I was wondering how the transformations from measure rotation are calculated.

In particular, for my case, the translation reported with the rotation matrix is very long - much longer than the reported shift, and outside the box. Is the origin really 0,0,0 in the map frame? (I.e. box corner).

Also, is the axis reported the new Z after rotation, or something else? Is that axis times the reported angle a correct axis-angle representation?

Finally, what is the axis point?

Thanks & best,

-da