/// <summary>
/// Seek data record by index object
/// </summary>
/// <param name="idx">Index object</param>
public void Seek(IndexData idx)
{
if (pointReader == null)
{
throw new Exception("Reader has not been opened!");
}
pointReader.BaseStream.Seek(idx.Position, SeekOrigin.Begin);
//nextPacket = null;
}
/// <summary>
/// Seek to the indicated type
/// </summary>
/// <param name="timeStamp">Timestamp to seek</param>
/// <param name="searchType"></param>
/// <returns>Time difference between the found and requested times</returns>
public double SeekByTime(DateTime timeStamp, SearchType searchType = SearchType.FLOOR)
{
IndexData idx = FindIndexByTime(timeStamp, SearchType.FLOOR);
Seek(idx);
// now read records until find the best point record
VelodynePacket packet = ReadNext();
double it = 0;
VelodynePointPacket pointPacket = null;
while ((!(packet is VelodyneEndOfFile)))
{
pointPacket = packet as VelodynePointPacket;
if (pointPacket.Points[0].Timestamp.Value.Ticks > timeStamp.Ticks)
{
break;
}
packet = ReadNext();
it = pointPacket.Points[0].InternalTime;
}
return(new TimeSpan(pointPacket.Points[0].Timestamp.Value.Ticks - timeStamp.Ticks).TotalSeconds);
}