private static void Main(string[] args)
{
const int width = 640, height = 360;
Bebop bebop = new Bebop();
Stopwatch sw = new Stopwatch();
if (bebop.Connect() == ConnectionStatus.Success)
{
bebop.FlatTrim(2000);
Thread abortThread = new Thread(Run);
abortThread.Start();
bebop.StartVideo();
VideoCapture capture = new VideoCapture(@"./bebop.sdp");
StreamBuffer buffer = new StreamBuffer(capture, width, height);
buffer.AddService(new Canny(width, height));
buffer.AddService(new UltraSonicService());
buffer.Start();
bebop.TakeOff();
sw.Start();
while (abortThread.IsAlive)
{
Image <Bgr, byte> frame = buffer.PopLastFrame();
if (frame != null)
{
buffer.TransmitFrame(frame);
Vector v = new Vector {
Pitch = 1
};
foreach (Service service in buffer.Services)
{
Response r = service.GetLatestResult();
if (r != null && r.IsValid)
{
Vector vec = r.Vector.Copy();
vec.TimesConstant(r.Confidence / 100);
v.Add(vec);
}
}
bebop.Move(v);
}
}
sw.Stop();
Console.WriteLine("\n" + sw.ElapsedMilliseconds + "ms");
buffer.Stop();
bebop.Land();
bebop.StopVideo();
bebop.Disconnect();
}
Console.ReadLine();
}
