# rotation angles in fovis odometry

I am going to use fovis to do visual odometry. The obtained geometry information will be used for 2D mapping.

For 2D mapping, what I want is the horizontal rotation, ie the rotation along y-axis(downward). In fovis, I obtain the 3d rotation, but I am confused.

I ran the example program in libfovis with kinect, these codes return the odometry information: Eigen::Vector3d xyz = cam_to_local.translation(); Eigen::Vector3d rpy = cam_to_local.rotation().eulerAngles(0, 1, 2);

I am not sure about the type of rotation of rpy is. As I tested with kinect, I guess rpy(1) gives me the horizontal rotation angle, but its range is just +/- 90 degrees. What kind of transformation I need if I want the range to be +/- 180 degrees? Thanks.

There is the example program I ran: http://fovis.googlecode.com/git/libfovis/examples/fv-example-openni/ . The codes I quoted is in main.cpp