Hey !

Based on previous topic (

https://www.agisoft.com/forum/index.php?topic=11167.msg50189#msg50189), we found how we can get 3*3 rotation matrix and then yaw/pitch/roll values from 4*4 transformation matrix of an aligned images.

Using same function but with .translation() instead of .rotation(), we can easily get 3*1 translation matrix and so X,Y,Z coordinates.

But now for special test we would like to invert the process :

**Based on 3*3 rotation and 3*1 translation matrix, we would like to get the 4*4 transformation matrix in metashape system.**

Translation part is easy as X, Y and Z can be directly put in the 4*4 matrix like this :

`[[*, *, *, X],`

[*, *, *, Y],

[*, *, *, Z],

[0, 0, 0, 1]]

But for the rotation part, it looks .rotation() apply a calculation from the "star part" on the above matrix ([[*, *, ...]]) to the 3*3 rotation matrix.

So we would like to invert this function to create our own 4*4 matrix based on 3*3 rotation and 3*1 translation matrix.

Note : We get our 3*3 rotation matrix from yaw/pitch/roll values using ypr2mat() function

Hope it's clear enough

Regards