I have an app that reprojects photogrammetry models into the photos to evaluate shape errors. I am testing with a set of 68 photos taken all around a statue at 4 levels. RS made a satisfactory model. With the .csv file exported in ‘internal/external camera parameters’ format I get incorrect results now matter how I interpret the pose parameters, which are given as a position vector and 3 Euler angles. Calibration.XML says that the application order of the Euler angles should be z,y,x. It is not specified whether the rotation is around world center or camera center, nor in which sense (world to camera or camera to world frame). Of the 4 combinations of these two choices, only one gives some correctly oriented views of the model, however many are mirrored and about half of the views that appear to have the model in view have it behind the camera. Applying the angles in xyz order and reversed sense gives a similar result but with the model upside down. The camera intrinsics are nearly identical for all 68 views.
My questions:
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has it been verified that the poses exported in this format actually are correct?
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what else can I try to get the correct projections?