public void Open(Action <double> progress = null)
{
Dictionary <long, RawReaderMode> timestampDict = new Dictionary <long, RawReaderMode>();
if (!_Remote)
{
_ZipFile = new FileStream(_FileName, FileMode.Open);
_ZipArchive = new ZipArchive(_ZipFile, ZipArchiveMode.Read);
if (_Mode.HasFlag(RawReaderMode.Imu0))
{
ZipArchiveEntry entry = _ZipArchive.GetEntry("imu0.csv");
using (StreamReader reader = new StreamReader(entry.Open()))
{
string content = reader.ReadToEnd();
ParseImu(content, true, timestampDict);
}
}
if (_Mode.HasFlag(RawReaderMode.Camera0))
{
foreach (ZipArchiveEntry entry in _ZipArchive.Entries)
{
if (entry.FullName.StartsWith("cam0\\"))
{
long timestamp = long.Parse(entry.Name.Replace(".png", ""), CultureInfo.InvariantCulture);
if (timestampDict.ContainsKey(timestamp))
{
timestampDict[timestamp] |= RawReaderMode.Camera0;
}
else
{
timestampDict.Add(timestamp, RawReaderMode.Camera0);
}
}
}
ZipArchiveEntry camentry = _ZipArchive.GetEntry("cam0.csv");
if (camentry != null)
{
using (StreamReader reader = new StreamReader(camentry.Open()))
{
string content = reader.ReadToEnd();
bool skipFirst = true;
foreach (string line in content.Split('\n'))
{
if (skipFirst)
{
skipFirst = false;
}
else
{
string[] values = line.Split(',');
if (values.Length == 2)
{
long timestamp = long.Parse(values[0], CultureInfo.InvariantCulture);
double exposureTime = double.Parse(values[1], CultureInfo.InvariantCulture);
_CamCache.Add(timestamp, exposureTime);
}
}
}
}
}
}
_Length = TimeSpan.FromMilliseconds((timestampDict.Keys.Max() - timestampDict.Keys.Min()) / (1000 * 1000));
}
else
{
string tempfile = Path.GetTempFileName();
_RemoteDataStore.DownloadFile(_FileName, tempfile, delegate(double percent)
{
progress?.Invoke(percent * 0.5);
});
bool skipFirst = true;
int i = 0;
int count = File.ReadLines(tempfile).Count();
foreach (string line in File.ReadLines(tempfile))
{
i++;
if (skipFirst)
{
skipFirst = false;
}
else
{
ParseImuLine(line, false, timestampDict);
}
if (i % 100 == 0)
{
progress?.Invoke(0.5 + ((double)i / count) * 0.5);
}
}
File.Delete(tempfile);
}
IEnumerable <KeyValuePair <long, RawReaderMode> > temp = timestampDict.OrderBy(c => c.Key);
_Timestamps = temp.Select(c => c.Key).ToList();
_ReaderModes = temp.Select(c => c.Value).ToList();
if (_Timestamps.Count >= 2)
{
_DeltaTimeMs = (int)Math.Round(_Timestamps.Take(_Timestamps.Count - 1).Select((v, i) => _Timestamps[i + 1] - v).Sum() / ((_Timestamps.Count - 1) * 1000 * 1000.0));
}
else
{
_DeltaTimeMs = 1000 / 200;
}
}
