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You want to obtain yaw, pitch and roll from 3x1 rotation Vector, if i understand you correctly.

You should first use function "Rodrigues" to create a 3x3 rotation matrix out of it. Write something like:

cv::Mat rotMat(3,3, CV_64FC1);
cv::Rodrigues(, rotMat); //convert 3x1 to 3x3

Next i suggest you have a look at this. Its more or less what you require!