C3D.hpp

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#ifndef DART_UTILS_C3D_HPP_
#define DART_UTILS_C3D_HPP_
 
#include <vector>
#include <ctime>
#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_