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Using the euler angles, you can find the look vector of each orientation, then compute the angle difference between these vectors. However, this method will not take roll into account. For example, if both orientations are looking straight ahead, but one has the head rolled 90 degrees, the difference will still be 0 degrees. If you are interested in the roll, then you can also extract the up vector of each orientation and compute the angle difference between these. It would then be up to you to figure out how to convert these two angle differences into some orientation error metric.
Let me know if you are interested in this method and I will supply you with some sample code.
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