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a) This is really an OpenCV question not a ROS question and thus answers.ros.org is probably not the best place to ask this.

b) In the links you gave there are descriptions of both of those:

rvec – The output rotation vector (see Rodrigues2) that (together with tvec) brings points from the model coordinate system to the camera coordinate system

tvec – The output translation vector

If you need help in interpreting those descriptions of rvec and tvec you should probably look to the OpenCV community.

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