anyone could tell me about the camera parameters contents in export files mean?

[zhuyuehan]

I export the xml file and txt file.
txt file includes x,y,z,omega,phi,kappa,r11,r12,r13,r21,r22,r23,r31,r32,r33

xml includes Calibration parameters and x,y,z,r11,r12,r13,r21,r22,r23,r31,r32,r33 plus 0,0,0,1?

what is this R() matrix means?  omega,phi,kappa is angle but more specificly what angle?
Is x,y,z GPS data?
I am such noob in mapping filed so anyone could help me!