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But I understand that we cannot compare these directly as we would do with Euler angles, because -> Because of singularity around PI. Instead of directly comparing the value in R3, you can do it like this. V_cam1_cam0 = Log(inv(R_World_Cam1)*R_World_Cam0) Now with V_cam1_cam0, cam1 is the reference coordinate and V_cam1_cam0 encodes the rotation axis of ...

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