python 旋转矩阵转四元数

import numpy as np
from scipy.spatial.transform import Rotation

R_dcm = np.array([0.2057, -0.0057,-0.9786,
                  0.9784, -0.0222, 0.2057,
                  -0.0229, -0.9997, 0.0010])
R_dcm=R_dcm.reshape(3,3)
R_quat = Rotation.from_matrix(R_dcm).as_quat()

print(R_quat)