Finding rotation and translation of camera from projection matrix

[Moj-Dev]

I used client.simGetCameraInfo(str(camera_name)).proj_mat to find the projection matrix. How can I calculate R and T from the projection matrix? Can I use "cv2.decomposeProjectionMatrix" ?
Also, I obtained R and T like this:

     camera_info = self.client.simGetCameraInfo(str(0)).pose.orientation
    q0 = camera_info.w_val
    q1 = camera_info.x_val
    q2 = camera_info.y_val
    q3 = camera_info.z_val
    r00 = 2 * (q0 * q0 + q1 * q1) - 1
    r01 = 2 * (q1 * q2 - q0 * q3)
    r02 = 2 * (q1 * q3 + q0 * q2)
    r10 = 2 * (q1 * q2 + q0 * q3)
    r11 = 2 * (q0 * q0 + q2 * q2) - 1
    r12 = 2 * (q2 * q3 - q0 * q1)
    r20 = 2 * (q1 * q3 - q0 * q2)
    r21 = 2 * (q2 * q3 + q0 * q1)
    r22 = 2 * (q0 * q0 + q3 * q3) - 1
    R = np.array([[r00, r01, r02],[r10, r11, r12],[r20, r21, r22]])
    T = self.client.simGetCameraInfo(str(0)).pose.position

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Is it correct?

[ahmed-elsaharti]

@Moj-Dev Based on Wikipedia and this article it looks like r00, r11 and r22 are off.
Also, another way of grabbing the rotation matrix corresponding to a quaternion would be to use the Scipy library