https://communities.bentley.com/products/3d_imaging_and_point_cloud_software/f/contextcapture-descartes-pointools-forum/200751/calculating-rotation-matrix-from-yaw-pitch-roll-cc-sdkI have a use case where I need to update the metadata for each photo from a data file that has more accurate position and yaw/pitch/roll data than what is contained in each photo&#39;s exifdata. Through the SDK, I am able to modify each photo&#39;s PoseMetadataen-USTelligent Community 12https://communities.bentley.com/thread/599731?ContentTypeID=1Thu, 23 Jul 2020 00:18:53 GMT6dad98f5-dbc9-4c4d-a9ba-e9da8dc6aa8e:d8e2ff9a-3918-453a-9eae-502c403bbf8aEd K<p>Issue resolved.</p> <p>The rotation matrix was in ECEF (EPSG:4978) format&nbsp;despite&nbsp;that the SRS of the photo poseMetadata was WGS 84. It appears that the rotation matrix is always in ECEF within the SDK.</p> <p>To convert the rotation matrix to ECEF, I multiplied&nbsp;it with the inverse of <em>SRSTransformation(posemetadata_srs,&quot;<span>EPSG:4978&quot;</span>).getRotation(photo.poseMetadata.center)</em>.</p><div style="clear:both;"></div>