2.1.1.2 Rotation matrix for terrestrial orientation
ϕ corresponds to the horizontal angle, counting anti-clockwise from the x-axis. ω is the elevation angle. It is positive upwards, starting at the horizontal. κ rotates around the exposure axis, positive clockwise when looking in the exposure direction. Thus combinations with measured exposure directions are easily possible for terrestrial photos.
Fig. 2.1.1-3 Coordinate system and rotational angles of a terrestrial photograph
0 is the projection centre 
Fig. 2.1.1-4 Individual rotations of a terrestrial photograph
The matrix R has the following form:
The image vector in the terrestrial case is 
in equation (2.1.1/1).
The original rotation angles ϕ ω κ can be recalculated from the elements of the rotation matrix here as follows:
; 
; 