Visualization of rotation fields

We define a rotation field by extending the notion of a vector field to rotations. A vector field has a vector as a value at each point of its domain; a rotation field has a rotation as a value at each point of its domain. Rotation fields result from mapping the orientation error of tracking systems. We build upon previous methods for the visualization of vector fields, tensor fields and rotations at a point, to visualize a rotation field resulting from calibration of a commonly-used magnetic tracking system.