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Hi guys, I am working on a project with OpenCV and Aruco, and I have some questions. I have camera on a small drone, which has some Aruco markers in its workspace. I am using all the Aruco functions to detect the markers in the FOV and estimate their pose, which gives me a Rotation Vector and a Translation Vector for each marker. Since I know the positions of my markers in the 'world' frame , I want to use that info (the rvecs , tvecs) to try to infer the drone's (or the camera's) position in the 'world' frame. But to do that, I need to know exactly what those rvecs and tvecs represent. Like, it is ambiguous to me whether they give the transformation from the camera frame to the marker frame or the inverse. Also is there a specific coordinate frame that OpenCV assumes for the camera? It's things like that, that I am not clear on. For example, if the rvec,tvec means that a point P expressed in the Marker's Frame , can be expressed in the Camera's Frame as C = rotation_matrix(rvec)*P + tvec , then I would know how to move on with making my code. Any input appreciated, thanks.