/**
* Read the file designated by @a filename and fill @a output.
*/
void ANGFileIO::Read(const std::string& filename, Acquisition::Pointer output)
{
output->Reset();
IEEELittleEndianBinaryFileStream bifs;
bifs.SetExceptions(BinaryFileStream::EndFileBit | BinaryFileStream::FailBit | BinaryFileStream::BadBit);
try
{
bifs.Open(filename, BinaryFileStream::In);
ReadEliteHeader_p(output, &bifs);
ReadEliteMarkersValues_p(output, &bifs);
// Labels
std::vector<AngleLabelConverter> labels = std::vector<AngleLabelConverter>(8);
labels[0] = AngleLabelConverter("R_PELV", "RPelvisAngle", "Pelvis relative to Global/Body axes (Right)");
labels[1] = AngleLabelConverter("R_HIP", "RHipAngle", "Right Hip Rotation");
labels[2] = AngleLabelConverter("L_HIP", "LHipAngle", "Left Hip Rotation");
labels[3] = AngleLabelConverter("R_KNEE", "RKneeAngle", "Right Knee Rotation");
labels[4] = AngleLabelConverter("L_KNEE", "LKneeAngle", "Left Knee Rotation");
labels[5] = AngleLabelConverter("R_SHOU", "RShoulderAngle", "Right Shoulder Rotation");
labels[6] = AngleLabelConverter("L_PELV", "LPelvisAngle", "Pelvis relative to Global/Body axes (Left)");
labels[7] = AngleLabelConverter("L_SHOU", "LShoulderAngle", "Left Shoulder Rotation");
btk::Point::Pointer RFPA, LFPA;
for (Acquisition::PointIterator it = output->BeginPoint() ; it != output->EndPoint() ; ++it)
{
bifs.SeekRead(10, BinaryFileStream::Current);
std::string label = btkTrimString(btkTrimString(bifs.ReadString(6)), static_cast<char>(0x00));
// Known case
size_t j = 0;
for (j = 0 ; j < labels.size() ; ++j)
{
if (label.compare(labels[j].current) == 0)
{
(*it)->SetLabel(labels[j].future);
(*it)->SetDescription(labels[j].description);
break;
}
}
// Special *_ANKL
if (j >= labels.size())
{
if (label.compare("R_ANKL") == 0)
{
(*it)->SetLabel("RAnkleAngle");
(*it)->SetDescription("Right Ankle Rotation");
RFPA = btk::Point::New("RFootProgressAngle", output->GetPointFrameNumber(), Point::Angle, "Right Foot relative to Global/Body axes");
RFPA->GetValues().col(1) = (*it)->GetValues().col(1);
RFPA->GetResiduals() = (*it)->GetResiduals();
(*it)->GetValues().col(1).setZero();
// Clean the -9999 which were not on the 3 coordinates
// The column #0 contains only -9999
(*it)->GetValues().col(0).setZero();
for (int i = 0 ; i < output->GetPointFrameNumber() ; ++i)
{
if (((*it)->GetValues().coeff(i, 2) + 9999.0) < std::numeric_limits<double>::epsilon())
{
(*it)->GetValues().coeffRef(i, 2) = 0.0;
(*it)->GetResiduals().coeffRef(i) = -1.0;
}
if ((RFPA->GetValues().coeff(i, 1) + 9999.0) < std::numeric_limits<double>::epsilon())
{
RFPA->GetValues().coeffRef(i, 1) = 0.0;
RFPA->GetResiduals().coeffRef(i) = -1.0;
}
}
}
else if (label.compare("L_ANKL") == 0)
{
(*it)->SetLabel("LAnkleAngle");
(*it)->SetDescription("Left Ankle Rotation");
LFPA = btk::Point::New("LFootProgressAngle", output->GetPointFrameNumber(), Point::Angle, "Left Foot relative to Global/Body axes");
LFPA->GetValues().col(1) = (*it)->GetValues().col(1);
LFPA->GetResiduals() = (*it)->GetResiduals();
(*it)->GetValues().col(1).setZero();
// Clean the -9999 which were not on the 3 coordinates
// The column #0 contains only -9999
(*it)->GetValues().col(0).setZero();
for (int i = 0 ; i < output->GetPointFrameNumber() ; ++i)
{
if (((*it)->GetValues().coeff(i, 2) + 9999.0) < std::numeric_limits<double>::epsilon())
{
(*it)->GetValues().coeffRef(i, 2) = 0.0;
(*it)->GetResiduals().coeffRef(i) = -1.0;
}
if ((LFPA->GetValues().coeff(i, 1) + 9999.0) < std::numeric_limits<double>::epsilon())
{
LFPA->GetValues().coeffRef(i, 1) = 0.0;
LFPA->GetResiduals().coeffRef(i) = -1.0;
}
}
}
// No known translation
else
(*it)->SetLabel(label);
}
(*it)->SetType(Point::Angle);
}
if (RFPA != Point::Null)
output->AppendPoint(RFPA);
if (LFPA != Point::Null)
output->AppendPoint(LFPA);
}
catch (BinaryFileStreamFailure& )
{
std::string excmsg;
if (bifs.EndFile())
excmsg = "Unexpected end of file.";
else if (!bifs.IsOpen())
excmsg = "Invalid file path.";
else if(bifs.Bad())
excmsg = "Loss of integrity of the file stream.";
else if(bifs.Fail())
excmsg = "Internal logic operation error on the stream associated with the file.";
else
excmsg = "Unknown error associated with the file stream.";
if (bifs.IsOpen()) bifs.Close();
throw(ANGFileIOException(excmsg));
}
catch (ANGFileIOException& )
{
if (bifs.IsOpen()) bifs.Close();
throw;
}
catch (std::exception& e)
{
if (bifs.IsOpen()) bifs.Close();
throw(ANGFileIOException("Unexpected exception occurred: " + std::string(e.what())));
}
catch(...)
{
if (bifs.IsOpen()) bifs.Close();
throw(ANGFileIOException("Unknown exception"));
}
};
/**
* Read the file designated by @a filename and fill @a output.
*/
void GRxFileIO::Read(const std::string& filename, Acquisition::Pointer output)
{
output->Reset();
IEEELittleEndianBinaryFileStream bifs;
bifs.SetExceptions(BinaryFileStream::EndFileBit | BinaryFileStream::FailBit | BinaryFileStream::BadBit);
try
{
bifs.Open(filename, BinaryFileStream::In);
uint16_t numFra = bifs.ReadU16();
double freq = static_cast<double>(bifs.ReadU16());
// Some values between the bytes 0x05 and 0x49...
// Bytes 50-51: Number of frames in the main acquisition + 1 and multiplied by 10...
// Bytes 52-53: 0x00
bifs.SeekRead(50, BinaryFileStream::Current);
// Bytes 54-55: First frame
double ff = bifs.ReadU16();
// Bytes 56-57: 0x00
// Bytes 58-59: Last frame
// Bytes 60-135 Other values ...
bifs.SeekRead(80, BinaryFileStream::Current);
// Bytes 136-139: Length
double length = bifs.ReadFloat();
// Bytes 140-143: Width
double width = bifs.ReadFloat();
// Bytes 144-147: Height
double height = bifs.ReadFloat();
// Corners 1,2,3,4: coordinates X,Y,Z
std::vector<float> cornersData = bifs.ReadFloat(3*4);
output->Init(0, numFra, 6, 1);
output->SetFirstFrame(static_cast<int>(ceil(ff / 1000.0 * freq + 1.0)));
output->SetPointFrequency(freq);
// Metadata FORCE_PLATFORM
MetaData::Pointer fp = MetaDataCreateChild(output->GetMetaData(), "FORCE_PLATFORM");
// Metadata FORCE_PLATFORM:USED
MetaDataCreateChild(fp, "USED", (int16_t)1);
// Metadata FORCE_PLATFORM:ZERO
std::vector<int16_t> zeros = std::vector<int16_t>(2,0);
MetaDataCreateChild(fp, "ZERO", zeros);
// Metadata FORCE_PLATFORM:TYPE
MetaDataCreateChild(fp, "TYPE")->SetInfo(MetaDataInfo::New(std::vector<uint8_t>(1,1), std::vector<int16_t>(1,1)));
// Metadata FORCE_PLATFORM:CORNERS
std::vector<uint8_t> cornersDim = std::vector<uint8_t>(3, 1); cornersDim[0] = 3; cornersDim[1] = 4;
MetaDataCreateChild(fp, "CORNERS")->SetInfo(MetaDataInfo::New(cornersDim, cornersData));
// Metadata FORCE_PLATFORM:ORIGIN
std::vector<uint8_t> originDim = std::vector<uint8_t>(2, 1); originDim[0] = 3;
std::vector<float> originVal = std::vector<float>(3);
originVal[0] = static_cast<float>(length / 2.0);
originVal[1] = static_cast<float>(width / 2.0);
originVal[2] = static_cast<float>(-1.0 * height / 2.0);
MetaDataCreateChild(fp, "ORIGIN")->SetInfo(MetaDataInfo::New(originDim, originVal));
// Metadata FORCE_PLATFORM:CHANNEL
std::vector<uint8_t> channelDim = std::vector<uint8_t>(2, 1); channelDim[0] = 6;
std::vector<int16_t> channelData = std::vector<int16_t>(6,0);
channelData[0] = 1; channelData[1] = 2; channelData[2] = 3; channelData[3] = 4; channelData[4] = 5; channelData[5] = 6;
MetaDataCreateChild(fp, "CHANNEL")->SetInfo(MetaDataInfo::New(channelDim, channelData));
bifs.SeekRead(512, BinaryFileStream::Begin);
btk::Wrench::Pointer fpw = btk::Wrench::New(numFra);
for (int i = 0 ; i < output->GetPointFrameNumber() ; ++i)
{
output->GetAnalog(1)->GetValues().coeffRef(i) = bifs.ReadFloat();
output->GetAnalog(0)->GetValues().coeffRef(i) = -1.0 * bifs.ReadFloat();
output->GetAnalog(2)->GetValues().coeffRef(i) = -1.0 * bifs.ReadFloat();
output->GetAnalog(4)->GetValues().coeffRef(i) = bifs.ReadFloat() - width / 2.0;
output->GetAnalog(3)->GetValues().coeffRef(i) = -1.0 * bifs.ReadFloat() + length / 2.0;
output->GetAnalog(5)->GetValues().coeffRef(i) = bifs.ReadFloat();
}
// Label channels
std::string str = std::string(1, 0x00); str[0] = *(filename.rbegin());
output->GetAnalog(0)->SetLabel("Fx" + str);
output->GetAnalog(1)->SetLabel("Fy" + str);
output->GetAnalog(2)->SetLabel("Fz" + str);
output->GetAnalog(3)->SetLabel("Px" + str);
output->GetAnalog(4)->SetLabel("Py" + str);
output->GetAnalog(5)->SetLabel("Mz" + str);
}
catch (BinaryFileStreamFailure& )
{
std::string excmsg;
if (bifs.EndFile())
excmsg = "Unexpected end of file.";
else if (!bifs.IsOpen())
excmsg = "Invalid file path.";
else if(bifs.Bad())
excmsg = "Loss of integrity of the file stream.";
else if(bifs.Fail())
excmsg = "Internal logic operation error on the stream associated with the file.";
else
excmsg = "Unknown error associated with the file stream.";
if (bifs.IsOpen()) bifs.Close();
throw(GRxFileIOException(excmsg));
}
catch (GRxFileIOException& )
{
if (bifs.IsOpen()) bifs.Close();
throw;
}
catch (std::exception& e)
{
if (bifs.IsOpen()) bifs.Close();
throw(GRxFileIOException("Unexpected exception occurred: " + std::string(e.what())));
}
catch(...)
{
if (bifs.IsOpen()) bifs.Close();
throw(GRxFileIOException("Unknown exception"));
}
};
