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Blender represents locations in a scene by their coordinates. The coordinates of a location consist of three numbers that define its distance and direction from a fixed origin.

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Is there a way to rotate the axes themselves?

Notice how the cube's local coordinates are aligned to the global ones; they will allow us to see these initial unrotated global coordinates later. … Notice that the new, rotated global coordinates are +45 degrees rotated from the original global coordinates (represented by the cube's local coordinate frame). …
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What is blender's camera projection matrix model?

To get the full "projection matrix which transforms 3D vertex to 2D image coordinates" you mention in the end of your question, see my answer to 3x4 camera matrix from blender camera. …
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3x4 camera matrix from blender camera

The World coordinates: "world" # - right-handed # 2. … Object coordinates: to deal with object coordinates, first transform to world coordinates, see my answer to How to find image coordinates of the rendered vertex? …
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blender camera from 3x4 matrix

I wrote the function get_blender_camera_from_3x4_P to do this, listed below. # Input: P 3x4 numpy matrix # Output: K, R, T such that P = K*[R | T], det(R) positive and K has positive diagonal …
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