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Well, tvecs is the x, y, and z translation from the origin in whatever units.

The rvecs is made up of Rodrigues Parameters. You can use the Rodrigues function to convert it to a rotation matrix.

OpenCV's solvePnP or aruco::estimatePoseBoard return tvec and rvec that are the pose of the object relative to the camera. So the camera is the origin and the axes are as described HERE.

To reverse that, and make get the camera's pose relative to the board, use this code:

Mat R;
Rodrigues(rvec, R);
R = R.t();
tvec = -R*tvec;
Rodrigues(R, rvec);

Now, what the rvecs and tvecs your program returns are relative to, I have no idea. You'd have to look at it's documentation.

Of course, Odometry is just adding up relative measurements, to get an estimate of the absolute measurement. You have absolute measurements, so I don't know what exactly you're trying to do.