I am reading the following documentation: http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html

I have managed to successfully calibrate the camera obtaining the camera matrix and the distortion matrix.

I had two sub-questions:

1) How do I use the distortion matrix as I don't know 'r'?

2) For all the views I have the rotation and translation vectors which transform the object points (given in the model coordinate space) to the image points (given in the world coordinate space). So a total of 6 coordinates per image(3 rotational, 3 translational). How do I make use of this information to obtain the rotational-translational matrix?

Any help would be appreciated. Thanks!