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It looks like you are expecting rvec to be euler angles in radians. Take a look at: https://stackoverflow.com/questions/12933284/rodrigues-into-eulerangles-and-vice-versa

It looks like you are expecting rvec to be euler angles in radians. Take You need to convert rvec to a look at: https://stackoverflow.com/questions/12933284/rodrigues-into-eulerangles-and-vice-versamatrix first using cv::Rodrigues. And then convert the matrix to euler angles. Searching this forum for rvec and Rodrigues results in examples.