Coordinate frame of 'r' and 't' vectors from cv2.calibrateCamera?

Hello OpenCV community!

I have try to plot in 3D the result of the rotation and translation vectors of cv2.calibrateCamera().

Am I taking the coordinate frame right? I am applying the rotation and translation from this point (first detected point in the chessboard).


When I apply R and T the resulting point is a bit too far from the camera origin, maybe my coordinate frame from the chessboard pattern is wrong I suspect.

Or is there anything else I should consider to really get the R and T be able to spot my camera origin?

Update, I got it right. My Z axis in point in the wrong direction.

And the angles from rvects are in Axis-Angle notation. Now I am getting the correct camera pose from each rvec and tvec :slight_smile: