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I think that what you doing wrong is considering that these angles are actually the exact values for roll, yaw & pitch. Looking at the documentation, the description states:
rvec – Output rotation vector (see Rodrigues() ) that, together with tvec , brings points from the model coordinate system to the camera coordinate system.
tvec – Output translation vector.
This means that for each point you have in your model, you can switch to the camera coördinate system. However, this is NOT the world coördinate system. I think you should still do a second operation to transfer between the camera coordinate system and the world coordinate system.
Maybe take a look at some topics that do exactly what you want, retrieving pitch yaw and roll.
