Find angle between two kinect sensors

hi,
Consider a person is standing in front of kinect sensor A and to the side of the person another kinect sensor B is placed (i.e exactly 90 degree).How to find programmatically that the sensor B is located 90 degree to sensor A?
Any help is greatly appreciated
Thanks

Use LIBICP to get a correspondence between the point clouds from the depth maps, or from body positions.
Iterative Closest Point

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Find angle between two kinect sensors

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