public void ReplayOffline(RawDataReader reader, Action <TimeSpan> updateTime, Action onClose, Func <bool> isPaused, Func <bool> isStopped)
{
_Tasks.Add(Task.Factory.StartNew(() =>
{
ProxyMode = IOProxyMode.Offline;
Stopwatch watch = new Stopwatch();
watch.Start();
int nextTimeUpdate = 1000;
long startTime = -1;
int currentTime = 0;
while (reader.HasNext())
{
while (isPaused())
{
watch.Stop();
Thread.Sleep(500);
watch.Start();
}
if (isStopped())
{
break;
}
Tuple <long, List <Tuple <RawReaderMode, object> > > res = reader.Next();
if (startTime == -1)
{
startTime = res.Item1;
}
ImuEventData imuEventData = null;
CameraEventData cameraEventData = null;
int rawSize = 0;
byte[] rawImage = null;
byte[] rawImu = null;
double exposureTime = 0.0;
foreach (Tuple <RawReaderMode, object> val in res.Item2)
{
if (val.Item1 == RawReaderMode.Imu0)
{
imuEventData = ImuEventData.Parse(res.Item1, (Tuple <double, double, double, double, double, double>)val.Item2, res.Item2.Any(c => c.Item1 == RawReaderMode.Camera0));
rawSize += imuEventData.RawSize;
rawImu = imuEventData.GetRaw(_SettingContainer.Settings.ImuSettings.GyroscopeScale, _SettingContainer.Settings.ImuSettings.AccelerometerScale, _SettingContainer.Settings.ImuSettings.TemperatureScale, _SettingContainer.Settings.ImuSettings.TemperatureOffset);
}
if (val.Item1 == RawReaderMode.Camera0)
{
cameraEventData = CameraEventData.Parse(((Tuple <double, byte[]>)val.Item2).Item2, 0, false, ((Tuple <double, byte[]>)val.Item2).Item1);
rawSize += cameraEventData.RawSize;
rawImage = ((Tuple <double, byte[]>)val.Item2).Item2;
exposureTime = ((Tuple <double, byte[]>)val.Item2).Item1;
}
}
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
if (rawSize > 0)
{
byte[] data = new byte[rawSize];
Array.Copy(rawImu, data, rawImu.Length);
if (rawImage != null)
{
Array.Copy(BitConverter.GetBytes(exposureTime), 0, data, imuEventData.RawSize, sizeof(double));
Array.Copy(rawImage, 0, data, imuEventData.RawSize + sizeof(double), rawImage.Length);
}
_ReplayDataSend.AsyncCall(data);
}
}
else
{
_BackgroundQueue.Add(new Tuple <ImuEventData, CameraEventData>(imuEventData, cameraEventData));
}
currentTime += reader.DeltaTimeMs;
int sleep = (int)(currentTime - watch.ElapsedMilliseconds);
if (sleep > reader.DeltaTimeMs)
{
Thread.Sleep(sleep);
}
if (res.Item1 / 1000 > nextTimeUpdate)
{
nextTimeUpdate += 1000;
updateTime(reader.Length - TimeSpan.FromMilliseconds((res.Item1 - startTime) / (1000 * 1000)));
}
}
reader.Close();
ProxyMode = IOProxyMode.Live;
onClose();
}, TaskCreationOptions.LongRunning));
}
public void Render(VIMatlabImporter matlabImporter, RawDataReader reader, Action <double> progress = null)
{
int count = reader.Count;
double startTime = 0;
int i = 0;
List <KeyFrame> keyFrames = matlabImporter.GetKeyFrames();
List <Frame> frames = matlabImporter.GetFrames();
while (reader.HasNext())
{
i++;
if (i % 100 == 0)
{
progress?.Invoke((double)i / count);
}
Tuple <long, List <Tuple <RawReaderMode, object> > > res = reader.Next();
double time = (double)res.Item1 / (1000 * 1000 * 1000);
if (i == 1)
{
startTime = time;
}
foreach (Tuple <RawReaderMode, object> val in res.Item2)
{
if (val.Item1 == RawReaderMode.Camera0)
{
Mat rawImage = new Mat();
CvInvoke.Imdecode(((Tuple <double, byte[]>)val.Item2).Item2, ImreadModes.Grayscale, rawImage);
List <KeyFrame> kfs = keyFrames.Where(c => c.Frame.Time <= time).ToList();
if (kfs.Count > 0)
{
UpdateLastKeyFrame(kfs.Last(), rawImage, 0.2, 10);
}
foreach (KeyFrame keyFrame in kfs)
{
_SlamModel3D.AddNewKeyFrame(keyFrame);
keyFrames.Remove(keyFrame);
}
List <Frame> fs = frames.Where(c => c.Time <= time).ToList();
foreach (Frame frame in fs)
{
_SlamModel3D.AddNewFrame(frame);
frames.Remove(frame);
}
_SlamModel3D.Render();
SE3 Twc_last = _SlamModel3D.LastTransformation();
MoveCamera(Twc_last.Translation.X, Twc_last.Translation.Y, time - startTime);
WriteFrame(rawImage, RenderViewport());
}
}
}
}
