从欧拉旋转到四元数的旋转。

I am using the Leap Motion device to get usable data on the position and orientation of my hand. At the moment I am having trouble with the orientation segment of the coding. The Leap API only has code for frame by frame rotation, however, it also provides a normal vector (normal to the palm of the hand) and a pointer vector (pointing in the direction from the palm outwards towards the fingers). These two vectors are perpendicular. I am using the Leap Motion device to get usable