I have used a chessboard and findChessboardCorners to supply the image points for solvePnP. The object points are like (x, y, 0).
The resulting tvec is [-27, -7, 63] and the rvec is [0, 0, -0.23].
Does this mean that the board's origin was at the camera, then it was rotated by R, then translated by T, to get to its 3D position in the picture? If that is the case, then where on the board is the origin? Or am I thinking about tvec and rvec in the wrong way?
Here is the image I used in case it's useful:
