How can I compute relative camera pose using RGBD images and 3d corresponding points [closed]

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Hello. I need your help about estimating the camera pose. I have computed 3d corresponding points for two consecutive RGB-D images and then got 33 rotation and 31 translation matrices but I don't know how I can compute the relative camera pose (the location and orientation of the camera in the first place with respect to ones in the second place ). Also I have the ground truth (freiburg RGB-D dataset) but I don't know how I can use (qx,qy,az,qw,tx,ty,tz) and compare them to 33 R and 31 T obtained from two consecutive RGB-D images(frames). Thanks in advance.