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solvePnp object - to - camera pose.

I have read enough about this to know that it is fairly straightforward, but I can't find an example of how to actually do it.

I use solvePnp, and get rvec and tvec matrices back. The rotation and translation, respectively, as a 3x3 matrix and a 3 x 1.

As I understand it, this is the OBJECT transformation matrix, using the camera sensor as the zero point and giving the coordinates of one of the points.

My question is, how exactly do i get the camera pose from this information? I believe i need to invert the matrix?