0001 function dfBreak=essential_distMinAnglePair_computeDfBreak(tBreak,Q21) 0002 c=cos(tBreak); 0003 s=sin(tBreak); 0004 0005 % The code below is an optimization exploiting the structure of RBreak to 0006 % substitute the following code 0007 % RBreak=Q1'*[c -s 0; s c 0; 0 0 1]*Q2; 0008 % 0009 % %compute v0 such that RBreak=rot(pi*v0) 0010 % [U,~,~]=svd(RBreak+eye(3)); 0011 % v0=U(:,1); 0012 % 0013 % dfBreak=pi*abs(Q1(3,:)*v0); 0014 0015 Q1RBreakQ1=[c -s 0; s c 0; 0 0 1]*Q21; 0016 [U,~,~]=svd(Q1RBreakQ1+eye(3)); 0017 dfBreak=pi*abs(U(3,1));