C3D.hpp

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#ifndef DART_UTILS_C3D_HPP_
#define DART_UTILS_C3D_HPP_
 
#include <ctime>
#include <vector>
#include <Eigen/Dense>
#include "dart/math/MathTypes.hpp"
 
//  C3D file reader and writer
namespace dart {
namespace utils {
 
#define C3D_REC_SIZE 512
 
typedef struct c3d_head_t
{
  unsigned char prec_start;
  unsigned char key;
  short pnt_cnt;
  short a_channels;
  short start_frame;
  short end_frame;
  short int_gap;
  float scale;
  short rec_start;
  short a_frames;
  float freq;
  short stuff[244];
} c3d_head;
 
typedef struct c3d_param_t
{
  unsigned char reserved[2];
  unsigned char pblocks;
  unsigned char ftype;
  char stuff[C3D_REC_SIZE - 4];
} c3d_param;
 
typedef struct c3d_frameSI_t
{
  short x, y, z;
  unsigned char cam_byte;
  unsigned char residual;
} c3d_frameSI;
 
typedef struct c3d_frame_t
{
  float x, y, z;
  float residual;
} c3d_frame;
 
float convertDecToFloat(char _bytes[4]);
void convertFloatToDec(float _f, char* _bytes);
 
bool loadC3DFile(
    const char* _fileName,
    std::vector<std::vector<Eigen::Vector3d>>& _pointData,
    int* _nFrame,
    int* _nMarker,
    double* _freq);
bool saveC3DFile(
    const char* _fileName,
    std::vector<std::vector<Eigen::Vector3d>>& _pointData,
    int _nFrame,
    int _nMarker,
    double _freq);
 
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_C3D_HPP_