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I had to post this as an answer -

As per suggestion in this post. I modified the source code of the package (in reference to sample code in my post above) - Modified the following - btQuaternion q_orig(t.quat[0], t.quat[1], t.quat[2], t.quat[3]); to -

btQuaternion q_orig(t.quat[0], t.quat[1], -t.quat[2], t.quat[3]);

Also, I (as already mentioned) added the following to the code to get the RPY values.

Note Unlike what I mentioned in my Question above, the following code is added to if (fresh_data == true) loop inside int main() -

btQuaternion q(target_state->target.transform.rotation.x, target_state->target.transform.rotation.y, target_state->target.transform.rotation.z, target_state->target.transform.rotation.w);
double roll, pitch, yaw;
tf::Matrix3x3(q).getRPY(roll, pitch, yaw);

This is giving me the correct values as per the Optitrack Tracking Tools display.

Thanks everyone for their help!

I had to post this as an answer -

As per suggestion in this post. I modified the source code of the package (in reference to sample code in my post above) - Modified the following -

btQuaternion q_orig(t.quat[0], t.quat[1], t.quat[2], t.quat[3]);

btQuaternion q_orig(t.quat[0], t.quat[1], -t.quat[2], t.quat[3]);

btQuaternion q(target_state->target.transform.rotation.x, target_state->target.transform.rotation.y, target_state->target.transform.rotation.z, target_state->target.transform.rotation.w);
double roll, pitch, yaw;
tf::Matrix3x3(q).getRPY(roll, pitch, yaw);