But I understand that we cannot compare these directly as we would do with Euler angles, because
-> Because of singularity around PI.
Instead of directly comparing the value in R3, you can do it like this.
V_cam1_cam0 = Log(inv(R_World_Cam1)*R_World_Cam0)
Now with V_cam1_cam0, cam1 is the reference coordinate and V_cam1_cam0 encodes the rotation axis of ...