[ITK-users] Euler3DTransform not taking user defined Center of Rotation?

Francois Budin francois.budin at kitware.com
Wed Apr 19 13:30:14 EDT 2017 

Hello Matias,

I created a small executable based on the code you sent me:

#include <itkEuler3DTransform.h>

int main(int argc, char* argv[])
{
  typedef itk::Euler3DTransform< double > TransformType;
//Transform
  TransformType::Pointer transform = TransformType::New();
double alfa, beta, gamma, centro_rotacion_X, centro_rotacion_Y,
centro_rotacion_Z, origenX,origenY;
gamma = atof(argv[2]);
beta = atof(argv[3]);
alfa = atof(argv[4]);
centro_rotacion_X = atof(argv[5]);
centro_rotacion_Y = atof(argv[6]);
centro_rotacion_Z = atof(argv[7]);
double centro[3] = { centro_rotacion_X, centro_rotacion_Y,
centro_rotacion_Z };
transform->SetCenter(centro);
transform->SetRotation(gamma, beta, alfa);
std::cout<<transform->GetCenter()<<std::endl;
std::cout<<transform->GetMatrix()<<std::endl;
std::cout<<transform<<std::endl;
  return 0;
}

And the results are correct:
./Euler 10 20 30 40 50 60 70
[50, 60, 70]
0.56923 -0.304067 0.763885
0.716525 -0.272165 -0.642275
0.403198 0.912945 0.0629472

Euler3DTransform (0x1126e80)
  RTTI typeinfo:   itk::Euler3DTransform<double>
  Reference Count: 2
  Modified Time: 3
  Debug: Off
  Object Name:
  Observers:
    none
  Matrix:
    0.56923 -0.304067 0.763885
    0.716525 -0.272165 -0.642275
    0.403198 0.912945 0.0629472
  Offset: [-13.6894, 85.4629, -9.34292]
  Center: [50, 60, 70]
  Translation: [0, 0, 0]
  Inverse:
    0.56923 0.716525 0.403198
    -0.304067 -0.272165 0.912945
    0.763885 -0.642275 0.0629472
  Singular: 0
  Euler's angles: AngleX=20 AngleY=30 AngleZ=40
  m_ComputeZYX = 0


On Wed, Apr 19, 2017 at 11:56 AM, Matias <matimontg at gmail.com> wrote:

> Thanks Francois,
>
> There's something strange in the matrix and Offset, this is what I get:
>
> Center:
>
> [-246.422, -149.871, 20]
>
> Matrix:
> 1 0 0
> 0 1 0
> 0 0 1
>
> Offset:
> [0, 0, 0]
>
> El mar., 18 de abr. de 2017 a la(s) 14:47, Francois Budin-3 [via ITK -
> Users] <[hidden email]
> <http:///user/SendEmail.jtp?type=node&node=38131&i=0>> escribió:
>
>> Hello Matias,
>>
>> I used the Euler3DTransform in a python terminal to see if I had problems
>> setting the center and the angle, and everything seems to work as expected:
>>
>> trans=itk.Euler3DTransform.D.New()
>> trans.SetCenter([0,0,0])
>> trans.SetRotation(10,0,0)
>> trans.TransformPoint([0,0,0])
>> Out[46]: itkPointD3 ([0, 0, 0])  <-expected as the transform center is
>> [0,0,0]
>>
>> trans.SetCenter([10,0,0])
>> trans.TransformPoint([0,0,0])
>> Out[48]: itkPointD3 ([5.16482, -7.96596, 3.62828]) <-rotation not around
>> [0,0,0] but around [10,0,0]
>>
>> To try to understand you problem, I would advise you to print the content
>> of your transform to see if it is set as you expect. In my case, I get:
>>
>> Euler3DTransform (0x18da8a0)
>>   RTTI typeinfo:   itk::Euler3DTransform<double>
>>   Reference Count: 1
>>   Modified Time: 377
>>   Debug: Off
>>   Object Name:
>>   Observers:
>>     none
>>   Matrix:
>>     0.483518 -0.362828 0.796596
>>     0.796596 0.559609 -0.228631
>>     -0.362828 0.745113 0.559609
>>   Offset: [5.16482, -7.96596, 3.62828]
>>   Center: [10, 0, 0]
>>   Translation: [0, 0, 0]
>>   Inverse:
>>     0.483518 0.796596 -0.362828
>>     -0.362828 0.559609 0.745113
>>     0.796596 -0.228631 0.559609
>>   Singular: 0
>>   Euler's angles: AngleX=40 AngleY=10 AngleZ=10
>>   m_ComputeZYX = 0
>>
>> Hope this helps,
>> Francois
>>
>>
>>
>> On Mon, Apr 17, 2017 at 7:11 PM, Matias <[hidden email]
>> <http:///user/SendEmail.jtp?type=node&node=38127&i=0>> wrote:
>> Hi, I'm trying to rotate a volume and use an user defined center but no
>> matter what value I set, it seems the rotation is always performed using
>> the same center (not sure which, maybe a default center)? Here's the code
>> I'm using.. am I missing something? typedef itk::Euler3DTransform< double >
>> TransformType; //Transform TransformType::Pointer transform =
>> TransformType::New(); double alfa, beta, gamma, centro_rotacion_X,
>> centro_rotacion_Y, centro_rotacion_Z, origenX,origenY; gamma =
>> atof(argv[2]); beta = atof(argv[3]); alfa = atof(argv[4]);
>> centro_rotacion_X = atof(argv[5]); centro_rotacion_Y = atof(argv[6]);
>> centro_rotacion_Z = atof(argv[7]); double centro[3] = { centro_rotacion_X,
>> centro_rotacion_Y, centro_rotacion_Z }; transform->SetCenter(centro);
>> transform->SetRotation(gamma, beta, alfa);
>> ------------------------------
>> View this message in context: Euler3DTransform not taking user defined
>> Center of Rotation?
>> <http://itk-users.7.n7.nabble.com/Euler3DTransform-not-taking-user-defined-Center-of-Rotation-tp38126.html>
>> Sent from the ITK - Users mailing list archive
>> <http://itk-users.7.n7.nabble.com/> at Nabble.com.
>>
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>
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> ------------------------------
> View this message in context: Re: [ITK-users] Euler3DTransform not taking
> user defined Center of Rotation?
> <http://itk-users.7.n7.nabble.com/Euler3DTransform-not-taking-user-defined-Center-of-Rotation-tp38126p38131.html>
>
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