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Figure 5
3D components of a quaternion orientation data set. (a) A quaternion reference set, color-coded by the sign of q0. (b) Exact quaternion arc-length distances (green arcs) versus chord distances (black lines) between the test points (black dots) and the reference points. (c) Part way from the starting state to the aligned state, at s = 0.5. (d) The final best alignment at s = 1.0. The yellow arrow is the direction of the quaternion eigenvector; when scaled, the length is the sine of half the optimal rotation angle.

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ISSN: 2053-2733
Volume 76| Part 4| July 2020| Pages 432-457
https://doi.org/10.1107/S2053273320002648
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