xyz 顺序的旋转矩阵转欧拉角 的公式和代码

xyz 顺序的旋转矩阵转欧拉角的公式如下：

$$\begin{bmatrix} \cos(\alpha) \cos(\beta) - \sin(\alpha) \sin(\beta) \cos(\gamma) & -\cos(\alpha) \sin(\beta) - \sin(\alpha) \cos(\beta) \cos(\gamma) & \sin(\alpha) \sin(\gamma) \ \sin(\alpha) \cos(\beta) + \cos(\alpha) \sin(\beta) \cos(\gamma) & -\sin(\alpha) \sin(\beta) +