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rvec and tvec determine transformation between coordinate systems. rvec uniquely determines rotation matrix 3x3 (let it be named R). Transformation equation (T - transpose): (x y z)T = R*(X Y Z)T + tvec

Rodrigues function from OpenCV can convert rvec to R or R to rvec. Direction of rvec vector is the same with the axis of rotation, magnitude of the vector is angle of rotation.

Also OpenCV is contained solvePnPRansac function in calib3d module. If you have incorrect matches you should use it.

rvec and tvec determine transformation between coordinate systems. rvec uniquely determines rotation matrix 3x3 (let it be named R). Transformation equation (T - transpose): (x y z)T = R*(X Y Z)T + tvec

Rodrigues function from OpenCV can convert rvec to R or R to rvec. Direction of rvec vector is the same with the axis of rotation, magnitude of the vector is angle of rotation.

Also OpenCV is contained contains solvePnPRansac function in calib3d module. If you have incorrect matches you should use it.