internal static VisionDetectOption FromReader(ushort size, BinaryReader reader)
{
Validate(size);
var result = new VisionDetectOption
{
Detected = reader.ReadUInt32(),
Type = GetUInt32Array(reader, DetectionResults),
Xc = GetUInt32Array(reader, DetectionResults),
Yc = GetUInt32Array(reader, DetectionResults),
Width = GetUInt32Array(reader, DetectionResults),
Height = GetUInt32Array(reader, DetectionResults),
Distance = GetUInt32Array(reader, DetectionResults),
OrientationAngle = GetSingleArray(reader, DetectionResults),
Rotation = Matrix33.GetMatrixArray(reader, DetectionResults),
Translation = Vector.GetVectorArray(reader, DetectionResults),
CameraSource = GetUInt32Array(reader, DetectionResults)
};
return(result);
}
private void AddOption(NavDataTag optionId, ushort size, BinaryReader reader)
{
switch (optionId)
{
case NavDataTag.Demo:
Demo = DemoOption.FromReader(size, reader);
break;
case NavDataTag.Checksum:
CheckSum = ChecksumOption.FromBytes(size, reader);
break;
case NavDataTag.VisionDetect:
VisionDetect = VisionDetectOption.FromReader(size, reader);
break;
case NavDataTag.Wifi:
Wifi = WifiOption.FromReader(size, reader);
break;
case NavDataTag.HdVideoStream:
HdVideoStream = HdVideoStreamOption.FromReader(size, reader);
break;
default:
if (false && Debugger.IsAttached)
{
// An unhandled navdata option was detected; break into the debugger
Debugger.Break();
}
else
{
for (int i = 0; i < size - 4; i++)
{
reader.ReadByte();
}
}
break;
}
}
