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));
}
}
}
}
}
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);
}
}
}
}
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;
}
}
