extract the pose from trajectory file in feed into colmap

[TWang1017]

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My Question

Hi, i came across the trajectory.log after 'reconstruction system.py'. it contains 4x4 transformation matrix

If i understand correctly, it is transformed from rotation in quaternion and translation

So, i tried to convert it back to quaternion and translation ('Qw','Qx','Qy','Qz','Tx','Ty','Tz',) using the equations in the image as known parameters in colmap for sparse and dense reconstrction.

However, reconstruction failed in colmap, so I would like to know if the transformation i did from the 4x4 matrix back to quaternion correct?

many thanks