errors: list of dict，每个dict包含 'translation_error' 和 'rotation_error' （度） rmse_translation: 平移误差的均方根误差（单位与输入单位一致） ...

For any matrix in the rotation group SO₃, we give the explicit expression for its axis and angle of rotation without computing eigenvectors. The formulas depend only on the entries of the matrix, ...

Python is convenient and flexible, yet notably slower than other languages for raw computational speed. The Python ecosystem has compensated with tools that make crunching numbers at scale in Python ...