Support Website Contact Support Blog

Pix4D Documentation and pix4D results show different angle definition?

I just started trying pix4D and I have trouble understanding the output angles, since the given definitions seems to be different?
So in this link: pix4d: Camera Externals it says R defines the Orientation of the camera with regard to the coordinate system and so the camera model (for pure Rotation) is:
m = K * R⁻¹ * X

But when I look into the definiton of the camera model inside the myName_calibrated_camera_parameters.txt, it says: m = K [R|-Rt] X

Which definition is the right one? The first one Implies that R is the Orientation of the Camera in Space and the second one that R is the inverse of that.

Thank you in advance!