四种表示旋转方法的优缺点:
ros tf 的python使用库 http://www.lfd.uci.edu/~gohlke/code/transformations.py.html
OpenGL坐标变换 : https://www.zybuluo.com/ltlovezh/note/911669?utm_source=wechat_session&utm_medium=social&utm_oi=698607419638435840
https://strawlab.org/2011/11/05/augmented-reality-with-OpenGL