https://blog.csdn.net/zhaomengszu/article/details/80743104 向量点乘(内积)和叉乘(外积、向量积) https://blog.csdn.net/SevenColorFish/article/details/6845871 点积求夹角 https://blog.csdn.net/hxg2006/article/details/79626288 卷积理解