Transform rotation matrix into rotation vector and viceversa

Description

If IN is a 3×3 rotation matrix then OUT is the corresponding 3×1 rotation vector

if IN is a rotation 3-vector then OUT is the  corresponding 3×3 rotation matrix

Add projection of the 3×3 matrix onto the set of special orthogonal matrices SO(3) by SVD.

Rigid motion transformation

Monogenic-LBP: A new approach for rotation invariant texture classification