How to convert Transformation matrix to Quaternion?

Hi I have obtained the Transformation Matrix which looks like this

transformation matrix:

-0.999702 -0.00155921  -0.0243653     0.62702
        0    0.997959  -0.0638626   -0.287402
-0.0244151   0.0638436    0.997661  -0.0212277
       0           0           0           1

I would like to convert the Transformation matrix to rotation matrix and then to Quaternion. I know that the rotation matrix can be converted to Quaternion in C++ using getQuaternionFromRotationMatrix. But my problem is how to transform the Transformation matrix I have into rotation one.

Any help? Thanks

How to convert Transformation matrix to Quaternion?

0 Answers