[Insight-users] Convert Rigid3DTransform To VersorRigid3DTransform

[Hans Johnson]

Hello All,

I have a program that generates rho, phi, theta rotation euler angles, and I
can easily generate the rotation matrix for creating the Rigid3DTransform.

I now need to convert Rigid3DTransform to VersorRigid3DTransform so that I
can initialize a mutual information registration with it.

Could anyone provide some advice on how to perform this conversion?

Thanks,
Hans

PS: The following code does not work.
===========================
typedef itk::Rigid3DTransform<double> RigidTransformType;
typedef itk::VersorRigid3DTransform<double> VersorTransformType;

VersorTransformType::Pointer
ConvertToVersorRigid3D(RigidTransformType::Pointer RT)
{
  VersorTransformType::Pointer VT=VersorTransformType::New();
  VT->SetFixedParameters(RT->GetFixedParameters());

  itk::Matrix<double,3,3> R=RT->GetRotationMatrix();
  RigidTransformType::TranslationType T=RT->GetTranslation();

  VersorTransformType::ParametersType p;
  p.SetSize(6);
  itk::Versor<double> v;
  v.Set(R);
  //Get the first 3 elements of the versor;
  p[0]=v.GetRight()[0];
  p[1]=v.GetRight()[1];
  p[2]=v.GetRight()[2];
  p[3]=T[0];
  p[4]=T[1];
  p[5]=T[2];
  VT->SetParameters(p);
  return VT;
}






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