Rotates returned by explode matrix functions are Euler rotations. Rotations used by copy to points and point instancing are quaternions. That's why they are length 4.
Use hou.Quaternion.setToRotationMatrix() to build quaternions from a matrix.
Out of curiosity, why all the python? VEX is typically the language of working with data in Houdini.
I am digesting the Disney Moana Island dataset as a way to learn more about HOM.
Geometry looks OK so far but getting a matching camera render is proving difficult. There is this screenwindow values which I still am not able to map them to something sensible in a Houdini camera. I think it is related to winx, winy, winsizex and winsizey