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I don't think that's what R is. I've never heard of replacing the last column. Often the translation is appended as a column, to make a 3x4 matrix, which is called the Projection Matrix.
CameraParams::R is almost certainly just the rotation matrix you have at the first. CameraParams::t is the translation information.
For future reference, the rotation matrix in OpenCV is often stored as a set of Rodrigues parameters, which is three values (1x3 Matrix) that describe the rotations. This is usually denoted with a lowercase r, whereas the full rotation matrix (3x3) is uppercase R. You can switch between them using the function Rodrigues.
