static void ParseTrackingFile()
{
TrackFileParser tfParser = new TrackFileParser(trackFilepath);
ICameraTrackSolver solver = null;
tfParser.Parse();
switch (tfParser.TrackFileType)
{
case TrackFileParser.CameraTrackerType.RL_DEFAULT:
solver = new RLCameraTrackSolver(tfParser, fps);
break;
case TrackFileParser.CameraTrackerType.GAM_DEFAULT:
case TrackFileParser.CameraTrackerType.GAM_NATIVE:
solver = new GAMCameraTrackSolver(tfParser, fps);
break;
default:
throw new CameraTrackException("Unsupported tracker type");
}
solver.Solve();
solver.WriteChanFile(chanFilepath);
#if DEBUG
solver.WriteSensorDataFiles(chanFilepath);
#endif
}
public AbstractTrackSolver(TrackFileParser tfParser, double fps)
{
if (!tfParser.Parsed)
{
tfParser.Parse();
}
if (Array.IndexOf(this.GetSupportedTrackFileTypes(), tfParser.TrackFileType) == -1)
{
throw new CameraTrackException("Incompatible track file type");
}
this.sensorData = tfParser.SensorData;
this.solverData = new Dictionary <ulong, SolverFrame>(tfParser.SensorData.Count / 2);
this.chanFrames = new HashSet <ChanFrame>();
this.fps = fps;
this.nsPerFrame = 1e9 / this.fps;
this.firstTimestamp = this.sensorData.Values[0].Timestamp;
}
public GAMCameraTrackSolver(TrackFileParser tfParser, double fps) : base(tfParser, fps)
{
this.fusionLastTimestamp = this.firstTimestamp;
}
public RLCameraTrackSolver(TrackFileParser tfParser, double fps) : this(tfParser, fps, 100.0)
{
}
public RLCameraTrackSolver(TrackFileParser tfParser, double fps, double psFactor) : base(tfParser, fps)
{
this.PositionScaleFactor = psFactor;
}