If I convert the camera_ego_quaternion into euler angles, the result is

Rotation.from_quat(camera_ego_quaternion).as_euler(‘xyz’, degrees=True)

array([-90.58792089, -0.70071735, -89.50957761])

It is observed that the global coordinate system(imu system) is obtained from the front camera axis system by rotating the roll (along x-axis) by -90 and then the yaw(z-axis) by -90

But, I am unable to do the same using the rotation matrices.

I want to obtain the corresponding euler angles assuming the front camera coordinate system is aligned with the IMU, but am not able to do that?