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ok worked this out - the x_vec, y_vec, z_vec form the columns of the rotation matrix so the solution is simply:

tf2::Matrix3x3 rot_mat;
tf2::Quaternion q;
rot_mat.setValue(x_vec.x, y_vec.x, z_vec.x,
                 x_vec.y, y_vec.y, z_vec.y,
                 x_vec.z, y_vec.z, z_vec.z);
rot_mat.getRotation(q);

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