Photogrammetry software (Agisoft Metashape, Pix4D) could not read the
camera orientation, and the pitch convention was wrong.
- Emit attitude as XMP-Camera:Yaw/Pitch/Roll (Pix4D namespace Metashape
reads) instead of the ignored XMP-GPano:Pose* tags, via a bundled
firemapper.ExifTool_config (stock exiftool can't write that namespace).
- Add session_map.metashape_ypr(): pitch 0 = nadir, +90 = forward, so
thermal -> 0, cam25 -> ~25, cam45 -> ~45, with aircraft attitude and the
platform sweep folded in (decomposed from the shared camera geometry).
- Write a Metashape/Pix4D reference CSV (GPS + YPR per frame) on every
Embed run, as a robust alternative to the embedded tags.
- Fix camera detection to key off each image's immediate parent dir, so
embedding a parent folder that groups several sessions no longer mis-tags
every RGB frame as nadir (dropping the off-nadir mounting angle).
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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