https://blog.csdn.net/benchuspx/article/details/108523498 视觉SLAM——二维三维几何、三维空间刚体变换: https://blog.csdn.net/qq_41839222/article/details/89946719 四元数旋转运算过程: https://blog.csdn.net/gxsHeeN/article/details/79156817