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There are a few libraries. A popular, easy to use library is the Adafruit Unified Sensor Library collection that exposes an interface for BNO055 and other similar hardware. You can read it as a quaternion format (better for math geeks who like stable orientation) or as a rotation on X/Y/Z axes in either degrees or radians for people who aren't bothered by issues like gimbal lock when you hit a pure up or pure down orientation.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.
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