AO
Size: a a a
AO
AO
Е
A
inline float rotationError(Matx33f& R1, Matx33f& R2) {
Matx33f dR = R1.t()*R2;
float a = dR(0, 0);
float b = dR(1, 1);
float c = dR(2, 2);
float d = 0.5*(a + b + c - 1.0);
float res = acos(max(min(d, 1.0f), -1.0f));
return res;
}
v
inline float rotationError(Matx33f& R1, Matx33f& R2) {
Matx33f dR = R1.t()*R2;
float a = dR(0, 0);
float b = dR(1, 1);
float c = dR(2, 2);
float d = 0.5*(a + b + c - 1.0);
float res = acos(max(min(d, 1.0f), -1.0f));
return res;
}
A
A
v
v
BM
v
E
Ш
EZ
Ш
DK
Ш
K
DK
DK