From f92008400b45aa89960b74860d63d16ff3c06012 Mon Sep 17 00:00:00 2001
From: Paul McCarthy <pauldmccarthy@gmail.com>
Date: Wed, 12 Jul 2017 23:05:29 +0100
Subject: [PATCH] Compose function accepts either three axis-angles, or a
rotation matrix.
---
fsl/utils/transform.py | 12 ++++++++++--
1 file changed, 10 insertions(+), 2 deletions(-)
diff --git a/fsl/utils/transform.py b/fsl/utils/transform.py
index 4bb17bc57..d934d21ff 100644
--- a/fsl/utils/transform.py
+++ b/fsl/utils/transform.py
@@ -92,7 +92,8 @@ def compose(scales, offsets, rotations, origin=None):
:arg offsets: Sequence of three offset values.
- :arg rotations: Sequence of three rotation values, in radians.
+ :arg rotations: Sequence of three rotation values, in radians, or
+ a rotation matrix of shape ``(3, 3)``.
:arg origin: Origin of rotation - must be scaled by the ``scales``.
If not provided, the rotation origin is ``(0, 0, 0)``.
@@ -100,6 +101,12 @@ def compose(scales, offsets, rotations, origin=None):
preRotate = np.eye(4)
postRotate = np.eye(4)
+
+ rotations = np.array(rotations)
+
+ if rotations.shape == (3,):
+ rotations = axisAnglesToRotMat(*rotations)
+
if origin is not None:
preRotate[ 0, 3] = -origin[0]
preRotate[ 1, 3] = -origin[1]
@@ -118,7 +125,8 @@ def compose(scales, offsets, rotations, origin=None):
offset[ 0, 3] = offsets[0]
offset[ 1, 3] = offsets[1]
offset[ 2, 3] = offsets[2]
- rotate[:3, :3] = axisAnglesToRotMat(*rotations)
+
+ rotate[:3, :3] = rotations
return concat(offset, postRotate, rotate, preRotate, scale)
--
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