/usr/include/kido/utils/C3D.hpp is in libkido-utils-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2011-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Sehoon Ha <sehoon.ha@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_UTILS_C3D_H
#define KIDO_UTILS_C3D_H
#include <vector>
#include <ctime>
#include <Eigen/Dense>
#include "kido/math/MathTypes.hpp"
////////////////////////////////////////////////////////////////////////////////
// C3D file reader and writer
namespace kido {
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, Eigen::EIGEN_VV_VEC3D& _pointData,
int* _nFrame, int* _nMarker, double* _freq );
bool saveC3DFile( const char* _fileName, Eigen::EIGEN_VV_VEC3D& _pointData,
int _nFrame, int _nMarker, double _freq );
} // namespace utils
} // namespace kido
#endif // #ifndef KIDO_UTILS_C3D_H
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