colmap localization: get camera position

Question

I'm using colmap. I succeed to visualize a 3D sparse reconstitution from a video.

Now I have some new images from the same scene and I want to (only) localize them. I want the (x,y,z, angles) of the camera.

Following the doc, I used the commands colmap feature_extractor and colmap vocab_tree_matcher.

Everything seemed to get well; the output is

Indexing image [1/23] in 0,022s
...
Indexing image [23/23] in 0,077s
Matching image [1/16] in 0,078s
...
Matching image [16/16] in 0,003s
Elapsed time: 0,043 [minutes]

But now what ? How do I query the colmap database to get the (x,y,z,angle) of image, say, 12 ?

I want to programmatically get the information.