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From: "Pinpress " <nospam__@yahoo.com>
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Subject: angle from rotation matrix
Date: Sat, 15 Dec 2007 01:49:08 +0000 (UTC)
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Hi,

Any one knows how to extract the rotational axis and the
angle from a 3-by-3 rotation matrix?  Thanks very much. 
I've googled, but haven't got the luck for the solution.