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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkRigidTransformXMLFileReader.cxx,v $
Language: C++
Date: $Date: 2009-01-30 20:49:54 $
Version: $Revision: 1.1 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#include "igstkRigidTransformXMLFileReader.h"
#include "igstkTransform.h"
namespace igstk
{
void
RigidTransformXMLFileReader::ProcessTransformation()
throw ( FileFormatException )
{
double qx, qy, qz, qw;
igstk::Transform::VectorType t;
igstk::Transform::VersorType q;
const double eps = 0.1;
std::istringstream instr;
instr.str( this->m_CurrentTagData );
instr>>qx>>qy>>qz>>qw>>t[0]>>t[1]>>t[2];
//check that we got to the end of the stream, (assumes that the string
//m_CurrentTagData has no trailing white spaces)
if( !instr.eof() )
{
throw FileFormatException(
"Error in transformation data, possibly non numeric values" );
}
//check that we got all seven values
if( instr.fail() )
throw FileFormatException( "Missing transformation data" );
//check that the quaternion is a versor (unit norm)
if( fabs( qx*qx + qy*qy + qz*qz + qw*qw - 1 ) > eps )
{
throw FileFormatException(
"Quaternion entries do not define a rotation (norm not equal one)." );
}
q.Set(qx, qy, qz, qw);
delete this->m_Transform;
Transform *rigidTransform = new Transform();
//we already have the estimation error
rigidTransform->SetTranslationAndRotation(
t, q,
this->m_EstimationError,
itk::NumericTraits< TimeStamp::TimePeriodType >::max() );
this->m_Transform = rigidTransform;
}
} //namespace
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