27 lines
376 B
Matlab
27 lines
376 B
Matlab
function R = apprRot(Ra)
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%R = apprRot(Ra)
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i1 = 0.5; i2 = 0.5;
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U = Ra(1,:);
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V = Ra(2,:);
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un = norm(U);
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vn = norm(V);
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Un = U/un;
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Vn = V/vn;
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vp = Un*Vn';
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up = Vn*Un';
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Vc = Vn-vp*Un; Vc = Vc/norm(Vc);
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Uc = Un-up*Vn; Uc = Uc/norm(Uc);
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Ua = i1*Un+i2*Uc; Ua = Ua/norm(Ua);
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Va = i1*Vn+i2*Vc; Va = Va/norm(Va);
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R = [Ua;Va;cross(Ua,Va)];
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if det(R)<0, R(3,:) = -R(3,:); end;
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