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Unformatted text preview: has R’(1,:)=(1,0,0), R’(1+framenum,:)=(0,1,0). The rotation matrix r can be build by vector i , j , and the cross product of i and j in the first frame. Since the rotation matrix R i of a frame i can be presented by three angles or three axis i , j , k as = -= ) 3 ( ) 3 ( ) 3 ( ) 2 ( ) 2 ( ) 2 ( ) 1 ( ) 1 ( ) 1 ( ... sin cos sin ... ... cos sin ... ... ... k j i k j i k j i R i γ β α Therefore ) ) cos( ) 3 ( arcsin( ) ) cos( ) 2 ( arcsin( )) 3 ( arcsin( j i i = =-= Then they need to be converted from radian to degree since the ground truth is in degree. The final results need to be plotted together with the ground truth. This figure is a demo of one plot of the three angles....
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- Spring '09
- Linear Algebra, Singular value decomposition, Rotation matrix