The omega, phi, kappa angles are defined as the angles used in order to rotate a (X, Y, Z) geodetic coordinate system and align it with the image coordinate system. The rotations are applied in the following order:

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Successfully converting from Yaw, Pitch, and Roll to Omega, Phi, and Kappa depends on several factors, including the camera's position on Earth.

To test the accuracy of the initial Omega, Phi, and Kappa values apply Standard or Alternative Calibration Method: Menu Process > Processing Options... > 1. Initial Processing > Calibration - PIX4Dmapper.

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Most drone manufacturers write Yaw, Pitch, and Roll angle values directly in the EXIF tags of the images. If the EXIF tags are available, the values will be automatically converted to Omega, Phi, and Kappa when importing the images into Pix4D products. For more information: Specifications of xmp.camera tags.

There are many ways to convert Yaw, Pitch, and Roll to Omega, Phi, and Kappa. Pix4D's method is described in the attached documents:

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More information about the coordinate system definition, see the How are the Internal and External Camera Parameters defined? article.

Yaw, Pitch, Roll definitionOmega, Phi, Kappa definitionHow to convert Yaw, Pitch, Roll to Omega, Phi, KappaUsing Omega, Phi, Kappa and Yaw, Pitch, Roll angles in Pix4D

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Assuming that the camera is mounted such that the camera looks down and the top of the image points to the front of the aircraft, the yaw, pitch, roll angles are defined as follows:

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Yaw, Pitch, Roll angles define the relation between the navigation coordinate system and the body coordinate system. The coordinate systems and rotations are defined as:

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Accurate angle values can be incorporated to accelerate processing time and produce more accurate results using the Accurate Geolocation and Orientation Calibration Method: Menu Process > Processing Options... > 1. Initial Processing > Calibration - PIX4Dmapper.

At the moment, the processing options that directly influence the use of the orientation angles can only be selected in PIX4Dmapper.

Yaw, Pitch, Roll and Omega, Phi, Kappa angles define the orientation of the drone or the camera during the image acquisition. This article provides definitions of Yaw, Pitch, Roll and Omega, Phi, Kappa angles, as well as how to convert and use these angles in Pix4D products.

Since the definition of Yaw, Pitch, and Roll may vary for different UAV manufacturers, it is not possible to guarantee that Omega, Phi, and Kappa can be calculated accurately for all UAVs.

It is possible to test the accuracy of the initial Omega, Phi, and Kappa values according to the variance (RMS) that appears in the Quality Report or compare the initial orientation with the optimized orientation calculated by PIX4Dmapper.