Add missing captury/PublicStructs.h

captury/PublicStructs.h

@@ -0,0 +1,126 @@
+#pragma once
+
+#include <stdint.h>
+
+typedef uint32_t uint;
+
+#pragma pack(push, 1)
+
+struct CapturyJoint {
+	char		name[64];
+	int		parent;		// index of parent joint or -1 for root node
+	float		offset[3];	// offset to parent joint
+	float		orientation[3];	// XYZ quaternion - w needs to be reconstructed (w >= 0)
+};
+
+struct CapturyBlob {
+	int		parent;		// index of parent joint or -1 for root node
+	float		offset[3];	// offset to parent joint
+	float		size;		// radius
+	float		color[3];	// RGB color [0..1]
+};
+
+struct CapturyActor {
+	char		name[32];
+	int		id;
+	int		numJoints;
+	CapturyJoint*	joints;
+	int		numBlobs;
+	CapturyBlob*	blobs;
+	int		padding;	// pad to 8 byte alignment
+};
+
+struct CapturyTransform {
+	float		translation[3];	// translation
+	float		rotation[3];	// XYZ Euler angles
+};
+
+enum CapturyPoseFlags {CAPTURY_LEFT_FOOT_ON_GROUND = 0x01, CAPTURY_RIGHT_FOOT_ON_GROUND = 0x02};
+
+struct CapturyPose {
+	int			actor;
+	uint64_t		timestamp;	// in microseconds - since the start of Captury Live
+	int			numTransforms;
+	CapturyTransform*	transforms;	// one CapturyTransform per joint in global (world space) coordinates
+						// the transforms are in the same order as the joints
+						// in the corresponding CapturyActor.joints array
+	uint32_t		flags;		// feet-on-ground
+};
+
+struct CapturyIMUPose {
+	uint			imu;
+	uint64_t		timestamp;	// in microseconds - since the start of Captury Live
+	float			orientation[3];
+	float			acceleration[3];// linear acceleration
+	float			position[3];
+};
+
+struct CapturyConstraint {
+	int		actor;
+	char		jointName[24];
+	CapturyTransform transform;
+	float		weight;
+	char		constrainTranslation;	// if 0 ignore the translational part of the transform
+	char		constrainRotation;	// if 0 ignore the rotational part of the transform
+};
+
+struct CapturyCamera {
+	char		name[32];
+	int		id;
+	float		position[3];
+	float		orientation[3];
+	float		sensorSize[2];	// in mm
+	float		focalLength;	// in mm
+	float		lensCenter[2];	// in mm
+	char		distortionModel[16]; // name of distortion model or "none"
+	float		distortion[30];
+
+	// the following can be computed from the above values and are provided for convenience only
+	// the matrices are stored column wise:
+	// 0  3  6  9
+	// 1  4  7 10
+	// 2  5  8 11
+	float		extrinsic[12];
+	float		intrinsic[9];
+};
+
+struct CapturyImage {
+	int		width;
+	int		height;
+	int		camera;		// camera index
+	uint64_t	timestamp;	// in microseconds
+	uint8_t*	data;		// packed image data: stride = width*3 bytes
+	uint8_t*	gpuData;
+};
+
+struct CapturyDepthImage {
+	int		width;
+	int		height;
+	int		camera;
+	uint64_t	timestamp;	// in microseconds
+	uint16_t*	data;		// packed image data: stride = width*2 bytes
+};
+
+struct CapturyARTag {
+	int32_t			id;
+
+	CapturyTransform	transform;
+};
+
+struct CapturyCornerDetection {
+	int32_t		camera;
+	float		position[2];
+	float		boardCoordinates[3];
+};
+
+struct CapturyLatencyInfo {
+	uint64_t	firstImagePacketTime;
+	uint64_t	optimizationStartTime;
+	uint64_t	optimizationEndTime;
+	uint64_t	poseSentTime;
+	uint64_t	poseReceivedTime;
+
+	uint64_t	timestampOfCorrespondingPose;
+};
+
+#pragma pack(pop)