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See SolvePnP
Supply the image coordinates or each square's corners (or just the corners of the board) along with their real-world positions on the board - just like you did for the camera calibration.
The rvec and tvec returned will contain the rotation of the camera relative to the chessboard and the position (translation) of the chessboard in camera coords.
A single flat symmetric chessboard target isn't really the best choice for this if you care about the angle.
