Ejemplo n.º 1
0
        public void AddFromReader(RawDataReader reader, Action <double> progress = null)
        {
            int count = reader.Count;

            int i = 0;
            int j = 0;

            while (reader.HasNext())
            {
                i++;
                if (i % 100 == 0)
                {
                    progress?.Invoke((double)i / count);
                }

                Tuple <long, List <Tuple <RawReaderMode, object> > > res = reader.Next();

                foreach (Tuple <RawReaderMode, object> val in res.Item2)
                {
                    if (val.Item1 == RawReaderMode.Camera0)
                    {
                        Tuple <double, byte[]> item = (Tuple <double, byte[]>)val.Item2;
                        if (!_ExposureTimes.Any(c => c.Item2 > item.Item1) || !_IncreasingExposure)
                        {
                            File.WriteAllBytes(Path.Combine(_OutputPath, "images", string.Format("{0:D5}.png", j++)), item.Item2);
                            _ExposureTimes.Add(new Tuple <long, double>(res.Item1, item.Item1));
                        }
                    }
                }
            }
        }
Ejemplo n.º 2
0
        public void AddFromReader(RawDataReader reader, Action <double> progress = null)
        {
            int count = reader.Count;

            int i = 0;
            int j = 0;

            while (reader.HasNext())
            {
                i++;
                if (i % 100 == 0)
                {
                    progress?.Invoke((double)i / count);
                }

                Tuple <long, List <Tuple <RawReaderMode, object> > > res = reader.Next();

                foreach (Tuple <RawReaderMode, object> val in res.Item2)
                {
                    if (val.Item1 == RawReaderMode.Camera0)
                    {
                        Tuple <double, byte[]> item = (Tuple <double, byte[]>)val.Item2;
                        Mat m = new Mat();
                        CvInvoke.Imdecode(item.Item2, Emgu.CV.CvEnum.ImreadModes.Grayscale, m);
                        _Images.Add(m);
                    }
                }
            }
        }
Ejemplo n.º 3
0
        public void AddFromReader(RawDataReader reader, Action <double> progress = null)
        {
            IArray time_imu0 = null;
            IArray time_cam0 = null;
            IArray gyrox     = null;
            IArray gyroy     = null;
            IArray gyroz     = null;
            IArray accx      = null;
            IArray accy      = null;
            IArray accz      = null;

            if (_MatlabFormat.HasFlag(MatlabFormat.Imu0))
            {
                time_imu0 = ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["time", 0];

                gyrox = ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["gyrox", 0];
                gyroy = ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["gyroy", 0];
                gyroz = ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["gyroz", 0];

                accx = ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["accx", 0];
                accy = ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["accy", 0];
                accz = ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["accz", 0];
            }

            if (_MatlabFormat.HasFlag(MatlabFormat.Camera0))
            {
                time_cam0 = ((_DataStruct["raw", 0] as IStructureArray)["cam0", 0] as IStructureArray)["time", 0];
            }

            int imu0Index = 0;
            int cam0Index = 0;

            int count = reader.Count;

            int i = 0;

            while (reader.HasNext())
            {
                i++;
                if (i % 100 == 0)
                {
                    progress?.Invoke((double)i / count);
                }
                Tuple <long, List <Tuple <RawReaderMode, object> > > res = reader.Next();

                foreach (Tuple <RawReaderMode, object> val in res.Item2)
                {
                    if (val.Item1 == RawReaderMode.Imu0 && _MatlabFormat.HasFlag(MatlabFormat.Imu0))
                    {
                        if (time_imu0.Dimensions.Length == 0 || imu0Index >= time_imu0.Dimensions[1])
                        {
                            time_imu0 = ResizeArray <double>(time_imu0, 1, imu0Index * 2 + 1);
                            gyrox     = ResizeArray <double>(gyrox, 1, imu0Index * 2 + 1);
                            gyroy     = ResizeArray <double>(gyroy, 1, imu0Index * 2 + 1);
                            gyroz     = ResizeArray <double>(gyroz, 1, imu0Index * 2 + 1);
                            accx      = ResizeArray <double>(accx, 1, imu0Index * 2 + 1);
                            accy      = ResizeArray <double>(accy, 1, imu0Index * 2 + 1);
                            accz      = ResizeArray <double>(accz, 1, imu0Index * 2 + 1);
                        }

                        ((IArrayOf <double>)time_imu0)[0, imu0Index] = (double)res.Item1 / (1000 * 1000 * 1000);

                        ((IArrayOf <double>)gyrox)[0, imu0Index] = ((Tuple <double, double, double, double, double, double>)val.Item2).Item1;

                        ((IArrayOf <double>)gyroy)[0, imu0Index] = ((Tuple <double, double, double, double, double, double>)val.Item2).Item2;

                        ((IArrayOf <double>)gyroz)[0, imu0Index] = ((Tuple <double, double, double, double, double, double>)val.Item2).Item3;

                        ((IArrayOf <double>)accx)[0, imu0Index] = ((Tuple <double, double, double, double, double, double>)val.Item2).Item4;

                        ((IArrayOf <double>)accy)[0, imu0Index] = ((Tuple <double, double, double, double, double, double>)val.Item2).Item5;

                        ((IArrayOf <double>)accz)[0, imu0Index] = ((Tuple <double, double, double, double, double, double>)val.Item2).Item6;

                        imu0Index++;
                    }
                    if (val.Item1 == RawReaderMode.Camera0 && _MatlabFormat.HasFlag(MatlabFormat.Camera0))
                    {
                        if (time_cam0.Dimensions.Length == 0 || cam0Index >= time_cam0.Dimensions[1])
                        {
                            time_cam0 = ResizeArray <double>(time_cam0, 1, cam0Index * 2 + 1);
                        }
                        ((IArrayOf <double>)time_cam0)[0, cam0Index] = (double)res.Item1 / (1000 * 1000 * 1000);
                        cam0Index++;
                    }
                }
            }

            if (_MatlabFormat.HasFlag(MatlabFormat.Imu0))
            {
                time_imu0 = ResizeArray <double>(time_imu0, 1, imu0Index);
                gyrox     = ResizeArray <double>(gyrox, 1, imu0Index);
                gyroy     = ResizeArray <double>(gyroy, 1, imu0Index);
                gyroz     = ResizeArray <double>(gyroz, 1, imu0Index);
                accx      = ResizeArray <double>(accx, 1, imu0Index);
                accy      = ResizeArray <double>(accy, 1, imu0Index);
                accz      = ResizeArray <double>(accz, 1, imu0Index);

                ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["time", 0]  = time_imu0;
                ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["gyrox", 0] = gyrox;
                ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["gyroy", 0] = gyroy;
                ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["gyroz", 0] = gyroz;

                ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["accx", 0] = accx;
                ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["accy", 0] = accy;
                ((_DataStruct["raw", 0] as IStructureArray)["imu0", 0] as IStructureArray)["accz", 0] = accz;
            }

            if (_MatlabFormat.HasFlag(MatlabFormat.Camera0))
            {
                time_cam0 = ResizeArray <double>(time_cam0, 1, cam0Index);

                ((_DataStruct["raw", 0] as IStructureArray)["cam0", 0] as IStructureArray)["time", 0] = time_cam0;
            }
        }