public RawDataReader(string filename, RawReaderMode mode, RemoteDataStore remoteDataStore = null, bool camFastRead = false)
{
_FileName = filename;
_Mode = mode;
_Remote = remoteDataStore != null;
_RemoteDataStore = remoteDataStore;
_CamFastRead = camFastRead;
}
public Tuple <long, List <Tuple <RawReaderMode, object> > > Next()
{
List <Tuple <RawReaderMode, object> > result = new List <Tuple <RawReaderMode, object> >();
long currentTimestamp = 0;
RawReaderMode readerMode = 0;
currentTimestamp = _Timestamps[_Index];
readerMode = _ReaderModes[_Index];
_Index++;
if (readerMode.HasFlag(RawReaderMode.Imu0))
{
result.Add(new Tuple <RawReaderMode, object>(RawReaderMode.Imu0, _ImuCache[currentTimestamp]));
}
if (readerMode.HasFlag(RawReaderMode.Camera0))
{
double exposerTime = 0;
if (_CamCache.Any(c => c.Key == currentTimestamp))
{
exposerTime = _CamCache.FirstOrDefault(c => c.Key == currentTimestamp).Value;
}
if (_CamFastRead)
{
result.Add(new Tuple <RawReaderMode, object>(RawReaderMode.Camera0, new Tuple <double, byte[]>(exposerTime, new byte[0])));
}
else
{
ZipArchiveEntry imageEntry = _ZipArchive.GetEntry(string.Format("cam0\\{0}.png", currentTimestamp));
using (Stream stream = imageEntry.Open())
{
using (MemoryStream ms = new MemoryStream())
{
stream.CopyTo(ms);
result.Add(new Tuple <RawReaderMode, object>(RawReaderMode.Camera0, new Tuple <double, byte[]>(exposerTime, ms.ToArray())));
}
}
}
}
return(new Tuple <long, List <Tuple <RawReaderMode, object> > >(currentTimestamp, result));
}
