Chaplygin's sphere on a rough plane and a rigid body in viscous medium or with a cavity filled with viscous fluid are discussed as examples.
列举粗糙平面上的球，粘性介质中的刚体以及带充粘性流体腔的刚体为例。
It is applied for multiple plane grates and super wide plane grate, thus it is generally used for intermediate or rough grates.
适用于多台平面格栅或超宽平面格栅，一般作为中、粗格栅使用。
Since X - corners coplanar, a plane - to - plane transform is introduced and rough location of X - corners is realized.
利用棋盘格角点共面特点，将平面到平面的变换引入到角点检测中，实现了角点的自动粗定位。
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