Rotation error

Algorithms
,
1

Hi, I want to rotate a point in two steps with two different rotation centers. Here is my code:

typedef itk::Euler3DTransform< double >  TransformType;
TransformType::Pointer composetrans = TransformType::New();
TransformType::Pointer transform1 = TransformType::New();
TransformType::Pointer transform2 = TransformType::New();
transform1->SetComputeZYX(true);
transform2->SetComputeZYX(true);
transform1->SetRotation(dtr*rx, dtr*ry, dtr*rz);
transform1->SetCenter(center2);
transform2->SetRotation(dtr*rx1, dtr*ry1, dtr*rz1);
transform2->SetCenter(center1);
composetrans->Compose(transform2);
composetrans->Compose(transform1);
q[0] = 10;
q[1] = 10;
q[2] = 10;
m = composetrans->TransformPoint(q);
t = transform1->TransformPoint(q);
k = transform2->TransformPoint(t);

I thought that the value of m should be equal to the value of k. However, m is not equal to k, and the value of k is the correct rotation result. I want to know why and how I can modify the code to make the value of m = k.

2

If you add these in the reverse order, does that work?

composetrans->Compose(transform1);
composetrans->Compose(transform2);