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Thirdparty/Pangolin/include/pangolin/log/playback_session.h

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+#pragma once
+
+#include <memory>
+#include <vector>
+
+#include <pangolin/log/packetstream_reader.h>
+#include <pangolin/utils/file_utils.h>
+#include <pangolin/utils/registration.h>
+
+namespace pangolin {
+
+class Params;
+
+class PlaybackSession
+{
+public:
+    // Singleton Instance
+    static std::shared_ptr<PlaybackSession> Default();
+
+    // Return thread-safe, shared instance of PacketStreamReader, providing
+    // serialised read for PacketStreamReader
+    std::shared_ptr<PacketStreamReader> Open(const std::string& filename)
+    {
+        const std::string path = SanitizePath(PathExpand(filename));
+
+        auto i = readers.find(path);
+        if(i == readers.end()) {
+            auto psr = std::make_shared<PacketStreamReader>(path);
+            readers[path] = psr;
+            return psr;
+        }else{
+            return i->second;
+        }
+    }
+
+    SyncTime& Time()
+    {
+        return time;
+    }
+
+    static std::shared_ptr<PlaybackSession> ChooseFromParams(const Params& params);
+
+private:
+    std::map<std::string,std::shared_ptr<PacketStreamReader>> readers;
+    SyncTime time;
+};
+
+}