# Rotation error

**URL:** https://discourse.itk.org/t/rotation-error/5783
**Category:** Algorithms
**Tags:** itk, registration
**Created:** [March 5, 2023, 2:58pm UTC](https://discourse.itk.org/t/rotation-error/5783 "2023-03-05T14:58:21Z")
**Posts on this page:** 2
**Page:** 1

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### Author: ![suzume](https://discourse.itk.org/letter_avatar_proxy/v4/letter/s/6a8cbe/32.png) [@suzume](https://discourse.itk.org/u/suzume)
#### Post date: [March 5, 2023, 2:58pm UTC](https://discourse.itk.org/t/rotation-error/5783/1 "2023-03-05T14:58:21Z")

</div>

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.

---

<div class="post-metadata">

### Author: ![dzenanz](https://discourse.itk.org/user_avatar/discourse.itk.org/dzenanz/32/1093_2.png) [@dzenanz](https://discourse.itk.org/u/dzenanz)
#### Post date: [March 6, 2023, 2:04pm UTC](https://discourse.itk.org/t/rotation-error/5783/2 "2023-03-06T14:04:08Z")

</div>

> [@suzume](#):
>
> ```auto
> composetrans->Compose(transform2);
> composetrans->Compose(transform1);
> 
> ```

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

```c++
composetrans->Compose(transform1);
composetrans->Compose(transform2);

```