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cv2.solvePnp axis flip with rotation

Hi all,

I'm having an issue using the cv2.solvePnP function.

I am using the function to estimate the pose of my camera by recognising the position of markers on my ceiling, that I can uniquely identify. I can do this successfully but there seems to a quirk in the code where I rotate the camera 90 degrees and my axis flip, x becomes y and y becomes x and the z direction also reverses direction. The angle shown about the z axis seems to remain correct and the coordinates are fine only the x and y have changed.

It seems to be a trigonometry problem but has anyone else had the same issue?

Thanks for the assistance