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

Francois Budin francois.budin at kitware.com
Wed Apr 19 17:35:57 EDT 2017 

Thank you for the update. The matrix should change when you update the
center as setting the center calls the function to recompute the matrix.

On Wed, Apr 19, 2017 at 4:31 PM, Matias Montroull <matimontg at gmail.com>
wrote:

> Ok, I figured I was calling getmatrix and getoffset before the SetRotation
> function.. Now it works well:
> Centro:
>
> [-246.422, -149.871, 20]
>
> 0.999686 0.0131081 0.0213481
> -0.0131859 0.999907 0.00350517
> -0.0213002 -0.00378556 0.999766
>
> [1.46023, -3.33334, -5.8115]
>
> I will check with different centers to see if the matrix changes
>
> El mié., 19 de abr. de 2017 a la(s) 17:18, Matias Montroull <
> matimontg at gmail.com> escribió:
>
>> Would it be because I'm compiling in Debug mode?
>>
>>
>> Matias
>>
>> On Apr 19, 2017 2:30 PM, "Francois Budin" <francois.budin at kitware.com>
>> wrote:
>>
>>> 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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>>>> --
>>>> Matias
>>>>
>>>> ------------------------------
>>>> 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>
>>>>
>>>> Sent from the ITK - Users mailing list archive
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>>>>
>>>> _____________________________________
>>>> Powered by www.kitware.com
>>>>
>>>> Visit other Kitware open-source projects at
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>>>> Kitware offers ITK Training Courses, for more information visit:
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>>>> Please keep messages on-topic and check the ITK FAQ at:
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>>> --
> Matias
>
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