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What you are looking for is called Homogeneous transformation matrix.

To get the 3D coordinate of the camera in the poster frame, assuming a known camera pose, you just have to compute what is called the inverse of the homogenous matrix (see this course, page 72).

What you are looking for is called Homogeneous transformation matrix.

To get the 3D coordinate of the camera in the poster frame, assuming a known camera pose, you just have to compute what is called the inverse of the homogenous matrix (see this course, page 72)., Ridig Body Motion – Homogeneous Transformations by Claudio Melchiorri).

I recall the equations in case the link is no more accessible.

What you are looking for is called Homogeneous transformation matrix.

To get the 3D coordinate of the camera in the poster frame, assuming a known camera pose, you just have to compute what is called the inverse of the homogenous matrix (see this course, page 72, Ridig Body Motion – Homogeneous Transformations by Claudio Melchiorri).

The superscript t in cRp^t simply means the transpose of matrix.
solvePnP() returning a rotation vector and a translation vector, you will have to use Rodrigues() to compute the rotation matrix from the rotation vector.