = sensor_msgs::image_encodings::MONO16;
			depth_image_pub.publish(depth_16.toImageMsg());
		}
		
        key = waitKey(1);
    }
    /* imu */
/*
    if ( e_imu == data_type && NULL != content )
    {
        imu *imu_data = (imu*)content;
        printf( "frame index: %d, stamp: %d\n", imu_data->frame_index, imu_data->time_stamp );
        printf( "imu: [%f %f %f %f %f %f %f]\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z, imu_data->q[0], imu_data->q[1], imu_data->q[2], imu_data->q[3] );
 	
    	// publish imu data
		geometry_msgs::TransformStamped g_imu;
		g_imu.header.frame_id = "guidance";
		g_imu.header.stamp    = ros::Time::now();
		g_imu.transform.translation.x = imu_data->acc_x;
		g_imu.transform.translation.y = imu_data->acc_y;
		g_imu.transform.translation.z = imu_data->acc_z;
		g_imu.transform.rotation.w = imu_data->q[0];
		g_imu.transform.rotation.x = imu_data->q[1];
		g_imu.transform.rotation.y = imu_data->q[2];
		g_imu.transform.rotation.z = imu_data->q[3];
		imu_pub.publish(g_imu);
    }
 */
    /* velocity */
/*
    if ( e_velocity == data_type && NULL != content )
    {
        velocity *vo = (velocity*)content;
        printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
        printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
	
		// publish velocity
		geometry_msgs::Vector3Stamped g_vo;
		g_vo.header.frame_id = "guidance";
		g_vo.header.stamp    = ros::Time::now();
		g_vo.vector.x = 0.001f * vo->vx;
		g_vo.vector.y = 0.001f * vo->vy;
		g_vo.vector.z = 0.001f * vo->vz;
		velocity_pub.publish(g_vo);
    }
*/
    /* obstacle distance */
    if ( e_obstacle_distance == data_type && NULL != content )
    {
        obstacle_distance *oa = (obstacle_distance*)content;
        printf( "frame index: %d, stamp: %d\n", oa->frame_index, oa->time_stamp );
        printf( "obstacle distance:" );
        for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
        {
            printf( " %f ", 0.01f * oa->distance[i] );
        }
		printf( "\n" );

		// publish obstacle distance
		sensor_msgs::LaserScan g_oa;
		g_oa.ranges.resize(CAMERA_PAIR_NUM);
		g_oa.header.frame_id = "guidance";
		g_oa.header.stamp    = ros::Time::now();
		for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
			g_oa.ranges[i] = 0.01f * oa->distance[i];
		obstacle_distance_pub.publish(g_oa);
	}

    /* ultrasonic */
/*
    if ( e_ultrasonic == data_type && NULL != content )
    {
        ultrasonic_data *ultrasonic = (ultrasonic_data*)content;
        printf( "frame index: %d, stamp: %d\n", ultrasonic->frame_index, ultrasonic->time_stamp );
        for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
        {
            printf( "ultrasonic distance: %f, reliability: %d\n", ultrasonic->ultrasonic[d] * 0.001f, (int)ultrasonic->reliability[d] );
        }
	
		// publish ultrasonic data
		sensor_msgs::LaserScan g_ul;
		g_ul.ranges.resize(CAMERA_PAIR_NUM);
		g_ul.intensities.resize(CAMERA_PAIR_NUM);
		g_ul.header.frame_id = "guidance";
		g_ul.header.stamp    = ros::Time::now();
		for ( int d = 0; d < CAMERA_PAIR_NUM; ++d ){
			g_ul.ranges[d] = 0.001f * ultrasonic->ultrasonic[d];
			g_ul.intensities[d] = 1.0 * ultrasonic->reliability[d];
		}
		ultrasonic_pub.publish(g_ul);
    }
*/
    g_lock.leave();
    g_event.set_event();

    return 0;
}
开发者ID:bishwa9，项目名称:dock_in_piece，代码行数:101，代码来源:GuidanceNode.cpp

示例3: guidance_callback


//.........这里部分代码省略.........
                    
                    for(size_t i=0;i<nextrightpts.size();i++)
                    {
                        if(nextrightpts[i].x>=0 && nextrightpts[i].x<=WIDTH && nextrightpts[i].y>=0 && nextrightpts[i].y<=HEIGHT)
                        {
                            CvScalar line_color; line_color = CV_RGB(255,0,0);
                            //int line_thickness = 1;
                            CvPoint p,q;
                            p.x = (int) prevrightpts[i].x;
                            p.y = (int) prevrightpts[i].y;
                            q.x = (int) nextrightpts[i].x;
                            q.y = (int) nextrightpts[i].y;
//                            double angle; angle = atan2( (double) p.y - q.y, (double) p.x - q.x );
//                            double hypotenuse; hypotenuse = sqrt( pow((p.y - q.y),2) + pow((p.x - q.x),2) );
//                            
////                            //scale the line by a factor of 3
//                            q.x = (int) (p.x - 2 * hypotenuse * cos(angle));
//                            q.y = (int) (p.y - 2 * hypotenuse * sin(angle));
//
//                            cvLine( &prevrightimg, p, q, line_color, line_thickness, CV_AA, 0 );
//                            
//                            p.x = (int) (q.x + 9 * cos(angle + pi / 4));
//                            p.y = (int) (q.y + 9 * sin(angle + pi / 4));
//                            cvLine( &prevrightimg, p, q, line_color, line_thickness, CV_AA, 0 );
//                            p.x = (int) (q.x + 9 * cos(angle - pi / 4));
//                            p.y = (int) (q.y + 9 * sin(angle - pi / 4));
//                            cvLine( &prevrightimg, p, q, line_color, line_thickness, CV_AA, 0 );
//
                            arrowedLine(right_mask, p, q, line_color);
                            circle(right_mask, nextrightpts[i], 2, Scalar(0,255,0),-1);
                            
                            kpts.push_back(nextrightpts[i]);
                        }
                    }
                    
                    imshow("right", right_mask);
                    moveWindow("right", 500, 0);
                    
                }
                
                
                
                if(frame_num>0)
                {
                    if(nextrightpts.size()<=MIN_FEATURES)
                    {
                        goodFeaturesToTrack(g_greyscale_image_right, prevrightpts, MAX_FEATURES, QUALITY_EIGVALUE, MIN_DISTANCE);
                    }
                    else
                    {
                        prevrightpts.assign(kpts.begin(), kpts.end());
                    }
                }
                
                g_greyscale_image_right.copyTo(prevrightimg);
                frame_num++;
            }
            
            
            //Stero matching
            
//            Mat g_l,g_r;
//            
//            cvtColor(g_greyscale_image_left, g_l, CV_BGR2GRAY);
//            cvtColor(g_greyscale_image_right,g_r, CV_BGR2GRAY);
            
            Mat imgDisparity16S = Mat( g_greyscale_image_left.rows, g_greyscale_image_left.cols, CV_16S );
            Mat imgDisparity8U = Mat( g_greyscale_image_left.rows, g_greyscale_image_left.cols, CV_8UC1 );
            
            int ndisparities = 16*4;
            int SADWindowSize = 7;
            
            Ptr<StereoBM> sbm = StereoBM::create( ndisparities, SADWindowSize );
            
            sbm->compute( g_greyscale_image_left, g_greyscale_image_right, imgDisparity16S );
            
            double minVal; double maxVal;
            
            minMaxLoc( imgDisparity16S, &minVal, &maxVal );
            
            printf("Min disp: %f Max value: %f \n", minVal, maxVal);
            
            imgDisparity16S.convertTo( imgDisparity8U, CV_8UC1, 255/(maxVal - minVal));
            
            namedWindow( "windowDisparity", WINDOW_AUTOSIZE );
            imshow( "windowDisparity", imgDisparity8U );
            moveWindow("windowDisparity", 500, 500);

            
        }
        waitKey(1);
        
    }
    
    g_lock.leave();
    g_event.set_DJI_event();
    
    
    return 0;
}
开发者ID:asambrekar11，项目名称:16-720-CV-Project，代码行数:101，代码来源:dji_lkt.cpp

示例4: my_callback

int my_callback(int data_type, int data_len, char *content)
{
    g_lock.enter();

    /* image data */
    if (e_image == data_type && NULL != content)
    {        
        image_data* data = (image_data*)content;
        dji_guidance::multi_image msg;

        // forward facing guidance sensor is disabled for now...
        //msg.images.push_back(create_image_message(data, e_vbus1));
        msg.images.push_back(create_image_message(data, e_vbus2));
        msg.images.push_back(create_image_message(data, e_vbus3));
        msg.images.push_back(create_image_message(data, e_vbus4));
        //msg.images.push_back(create_image_message(data, e_vbus5));

        image_pub.publish(msg);
        std::cout << "published " << msg.images.size() << " images" << std::endl;
    }

    /* imu */
    if ( e_imu == data_type && NULL != content )
    {
        imu *imu_data = (imu*)content;
        // printf( "frame index: %d, stamp: %d\n", imu_data->frame_index, imu_data->time_stamp );
        // printf( "imu: [%f %f %f %f %f %f %f]\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z, imu_data->q[0], imu_data->q[1], imu_data->q[2], imu_data->q[3] );
    
        // publish imu data
        geometry_msgs::TransformStamped g_imu;
        g_imu.header.frame_id = "guidance";
        g_imu.header.stamp    = ros::Time::now();
        g_imu.transform.translation.x = imu_data->acc_x;
        g_imu.transform.translation.y = imu_data->acc_y;
        g_imu.transform.translation.z = imu_data->acc_z;
        g_imu.transform.rotation.w = imu_data->q[0];
        g_imu.transform.rotation.x = imu_data->q[1];
        g_imu.transform.rotation.y = imu_data->q[2];
        g_imu.transform.rotation.z = imu_data->q[3];
        imu_pub.publish(g_imu);
    }
    /* velocity */
    if ( e_velocity == data_type && NULL != content )
    {
        velocity *vo = (velocity*)content;
        // printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
        // printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
    
        // publish velocity
        geometry_msgs::Vector3Stamped g_vo;
        g_vo.header.frame_id = "guidance";
        g_vo.header.stamp    = ros::Time::now();
        g_vo.vector.x = 0.001f * vo->vx;
        g_vo.vector.y = 0.001f * vo->vy;
        g_vo.vector.z = 0.001f * vo->vz;
        velocity_pub.publish(g_vo);
    }

    g_lock.leave();
    g_event.set_event();

    return 0;
}
开发者ID:JenniferWenHsu，项目名称:ROS，代码行数:63，代码来源:GuidanceDepthNode.cpp

示例5: my_callback


//.........这里部分代码省略.........


  tf::Matrix3x3(orientation).getRPY(roll, pitch, yaw);
    
*/

imu_m.publish(imu_p);
    }










    /* velocity */
    if ( e_velocity == data_type && NULL != content )
    {
        velocity *vo = (velocity*)content;
if(flag)
{
printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
       printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
}
       // printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
        //printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
	
	// publish velocity
	geometry_msgs::Vector3Stamped g_vo;
	g_vo.header.frame_id = "guidance";
	g_vo.header.stamp    = ros::Time::now();
	g_vo.vector.x = 0.001f * vo->vx;
	g_vo.vector.y = 0.001f * vo->vy;
	g_vo.vector.z = 0.001f * vo->vz;
	velocity_pub.publish(g_vo);
if(abs(vo->vx) >  0) flag=false;
    }

    /* obstacle distance
    if ( e_obstacle_distance == data_type && NULL != content )
    {
        obstacle_distance *oa = (obstacle_distance*)content;
        printf( "frame index: %d, stamp: %d\n", oa->frame_index, oa->time_stamp );
        printf( "obstacle distance:" );
        for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
        {
            printf( " %f ", 0.01f * oa->distance[i] );
        }
        printf( "\n" );

	// publish obstacle distance
	sensor_msgs::LaserScan g_oa;
        g_oa.ranges.resize(5);
	g_oa.header.frame_id = "guidance";
	g_oa.header.stamp    = ros::Time::now();
	g_oa.ranges[0] = 0.01f * oa->distance[0];
	g_oa.ranges[1] = 0.01f * oa->distance[1];
	g_oa.ranges[2] = 0.01f * oa->distance[2];
	g_oa.ranges[3] = 0.01f * oa->distance[3];
	g_oa.ranges[4] = 0.01f * oa->distance[4];
	obstacle_distance_pub.publish(g_oa);
    }*/

    /* ultrasonic
    if ( e_ultrasonic == data_type && NULL != content )
    {
        ultrasonic_data *ultrasonic = (ultrasonic_data*)content;
        printf( "frame index: %d, stamp: %d\n", ultrasonic->frame_index, ultrasonic->time_stamp );
        for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
        {
            printf( "ultrasonic distance: %f, reliability: %d\n", ultrasonic->ultrasonic[d] * 0.001f, (int)ultrasonic->reliability[d] );
        }
	
	// publish ultrasonic data
	sensor_msgs::LaserScan g_ul;
        g_ul.ranges.resize(5);
        g_ul.intensities.resize(5);
	g_ul.header.frame_id = "guidance";
	g_ul.header.stamp    = ros::Time::now();
	g_ul.ranges[0] = 0.001f * ultrasonic->ultrasonic[0];
	g_ul.ranges[1] = 0.001f * ultrasonic->ultrasonic[1];
	g_ul.ranges[2] = 0.001f * ultrasonic->ultrasonic[2];
	g_ul.ranges[3] = 0.001f * ultrasonic->ultrasonic[3];
	g_ul.ranges[4] = 0.001f * ultrasonic->ultrasonic[4];
	g_ul.intensities[0] = 1.0 * ultrasonic->reliability[0];
	g_ul.intensities[1] = 1.0 * ultrasonic->reliability[1];
	g_ul.intensities[2] = 1.0 * ultrasonic->reliability[2];
	g_ul.intensities[3] = 1.0 * ultrasonic->reliability[3];
	g_ul.intensities[4] = 1.0 * ultrasonic->reliability[4];
	ultrasonic_pub.publish(g_ul);
    }*/

    g_lock.leave();
    g_event.set_event();

    return 0;
}
开发者ID:shijinqiao，项目名称:laser_sweep_with_guidance，代码行数:101，代码来源:GuidanceNode.cpp

示例6: my_callback


//.........这里部分代码省略.........
            g_cam_info_right.header.frame_id = "guidance5";

            try {
                read_params_from_yaml_and_fill_cam_info_msg(camera5_params_right, g_cam_info_right);
                cam5_info_right_pub.publish(g_cam_info_right);
            } catch(...) {
                // if yaml fails to read data, don't try to publish
            }
        }

        key = waitKey(1);
    }

    /* imu */
    if ( e_imu == data_type && NULL != content )
    {
        imu *imu_data = (imu*)content;
        printf( "frame index: %d, stamp: %d\n", imu_data->frame_index, imu_data->time_stamp );
        printf( "imu: [%f %f %f %f %f %f %f]\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z, imu_data->q[0], imu_data->q[1], imu_data->q[2], imu_data->q[3] );

        // publish imu data
        geometry_msgs::TransformStamped g_imu;
        g_imu.header.frame_id = "guidance";
        g_imu.header.stamp    = ros::Time::now();
        g_imu.transform.translation.x = imu_data->acc_x;
        g_imu.transform.translation.y = imu_data->acc_y;
        g_imu.transform.translation.z = imu_data->acc_z;
        g_imu.transform.rotation.w = imu_data->q[0];
        g_imu.transform.rotation.x = imu_data->q[1];
        g_imu.transform.rotation.y = imu_data->q[2];
        g_imu.transform.rotation.z = imu_data->q[3];
        imu_pub.publish(g_imu);
    }
    /* velocity */
    if ( e_velocity == data_type && NULL != content )
    {
        velocity *vo = (velocity*)content;
        printf( "frame index: %d, stamp: %d\n", vo->frame_index, vo->time_stamp );
        printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );

        // publish velocity
        geometry_msgs::Vector3Stamped g_vo;
        g_vo.header.frame_id = "guidance";
        g_vo.header.stamp    = ros::Time::now();
        g_vo.vector.x = 0.001f * vo->vx;
        g_vo.vector.y = 0.001f * vo->vy;
        g_vo.vector.z = 0.001f * vo->vz;
        velocity_pub.publish(g_vo);
    }

    /* obstacle distance */
    if ( e_obstacle_distance == data_type && NULL != content )
    {
        obstacle_distance *oa = (obstacle_distance*)content;
        printf( "frame index: %d, stamp: %d\n", oa->frame_index, oa->time_stamp );
        printf( "obstacle distance:" );
        for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
        {
            printf( " %f ", 0.01f * oa->distance[i] );
        }
        printf( "\n" );

        // publish obstacle distance
        sensor_msgs::LaserScan g_oa;
        g_oa.ranges.resize(CAMERA_PAIR_NUM);
        g_oa.header.frame_id = "guidance";
        g_oa.header.stamp    = ros::Time::now();
        for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
            g_oa.ranges[i] = 0.01f * oa->distance[i];
        obstacle_distance_pub.publish(g_oa);
    }

    /* ultrasonic */
    if ( e_ultrasonic == data_type && NULL != content )
    {
        ultrasonic_data *ultrasonic = (ultrasonic_data*)content;
        printf( "frame index: %d, stamp: %d\n", ultrasonic->frame_index, ultrasonic->time_stamp );
        for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
        {
            printf( "ultrasonic distance: %f, reliability: %d\n", ultrasonic->ultrasonic[d] * 0.001f, (int)ultrasonic->reliability[d] );
        }

        // publish ultrasonic data
        sensor_msgs::LaserScan g_ul;
        g_ul.ranges.resize(CAMERA_PAIR_NUM);
        g_ul.intensities.resize(CAMERA_PAIR_NUM);
        g_ul.header.frame_id = "guidance";
        g_ul.header.stamp    = ros::Time::now();
        for ( int d = 0; d < CAMERA_PAIR_NUM; ++d ) {
            g_ul.ranges[d] = 0.001f * ultrasonic->ultrasonic[d];
            g_ul.intensities[d] = 1.0 * ultrasonic->reliability[d];
        }
        ultrasonic_pub.publish(g_ul);
    }

    g_lock.leave();
    g_event.set_event();

    return 0;
}
开发者ID:NicoChou，项目名称:Guidance-SDK-ROS，代码行数:101，代码来源:GuidanceNodeCalibration.cpp

示例7: my_callback

int my_callback(int data_type, int data_len, char *content)
{
    g_lock.enter();
    if (e_image == data_type && NULL != content)
    {
        image_data data;
        memcpy( (char*)&data, content, sizeof(data) );
        printf( "frame index:%d,stamp:%d\n", data.frame_index, data.time_stamp );
#if !USE_GUIDANCE_ASSISTANT_CONFIG
#ifdef HAVE_OPENCV
        memcpy( g_greyscale_image_left.data, data.m_greyscale_image_left[sensor_id], IMAGE_SIZE );
        memcpy( g_greyscale_image_right.data, data.m_greyscale_image_right[sensor_id], IMAGE_SIZE );
        memcpy( g_depth.data, data.m_depth_image[sensor_id], IMAGE_SIZE * 2 );
        imshow("left", g_greyscale_image_left);
        imshow("right", g_greyscale_image_right);
#endif
#else
        for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
        {
            string stmps;
            if ( data.m_greyscale_image_left[d] )
            {
#ifdef HAVE_OPENCV
                memcpy( g_greyscale_image_left.data, data.m_greyscale_image_left[d], IMAGE_SIZE );//maybe select too many image so just overwrite it
                stmps = "left";
                stmps = stmps + (char)('0'+d);
                imshow(stmps.c_str(), g_greyscale_image_left);
#endif
            }
            if ( data.m_greyscale_image_right[d] )
            {
#ifdef HAVE_OPENCV
                memcpy( g_greyscale_image_right.data, data.m_greyscale_image_right[d], IMAGE_SIZE );
                stmps = "right";
                stmps = stmps + (char)('0'+d);
                imshow(stmps, g_greyscale_image_right);
#endif
            }
            if ( data.m_depth_image[d] )
            {
#ifdef HAVE_OPENCV
                Mat depthmap(HEIGHT, WIDTH, CV_16SC1);
                Mat depthmap8(HEIGHT, WIDTH, CV_8UC1);
                memcpy( depthmap.data, data.m_depth_image[d], IMAGE_SIZE * 2 );
                depthmap.convertTo(depthmap8, CV_8UC1);
                stmps = "depthmap";
                stmps = stmps + (char)('0'+d);
                imshow(stmps, depthmap8);
#endif
            }
        }
#endif

#ifdef HAVE_OPENCV
        waitKey(1);
#endif

    }

    if ( e_imu == data_type && NULL != content )
    {
        imu *imu_data = (imu*)content;
        printf( "imu:%f %f %f,%f %f %f %f\n", imu_data->acc_x, imu_data->acc_y, imu_data->acc_z, imu_data->q[0], imu_data->q[1], imu_data->q[2], imu_data->q[3] );
        printf( "frame index:%d,stamp:%d\n", imu_data->frame_index, imu_data->time_stamp );
    }

    if ( e_velocity == data_type && NULL != content )
    {
        velocity *vo = (velocity*)content;
        printf( "vx:%f vy:%f vz:%f\n", 0.001f * vo->vx, 0.001f * vo->vy, 0.001f * vo->vz );
        printf( "frame index:%d,stamp:%d\n", vo->frame_index, vo->time_stamp );
    }

    if ( e_obstacle_distance == data_type && NULL != content )
    {
        obstacle_distance *oa = (obstacle_distance*)content;
        printf( "obstacle distance:" );
        for ( int i = 0; i < CAMERA_PAIR_NUM; ++i )
        {
            printf( " %f ", 0.01f * oa->distance[i] );
        }
        printf( "\n" );
        printf( "frame index:%d,stamp:%d\n", oa->frame_index, oa->time_stamp );
    }

    if ( e_ultrasonic == data_type && NULL != content )
    {
        ultrasonic_data *ultrasonic = (ultrasonic_data*)content;
        for ( int d = 0; d < CAMERA_PAIR_NUM; ++d )
        {
            printf( "ultrasonic distance:%f,reliability:%d\n", ultrasonic->ultrasonic[d] * 0.001f, (int)ultrasonic->reliability[d] );
        }
        printf( "frame index:%d,stamp:%d\n", ultrasonic->frame_index, ultrasonic->time_stamp );
    }

    g_lock.leave();
    g_event.set_event();

    return 0;
}
开发者ID:jfqiu-git，项目名称:GuidanceSDK，代码行数:100，代码来源:main.cpp


注：本文中的DJI_lock::leave方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。