根据rodrigues公式求3×3 旋转矩阵 the rodrigues formula: http://en.wikipedia.org/wiki/Rodrigues _rotation_formula-According to rodrigues formula for 3 × 3 rotation matrix the rodrigues formula: http://en.wikipedia.org/wiki/Rodrigues _rotation_formula

内螺旋法 矩阵编号 表示为连接顺序，从中间往外顺时针旋转，时间复杂度基本上就是O(N^2)了(The matrix number of the inner helix is expressed as the connection order, clockwise rotation from the center to the outside, and the time complexity is basically O (N^2))