Hi Hiroki,
I had the same question and found small matlab scripts which work for me
https://github.com/jelman/voxelwise_pib/tree/master/flirt_worldmap
flirtmat2worldmat.m is what you need (you need to provide your input and reference volumes in addition to matrix).
You also need nifti script which can be found in eg spm package.
cheers
Alexander
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