fcompute angle between two pose

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fcompute angle between two pose

ganyk
hi, everyone.
i have acquired two camera poses, and i want to get the angle between these two poses, how can i get the angle?
first pose:

TVector:      
     -0.218066
     0.887604
     0.550679
RMatrix
 0.192345  0.206767  0.959297
-0.228965  0.960026 -0.161016
-0.954242 -0.188675  0.231998

second pose:

TVector
1.66554
1.04549
0.785588

RMatrix
-0.00101758 -0.322879 -0.946442
 0.259488  0.913941 -0.312071
 0.965747 -0.245909 0.0828534
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Re: fcompute angle between two pose

andersgb1
The geodesic (minimum) angle of rotation between two rotations R1 and R2 lies between 0 and pi and is computed this way:

angle = arccos(trace(R1^T*R2) - 1) / 2)

where ^T means matrix transposition and * means matrix multiplication. See also http://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation.

Btw., I think this question belongs to the user mailing list.

On Fri, Mar 13, 2015 at 8:12 AM, ganyk <[hidden email]> wrote:
hi, everyone.
i have acquired two camera poses, and i want to get the angle between these
two poses, how can i get the angle?
first pose:

TVector:
     -0.218066
     0.887604
     0.550679
RMatrix
 0.192345  0.206767  0.959297
-0.228965  0.960026 -0.161016
-0.954242 -0.188675  0.231998

second pose:

TVector
1.66554
1.04549
0.785588

RMatrix
-0.00101758 -0.322879 -0.946442
 0.259488  0.913941 -0.312071
 0.965747 -0.245909 0.0828534



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