error in the code

[KangliC]

FKF/main_performance.m

Line 74 in 7b92758

q2 -q0 -q1;

The third low of the dk matrix should be (q3 q0 -q1).

[Jihang]

Based on equation 24 in Paper, The third row should be q2 -q0 -q1. The image is attached below: