Camera pose estimation: How do I interpret rotation and translation matrices?

Question

Assume I have good correspondences between two images and attempt to recover the camera motion between them. I can use OpenCV 3\'s new facilities for this, like this:

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Answer 1

Your interpretation sounds about right to me. I'm not 100% about the orientation of axis in OpenCV but I believe you are correct about the Y axis.

The Output makes sense as well, not just from a code perspective but if you look at the two images, you can roughly imagine where a full 90 degree rotation would point (it would essentially be the same angle but on the opposite side of the car)

This is a pretty decent explanation of the concept via Rigid Body Motion mechanics too: http://nghiaho.com/?page_id=671