[Insight-users] Questions about transformation from rotation matrix to parameters?

[LiuYuanJie]

Hi,everyone.
In versorRigid3dtransform the rotation parameters are set by the three axies and a rotate angle while the traditional parameters I think is 6 parameters:3 parameters indicate the center point of rotation(x,y,z) and 3 parameters for the rotation angle of each dimension. Also i know that the versorrigid3dtransform has provided a get rotation matrix method which can give me the 3*3 rotation matrix.
The question is how to transform one of these representitive method to another?
E.g. from rotate matrix to compute the center point,x,y,z and angle of each dimension and from these 6 parameters to the parameters of versorrigid3dtransform form.
 
I wonder that does ITK provide such functions? If not, where can I find the formulas of these transformations?



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