在C.M.Gosslin的《Development and Experimentation of a Fast 3-DOF Camera-Orienting Device》一文中,作者给出了通过相机视角的经度、纬度、扭转来得到相机相对于固定坐标系的旋转矩阵 Q 0 \mathbf{Q_0} Q0的表达式如下:
利用三角函数恒等式 sin 2 ν + cos 2 ν = 1 \sin^2\nu+\cos^2\nu=1 sin2ν+cos2ν=1这个恒等式,该式等价于以下表达式:
Q 0 = [ ( cos ( ν ) − 1 ) cos 2 ( μ ) + 1 ( cos ( ν ) − 1 ) sin ( μ ) cos ( μ ) sin ( ν ) cos ( μ ) ( cos ( ν ) − 1 ) sin ( μ ) cos ( μ ) ( cos ( ν ) − 1 ) sin 2 ( μ ) + 1 sin ( μ ) sin ( ν ) − sin ( ν ) cos ( μ ) − sin ( μ ) sin ( ν ) cos ( ν ) ] \mathbf{Q_0}=\left[\begin{matrix} \left( \cos{\left(\nu \right)} - 1 \right) \cos^{2}{\left(\mu \right)} + 1 & \left(\cos{\left(\nu \right)} - 1\right) \sin{\left(\mu \right)} \cos{\left(\mu \right)} & \sin{\left(\nu \right)} \cos{\left(\mu \right)}\\\left(\cos{\left(\nu \right)} - 1\right) \sin{\left(\mu \right)} \cos{\left(\mu \right)} & \left(\cos{\left(\nu \right)} - 1\right) \sin^{2}{\left(\mu \right)} + 1 & \sin{\left(\mu \right)} \sin{\left(\nu \right)}\\- \sin{\left(\nu \right)} \cos{\left(\mu \right)} & - \sin{\left(\mu \right)} \sin{\left(\nu \right)} & \cos{\left(\nu \right)}\end{matrix}\right] Q0=<