public void Init(string VideoFile, out uint FirstFrame, out uint LastFrame)
{
var ImagesDir = PrepVideo.GetImagesDir(VideoFile);
Background.ImagesDir = ImagesDir;
Background.FileExt = FILE_EXT;
rot180z = Quaternion.Euler(0, 0, 180);
var posFile = PrepVideo.GetPositionsFilePath(VideoFile);
GNSSTransform.InitModels();
GNSSTransform.CreateGNSSMarkers(posFile);
FirstFrame = UInt32.MaxValue;
LastFrame = 0;
foreach (var viewsChunk in AliceSfm.Load(ImagesDir))
{
var chunk = InitChunk(viewsChunk, posFile);
FirstFrame = Math.Min(FirstFrame, chunk.FirstFrame);
LastFrame = Math.Max(LastFrame, chunk.LastFrame);
ChunksSequence.AddChunk(chunk);
}
}
static bool IsImported(string videoFile)
{
/*
* we check the presens of positions file to
* figure out if the video have been imported
*/
var positionsFile = PrepVideo.GetPositionsFilePath(videoFile);
return(File.Exists(positionsFile));
}
static IEnumerable <(View view, PoseDesc pose)> GetViewPoses(string videoFile)
{
var toSweref = GeodesyProjections.fromWGS84Converter("sweref_99_13_30");
var posFile = PrepVideo.GetPositionsFilePath(videoFile);
var cp = new CaptionParser(posFile);
uint TimeStamp;
double Latitude;
double Longitude;
double Altitude;
double RelativeHeight;
float Pitch;
float Roll;
float Yaw;
cp.ReadPose(out TimeStamp,
out Latitude, out Longitude, out Altitude, out RelativeHeight,
out Pitch, out Roll, out Yaw);
var origin = toSweref(Longitude, Latitude, Altitude);
yield return(GnssToViewPose(origin, origin, TimeStamp));
while (true)
{
try
{
cp.ReadPose(out TimeStamp,
out Latitude, out Longitude, out Altitude, out RelativeHeight,
out Pitch, out Roll, out Yaw);
}
catch (EndOfStreamException)
{
Log.Msg("GnssSfm: done loading captions");
break;
}
var gnssPos = toSweref(Longitude, Latitude, Altitude);
yield return(GnssToViewPose(origin, gnssPos, TimeStamp));
}
}
