Function rodrigues 

pub fn rodrigues(
    src: &impl ToInputArray,
    dst: &mut impl ToOutputArray,
    jacobian: &mut impl ToOutputArray,
) -> Result<()>

Converts a rotation matrix to a rotation vector or vice versa.

Parameters

• src: Input rotation vector (3x1 or 1x3) or rotation matrix (3x3).
• dst: Output rotation matrix (3x3) or rotation vector (3x1 or 1x3), respectively.
• jacobian: Optional output Jacobian matrix, 3x9 or 9x3, which is a matrix of partial derivatives of the output array components with respect to the input array components.

Inverse transformation can be also done easily, since

A rotation vector is a convenient and most compact representation of a rotation matrix (since any rotation matrix has just 3 degrees of freedom). The representation is used in the global 3D geometry optimization procedures like [calibrateCamera], [stereoCalibrate], or [solvePnP] .

Note: More information about the computation of the derivative of a 3D rotation matrix with respect to its exponential coordinate can be found in:

• A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates, Guillermo Gallego, Anthony J. Yezzi Gallego2014ACF

Note: Useful information on SE(3) and Lie Groups can be found in:

• A tutorial on SE(3) transformation parameterizations and on-manifold optimization, Jose-Luis Blanco blanco2010tutorial
• Lie Groups for 2D and 3D Transformation, Ethan Eade Eade17
• A micro Lie theory for state estimation in robotics, Joan Solà, Jérémie Deray, Dinesh Atchuthan Sol2018AML

C++ default parameters

• jacobian: noArray()