opencv标定生成rt的解释

OpenCV相机标定函数

double cv::calibrateCamera	(	InputArrayOfArrays 	objectPoints,
								InputArrayOfArrays 	imagePoints,
								Size 	imageSize,
								InputOutputArray 	cameraMatrix,
								InputOutputArray 	distCoeffs,
								OutputArrayOfArrays 	rvecs,
								OutputArrayOfArrays 	tvecs,
								OutputArray 	stdDeviationsIntrinsics,
								OutputArray 	stdDeviationsExtrinsics,
								OutputArray 	perViewErrors,
								int 	flags = 0,
								TermCriteria 	criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON) 
)	

帮助文档中对rvecs和tvecs的解释：

Output vector of rotation vectors (Rodrigues ) estimated for each pattern view (e.g. std::vectorcv::Mat>). That is, each i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter description) brings the calibration pattern from the object coordinate space (in which object points are specified) to the camera coordinate space. In more technical terms, the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space to camera coordinate space. Due to its duality, this tuple is equivalent to the position of the calibration pattern with respect to the camera coordinate space.

所以rvecs和tvecs有两种用途（解释）：

1. 将世界系（target）下的点转换到相机系下。
2. 标定板（世界系）原点在相机系下的位置。