This is a topic widely discussed already, but to no satisfying conclusion.
I am currently working on a script to convert different camera formats, and would like to include reality captures xmp. But I am having some trouble with the way rotations are stored as matrices in xmp. I edited custom xmps with my own rotational and positional values to look at what RC does with them. This is the result:
As you can see, the rotational values from the xmp matrix do not match the values in RC. It is already documented that RC uses a yxz rotational order here: https://support.capturingreality.com/hc/en-us/articles/360020679799-How-to-work-with-RealityCapture-registration-export
But the rotational order should not matter anyway as a rotational matrix is of course independent of previous rotational orders. Furthermore, the topic was discussed in the following posts:
with no result. Can anybody offer some insight which default orientation, coordinate system and rotational conventions the xmp files use?
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