I am trying to use a stereo dataset, from here:

http://www.mrpt.org/MalagaUrbanDataset/

The camera data that is provided along with rectified images, is this:

Left camera calibration parameters:

[CAMERA_LEFT] resolution=[800 600] cx=420.95269 cy=316.90031 fx=630.10534 fy=630.10534 dist=[0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00] focal_length=2.000000e-03

Right camera calibration parameters:

[CAMERA_RIGHT] resolution=[800 600] cx=399.12207 cy=316.90031 fx=630.10534 fy=630.10534 dist=[0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00] focal_length=2.000000e-03

Relative pose of the right camera wrt to the left camera:

[CAMERA_LEFT2RIGHT_POSE] pose_quaternion=[0.119320 -0.000336 0.000373 0.999994 -0.000329 -0.001567 0.003142]

To reproject points to 3d, i need a Q matrix. How can I get one from this data?

Thank you.