Hey, I am using an ArUcolib but want to replace a rvec form solvePnP with data from precise IMU. I get that rvec is a compact Rodrigues notation and theta = sqrt(a^2 + b^2 + c^2) v = rod2/theta = [a/theta, b/theta, c/theta] but cannot find a solution for my problem.
How to convert quaternion or Euler angles to a rotation vector that can replace a rvec?