如何将给定的旋转矩阵转换为四元数?
function q = vgg_quat_from_rotation_matrix( R )
% vgg_quat_from_rotation_matrix Generates quaternion from rotation matrix
% q = vgg_quat_from_rotation_matrix(R)
q = [ (1 + R(1,1) + R(2,2) + R(3,3))
(1 + R(1,1) - R(2,2</