I am currently googling on this topic but I would like to hear your opinion.
What is the best self-contained SE3 library that offers interconversion between quaternion, rotation vector, transformation matrix?
Those are the functions that I often use for my projects and all implemented in Matlab. And I am looking for an alternative to avoid re-implementing them all in python.
Quaternion2RotVector and its inverse
Quaternion2RotMatrix and its inverse
RotMatrix2RotVector and its inverse
SE3 inverse, the inverse function of each rotation representation