问题是这样,如果我们知道两个向量v1和v2,计算从v1转到v2的旋转矩阵和四元数,由于旋转矩阵和四元数可以互转,所以我们先计算四元数. 我们可以认为v1绕着向量u旋转θ角度到v2,u垂直于v1-v2平面. 四元数q可以表示为cos(θ/2)+sin(θ/2)u,即:q0=cos(θ/2),q1=sin(θ/2)u.x,q2=sin(θ/2)u.y,q3=sin(θ/2)u.z 所以我们求出u和θ/2即可,u等于v1与v2的叉积,不要忘了单位化:θ/2用向量夹角公式就能求. ma
C. Ancient Berland Circus time limit per test 2 seconds memory limit per test 64 megabytes input standard input output standard output Nowadays all circuses in Berland have a round arena with diameter 13 meters, but in the past things were different.
In this chapter, APIs will make U crazy. Good luck! Next, Review Linear Algebra. Ref: http://blog.csdn.net/u012269327/article/category/2291085 IplImage "modules/core/include/opencv2/core/types_c.h" typedef struct _IplImage { int nSize; /* sizeo
IplImage 一.资源 In this chapter, APIs will make U crazy. Good luck! Next, Review Linear Algebra. Ref: http://blog.csdn.net/u012269327/article/category/2291085[学习Opencv笔记] 二.IplImage Data structure "modules/core/include/opencv2/core/types_c.h" type