function dfBreak=essential_distMinAnglePair_computeDfBreak(tBreak,Q21)
c=cos(tBreak);
s=sin(tBreak);

% The code below is an optimization exploiting the structure of RBreak to
% substitute the following code
%     RBreak=Q1'*[c -s 0; s c 0; 0 0 1]*Q2;
% 
%     %compute v0 such that RBreak=rot(pi*v0)
%     [U,~,~]=svd(RBreak+eye(3));
%     v0=U(:,1);
% 
%     dfBreak=pi*abs(Q1(3,:)*v0);

Q1RBreakQ1=[c -s 0; s c 0; 0 0 1]*Q21;
[U,~,~]=svd(Q1RBreakQ1+eye(3));
dfBreak=pi*abs(U(3,1));
