Rotation Represents及ROS使用

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

http://www.songho.ca/opengl/gl_projectionmatrix.html