Body tracking SDK - calibration of joint orientation

[Ideal-H]

I'm trying to use multiple kinect azure and body tracking sdk. Now, I got the 3x3 rotation matrix (of calibration matrix), and I could calibrate all coordinate systems of 4 Azure sensors to single master Azure's coordinate system. (the 4 rotation matrix were calculated)

But, I also want to calibrate the orientations of joints from each kinect sensors to single coordinate system.

What I am doing is following, First, the rotation matrix was converted to quaternion representation (becasuse the orientation of each joint was represented of quaternion). Second, the quaternion rotation was applied. new_p = Q * p * conjugate(Q) (Q is quaternion representation of rotation matrix, p is orientation of joint)

However, the result of calibration to each orientation of joint was not equal with each other.

Is what I'm doing right?

Please help. Thanks.

The code is below.