Rodrigues into Eulerangles and vice versa

Question

I am useing solvePnP and i am getting a translation vector. Now i need to compare some euler angles with those results from solvePnP. And i want/need to transfer the euler

Answer 1

Adding to @dunadar's excellent answer:

Rodrigues converts rvec into the rotation matrix R (and vice versa). You can directly use R in the same way you would use a rotation matrix constructed from Euler angles by taking the dot product with the (translation) vector you are rotating: v_rotate = R*v

You can convert from a Rodrigues rotation matrix into Euler angles, but there are multiple solutions. The reason is that the order of your Euler rotations (pitch, yaw, roll) matters, so there is more than one way to represent a Rodrigues rotation. See: http://www.staff.city.ac.uk/~sbbh653/publications/euler.pdf