Yaw, Pitch & Roll values for horizontal photos

[WSurvey]

Hello,

I have pictures taken from an imaging total station. I am importing reference values for these photos including camera coordinates and orientations. To my mind Yaw = azimuth/bearing, Pitch = (180°-zenith angle) and Roll = o°. This makes sense to me, but Metashape disagrees. When I align photos with these initial values and a known marker in the scene, Metashape tells me that my Yaw, Pitch and Roll values are in error. the Yaw and Roll values are supposedly in error by almost 180°, suggesting I'm facing the wrong way, but the calculated coordinates of any marker I place in the scene are correct.

Any ideas?

Cheers.

[Paulo]

Hi WSurvey,

let angle triplet (yaw,pitch,roll) be defined as (y, p, r) in degrees.

this triplet represents same orientation matrix as (y+180, 180-p, r+180)
e.g.

Metashape.Utils.ypr2mat(Metashape.Vector((30,91,0)))
 
Matrix([[0.8660254037844387, -0.008726203218641737, -0.4999238475781956],
                [-0.49999999999999994, -0.01511422733185856, -0.8658935039207541],
                [0.0, 0.9998476951563913, -0.017452406437283477]])

is equal (after rounding to 17th decimal) to

Metashape.Utils.ypr2mat(Metashape.Vector((210,89,180)))
 
Matrix([[0.8660254037844385, -0.00872620321864169, -0.49992384757819586],
                [-0.5000000000000002, -0.015114227331858472, -0.8658935039207539],
                [-2.1373033680837747e-18, 0.9998476951563913, -0.017452406437283376]])