The results before and after refinement are totally different?

[brick-ai]

In terminal_session.txt, the results before and after refinement are totally different, especially the rotation. I think the two results should be similar. Does anyone know why they are different? @ahundt

# INFO: Before refinement: H_12 =
-0.962926 -0.156063 0.22004 -0.00802514
-0.176531 0.981315 -0.0765322 0.0242905
-0.203985 -0.112539 -0.972484 0.0550756
0 0 0 1
Ceres Solver Report: Iterations: 89, Initial cost: 1.367791e+01, Final cost: 6.005694e-04, Termination: CONVERGENCE
# INFO: After refinement: H_12 =
-0.980558 0.184959 0.0655414 0.00771561
0.0495028 -0.0900424 0.994707 0.0836796
0.189881 0.978613 0.0791359 -0.00867321
0 0 0 1
Result from /ee_link to /ar_marker_0:
-0.980558 0.184959 0.0655414 0.00771561
0.0495028 -0.0900424 0.994707 0.0836796
0.189881 0.978613 0.0791359 -0.00867321
0 0 0 1
Translation (x,y,z) : 0.00771561 0.0836796 -0.00867321
Rotation (w,x,y,z): -0.046193, 0.0871038, 0.672938, 0.733099

Result from /ar_marker_0 to /ee_link:
-0.980558 0.184959 0.0655414 0.00771561
0.0495028 -0.0900424 0.994707 0.0836796
0.189881 0.978613 0.0791359 -0.00867321
0 0 0 1