I guess this is the same problem I’m having. Bundle.out is very broken. Details here: http://nbviewer.jupyter.org/url/files.aaroncurt.is/lomablanca/rcPoseBug.ipnb
Can you share the rotation matrix that you used to fix it? It looks like my camera orientations are correct, but all my point locations come out rotated about 45 degrees around the x axis. I guess I can try and figure it out…
Sucks that you reported this in April and they haven’t fixed it.