为什么lidar_align的标定结果中旋转矩阵、四元数、欧拉角不对应?
我的标定如下
Active Transformation Vector (x,y,z,rx,ry,rz) from the Pose Sensor Frame to the Lidar Frame:
[0.336584, 0.448057, -0.213042, -3.04595, 2.86158, -1.48674]
Active Transformation Matrix from the Pose Sensor Frame to the Lidar Frame:
0.327223 -0.886337 -0.327615 0.336584
-0.241476 0.256757 -0.935823 0.448057
0.913572 0.385334 -0.130012 -0.213042
0 0 0 1
Active Translation Vector (x,y,z) from the Pose Sensor Frame to the Lidar Frame:
[0.336584, 0.448057, -0.213042]
Active Hamiltonen Quaternion (w,x,y,z) the Pose Sensor Frame to the Lidar Frame:
[-0.602903, -0.547832, 0.514671, -0.267398]
可见,rx,ry,rz、Transformation Matrix和Hamiltonen Quaternion (w,x,y,z) 并不对应,这是为什么?那么哪个才是标定结果?