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I have 2 points in space, defined by their spherical coordinates.

I'd like to know the spherical coordinates of the second point in a reference system centered on the first point (I know the unit vector defining x,y, and z in the new reference system, obviously).

Is there a standard way to calclate the new coordinates, without having to convert to/from cartesian first?

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    I'm currently working on augmented reality, and our current approach involves a lot of approximations, and conversions (and loss of precision). If we could get the points in the viewer's coordinate system, calculations would be much easier / faster.2012-05-10

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