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Need explaination about rvecs returned from SolvePnP

I am using ArUco for pose estimation and i want to get the global world coordinates of my camera using say a single detected aruco marker. For this, I need to know the rotation of camera wrt marker along y axies (upward/downward axis). The output of ArUco /SolvePnP gives me rvecs which contains rotation vector. Now, I really don't understand how this rotation vector represents the angle of rotation. I can convert it to rotation matrix using Rodrigues but still i don't get the actual roll, yaw, pitch angles (or rotation along x,y and z axes) which i really need.

So, can anyone please explain how to manipulate rotation using the rotation vector in rvecs and also how to get simple rotation angles along the three axes from them. Thanks