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What do rotation and translation vector represent in cameraCalibrate() function

Hello everyone,

I need to calibrate 2 cameras in order to do some image processing (stereoscopy). I have been following the "Camera Calibration" tutorial written on openCV for this (

I try to understand what the rotation and translation vectors returned by the cameraCalibrate() function represent ?

It is written in the tutorial that "Extrinsic parameters corresponds to rotation and translation vectors which translates a coordinates of a 3D point to a coordinate system". I am not sure to understand this sentence, what coordinate system are they talking about, and what is the considered reference system ?

Thank you