# calibration transformation matrices

Hi all,

I am using the OpenCV calibration code from this tutorial: http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html#cameracalibrationopencv

Here is the arguments list for the calibration function:
*runCalibration(s,imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs, reprojErrs, totalAvgErr);*

rvecs and tvecs are essentially the rotational and transnational components of the Homogeneous transformation matrix.

My question is the following:

does the transformation matrix( using rvecs, tvecs) take us from:

**calibration grid coordinate system** to the **camera coordinate system**

or

from **camera coordinate system** to the **calibration grid coordinate system**.

Thanks,

Paul