From 04a2d46aa8adae5886e00729a3935b61d087510f Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Mon, 15 Sep 2025 11:40:34 +0530
Subject: [PATCH 01/27] feat: Add yaw, azimuth, and elevation methods to camera
 implementation

---
 library/private/camera_impl.h     |  5 ++-
 library/public/camera.h           |  5 ++-
 library/src/camera_impl.cxx       | 73 ++++++++++++++++++++++++++++++-
 library/testing/TestSDKCamera.cxx | 52 +++++++++++++++++++++-
 4 files changed, 131 insertions(+), 4 deletions(-)

diff --git a/library/private/camera_impl.h b/library/private/camera_impl.h
index 17173d74ca..4a39ed51ee 100644
--- a/library/private/camera_impl.h
+++ b/library/private/camera_impl.h
@@ -50,6 +50,9 @@ class camera_impl : public camera
   camera& setState(const camera_state_t& state) override;
   camera_state_t getState() override;
   void getState(camera_state_t& state) override;
+  angle_deg_t getYaw() override;
+  angle_deg_t getAzimuth() override;
+  angle_deg_t getElevation() override;
 
   camera& dolly(double val) override;
   camera& pan(double right, double up, double forward) override;
@@ -85,4 +88,4 @@ class camera_impl : public camera
 };
 }
 
-#endif
+#endif
\ No newline at end of file
diff --git a/library/public/camera.h b/library/public/camera.h
index 670afec571..636d2f7d3e 100644
--- a/library/public/camera.h
+++ b/library/public/camera.h
@@ -49,6 +49,9 @@ class F3D_EXPORT camera
   virtual camera& setState(const camera_state_t& state) = 0;
   [[nodiscard]] virtual camera_state_t getState() = 0;
   virtual void getState(camera_state_t& state) = 0;
+  [[nodiscard]] virtual angle_deg_t getYaw() = 0;
+  [[nodiscard]] virtual angle_deg_t getAzimuth() = 0;
+  [[nodiscard]] virtual angle_deg_t getElevation() = 0;
   ///@}
 
   ///@{ @name Manipulation
@@ -103,4 +106,4 @@ class F3D_EXPORT camera
 };
 }
 
-#endif
+#endif
\ No newline at end of file
diff --git a/library/src/camera_impl.cxx b/library/src/camera_impl.cxx
index ab4b7ef46d..70d383a7f8 100644
--- a/library/src/camera_impl.cxx
+++ b/library/src/camera_impl.cxx
@@ -183,6 +183,77 @@ void camera_impl::getState(camera_state_t& state)
   state.viewAngle = cam->GetViewAngle();
 }
 //----------------------------------------------------------------------------
+angle_deg_t camera_impl::getYaw()
+{
+  point3_t pos, foc;
+  vector3_t dir;
+  double *up, *right;
+  this->getPosition(pos);
+  this->getFocalPoint(foc);
+  up = this->Internals->VTKRenderer->GetEnvironmentUp();
+  right = this->Internals->VTKRenderer->GetEnvironmentRight();
+  // Forward vector (focal - position)
+  vtkMath::Subtract(foc, pos, dir);
+  vtkMath::Normalize(dir.data());
+  vtkMath::Normalize(up);
+
+  // Project forward onto plane perpendicular to up
+  double dot = vtkMath::Dot(dir.data(), up);
+  vector3_t projected;
+  for (int i = 0; i < 3; ++i)
+  {
+    projected[i] = dir[i] - dot * up[i];
+  }
+  vtkMath::Normalize(projected.data());
+  vector3_t cross;
+  vtkMath::Cross(right, projected.data(), cross.data());
+  double sign = (vtkMath::Dot(cross, up) >= 0) ? 1 : -1;
+  double angleRad = vtkMath::AngleBetweenVectors(right, projected.data());
+  return sign * vtkMath::DegreesFromRadians(angleRad);
+}
+//----------------------------------------------------------------------------
+angle_deg_t camera_impl::getElevation()
+{
+  double* up;
+  up = this->Internals->VTKRenderer->GetEnvironmentUp();
+  vtkCamera* cam = this->GetVTKCamera();
+  return vtkMath::DegreesFromRadians(
+    vtkMath::AngleBetweenVectors(up, cam->GetDirectionOfProjection()) - vtkMath::Pi() / 2);
+}
+//----------------------------------------------------------------------------
+angle_deg_t camera_impl::getAzimuth()
+{
+  point3_t pos, foc;
+  vector3_t dir;
+  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
+  double* right = this->Internals->VTKRenderer->GetEnvironmentRight();
+  this->getPosition(pos);
+  this->getFocalPoint(foc);
+
+  // Forward vector (focal - position)
+  vtkMath::Subtract(foc, pos, dir);
+  vtkMath::Normalize(dir.data());
+  vtkMath::Normalize(up);
+
+  // Project forward onto plane perpendicular to up
+  double dot = vtkMath::Dot(dir.data(), up);
+  vector3_t projected;
+  for (int i = 0; i < 3; ++i)
+  {
+    projected[i] = dir[i] - dot * up[i];
+  }
+  vtkMath::Normalize(projected.data());
+
+  // Azimuth is the signed angle between right and projected forward, using up as the normal
+  double angleRad = vtkMath::AngleBetweenVectors(right, projected.data());
+  // Determine sign using cross product
+  vector3_t cross;
+  vtkMath::Cross(right, projected.data(), cross.data());
+  double sign = vtkMath::Dot(cross.data(), up) >= 0 ? 1.0 : -1.0;
+
+  return sign * vtkMath::DegreesFromRadians(angleRad);
+}
+//----------------------------------------------------------------------------
 camera& camera_impl::dolly(double val)
 {
   vtkCamera* cam = this->GetVTKCamera();
@@ -323,4 +394,4 @@ vtkCamera* camera_impl::GetVTKCamera()
 {
   return this->Internals->VTKRenderer->GetActiveCamera();
 }
-};
+};
\ No newline at end of file
diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 7aeff88ebd..5d0cb651d5 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -81,6 +81,56 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     return EXIT_FAILURE;
   }
 
+  // Test getYaw
+  cam.setPosition({ 0, 0, 1 });
+  cam.setFocalPoint({ 0, 0, 0 });
+  cam.setViewUp({ 0, 1, 0 });
+  f3d::angle_deg_t testYaw = 90.0;
+  f3d::angle_deg_t yaw = cam.getYaw();
+  if (!compareDouble(yaw, testYaw))
+  {
+    std::cerr << "get yaw is not behaving as expected: " << yaw << " " << "\n";
+    return EXIT_FAILURE;
+  }
+  cam.yaw(90);
+  testYaw = 180.0;
+  yaw = cam.getYaw();
+  if (!compareDouble(yaw, testYaw))
+  {
+    std::cerr << "Yaw after +90° yaw() is incorrect: " << yaw << "\n";
+    return EXIT_FAILURE;
+  }
+  cam.yaw(180);
+  testYaw = 0;
+  yaw = cam.getYaw();
+  if (!compareDouble(yaw, testYaw))
+  {
+    std::cerr << "Yaw after +90° yaw() is incorrect: " << yaw << "\n";
+    return EXIT_FAILURE;
+  }
+
+  // Test getElevation
+  cam.setPosition({ 0, 0, -1 });
+  cam.setFocalPoint({ 0, 0, 0 });
+  cam.setViewUp({ 0, 1, 0 });
+  f3d::angle_deg_t testElevation = 0.0;
+  f3d::angle_deg_t elevation = cam.getElevation();
+  if (!compareDouble(elevation, testElevation))
+  {
+    std::cerr << "get elevation is not behaving as expected: " << elevation
+              << " != " << testElevation << "\n";
+    return EXIT_FAILURE;
+  }
+  cam.elevation(45);
+  testElevation = 45.0;
+  elevation = cam.getElevation();
+  if (!compareDouble(elevation, testElevation))
+  {
+    std::cerr << "get elevation after elevation +45 is not behaving as expected: " << elevation
+              << " != " << testElevation << "\n";
+    return EXIT_FAILURE;
+  }
+
   // Test position
   f3d::point3_t testPos = { 0., 0., 10. };
   f3d::point3_t pos = cam.setPosition(testPos).getPosition();
@@ -313,4 +363,4 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   }
 
   return EXIT_SUCCESS;
-}
+}
\ No newline at end of file

From 6789df350ee85ec9c46123222a39408cea84e5e4 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Mon, 15 Sep 2025 20:04:34 +0530
Subject: [PATCH 02/27] Update camera tests for yaw, elevation, and add
 getAzimuth method and test

---
 library/src/camera_impl.cxx       |  3 ---
 library/testing/TestSDKCamera.cxx | 38 ++++++++++++++++++++-----------
 2 files changed, 25 insertions(+), 16 deletions(-)

diff --git a/library/src/camera_impl.cxx b/library/src/camera_impl.cxx
index 70d383a7f8..6dbd268be5 100644
--- a/library/src/camera_impl.cxx
+++ b/library/src/camera_impl.cxx
@@ -244,13 +244,10 @@ angle_deg_t camera_impl::getAzimuth()
   }
   vtkMath::Normalize(projected.data());
 
-  // Azimuth is the signed angle between right and projected forward, using up as the normal
   double angleRad = vtkMath::AngleBetweenVectors(right, projected.data());
-  // Determine sign using cross product
   vector3_t cross;
   vtkMath::Cross(right, projected.data(), cross.data());
   double sign = vtkMath::Dot(cross.data(), up) >= 0 ? 1.0 : -1.0;
-
   return sign * vtkMath::DegreesFromRadians(angleRad);
 }
 //----------------------------------------------------------------------------
diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 5d0cb651d5..cc5cf79a0e 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -82,10 +82,10 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   }
 
   // Test getYaw
-  cam.setPosition({ 0, 0, 1 });
+  cam.setPosition({ -1, 0, 0 });
   cam.setFocalPoint({ 0, 0, 0 });
   cam.setViewUp({ 0, 1, 0 });
-  f3d::angle_deg_t testYaw = 90.0;
+  f3d::angle_deg_t testYaw = 0.0;
   f3d::angle_deg_t yaw = cam.getYaw();
   if (!compareDouble(yaw, testYaw))
   {
@@ -93,15 +93,7 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     return EXIT_FAILURE;
   }
   cam.yaw(90);
-  testYaw = 180.0;
-  yaw = cam.getYaw();
-  if (!compareDouble(yaw, testYaw))
-  {
-    std::cerr << "Yaw after +90° yaw() is incorrect: " << yaw << "\n";
-    return EXIT_FAILURE;
-  }
-  cam.yaw(180);
-  testYaw = 0;
+  testYaw = 90.0;
   yaw = cam.getYaw();
   if (!compareDouble(yaw, testYaw))
   {
@@ -121,8 +113,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
               << " != " << testElevation << "\n";
     return EXIT_FAILURE;
   }
-  cam.elevation(45);
-  testElevation = 45.0;
+  cam.elevation(-45);
+  testElevation = -45.0;
   elevation = cam.getElevation();
   if (!compareDouble(elevation, testElevation))
   {
@@ -131,6 +123,26 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     return EXIT_FAILURE;
   }
 
+  // Test getAzimuth
+  cam.setPosition({ -1, 0, 0 });
+  cam.setFocalPoint({ 0, 0, 0 });
+  cam.setViewUp({ 0, 1, 0 });
+  f3d::angle_deg_t testAzimuth = 0.0;
+  f3d::angle_deg_t azimuth = cam.getAzimuth();
+  if (!compareDouble(azimuth, testAzimuth))
+  {
+    std::cerr << "get azimuth is not behaving as expected: " << azimuth << " != " << testAzimuth << "\n";
+    return EXIT_FAILURE;
+  }
+  cam.azimuth(90);
+  testAzimuth = 90.0;
+  azimuth = cam.getAzimuth();
+  if (!compareDouble(azimuth, testAzimuth))
+  {
+    std::cerr << "get azimuth after azimuth +90 is not behaving as expected: " << azimuth << " != " << testAzimuth << "\n";
+    return EXIT_FAILURE;
+  }
+
   // Test position
   f3d::point3_t testPos = { 0., 0., 10. };
   f3d::point3_t pos = cam.setPosition(testPos).getPosition();

From c13cf2edd0be1da17a7aa28f7dcda29a8837ac39 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Mon, 15 Sep 2025 22:56:47 +0530
Subject: [PATCH 03/27] Update library/testing/TestSDKCamera.cxx

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/testing/TestSDKCamera.cxx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index cc5cf79a0e..3a325f1fb6 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -134,8 +134,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     std::cerr << "get azimuth is not behaving as expected: " << azimuth << " != " << testAzimuth << "\n";
     return EXIT_FAILURE;
   }
-  cam.azimuth(90);
-  testAzimuth = 90.0;
+    testAzimuth = 90.0;
+    cam.azimuth(testAzimuth);
   azimuth = cam.getAzimuth();
   if (!compareDouble(azimuth, testAzimuth))
   {

From e4f037c8a651d9ded50dac80d36a9116418e21ec Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Mon, 15 Sep 2025 22:57:32 +0530
Subject: [PATCH 04/27] Update library/testing/TestSDKCamera.cxx

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/testing/TestSDKCamera.cxx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 3a325f1fb6..976217d41c 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -113,8 +113,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
               << " != " << testElevation << "\n";
     return EXIT_FAILURE;
   }
-  cam.elevation(-45);
   testElevation = -45.0;
+  cam.elevation(testElevation);
   elevation = cam.getElevation();
   if (!compareDouble(elevation, testElevation))
   {

From d0bdf55607213b23d49ac0ab9bdbdc43101fb6d7 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Mon, 15 Sep 2025 22:57:46 +0530
Subject: [PATCH 05/27] Update library/testing/TestSDKCamera.cxx

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/testing/TestSDKCamera.cxx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 976217d41c..224af909f7 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -92,8 +92,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     std::cerr << "get yaw is not behaving as expected: " << yaw << " " << "\n";
     return EXIT_FAILURE;
   }
-  cam.yaw(90);
-  testYaw = 90.0;
+    testYaw = 90.0;
+    cam.yaw(testYaw);
   yaw = cam.getYaw();
   if (!compareDouble(yaw, testYaw))
   {

From 2e0a6e5d08fb78035fe2f6bb1deb2be3756443c7 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Mon, 15 Sep 2025 22:59:00 +0530
Subject: [PATCH 06/27] Update library/testing/TestSDKCamera.cxx

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/testing/TestSDKCamera.cxx | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 224af909f7..df69602a48 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -85,9 +85,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   cam.setPosition({ -1, 0, 0 });
   cam.setFocalPoint({ 0, 0, 0 });
   cam.setViewUp({ 0, 1, 0 });
-  f3d::angle_deg_t testYaw = 0.0;
   f3d::angle_deg_t yaw = cam.getYaw();
-  if (!compareDouble(yaw, testYaw))
+  if (!compareDouble(yaw, 0.))
   {
     std::cerr << "get yaw is not behaving as expected: " << yaw << " " << "\n";
     return EXIT_FAILURE;

From d111df79f2c9851e86d65441d2bc124c3d2cacc0 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Mon, 15 Sep 2025 22:59:35 +0530
Subject: [PATCH 07/27] Update library/src/camera_impl.cxx

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/src/camera_impl.cxx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/library/src/camera_impl.cxx b/library/src/camera_impl.cxx
index 6dbd268be5..d794a85f96 100644
--- a/library/src/camera_impl.cxx
+++ b/library/src/camera_impl.cxx
@@ -190,8 +190,8 @@ angle_deg_t camera_impl::getYaw()
   double *up, *right;
   this->getPosition(pos);
   this->getFocalPoint(foc);
-  up = this->Internals->VTKRenderer->GetEnvironmentUp();
-  right = this->Internals->VTKRenderer->GetEnvironmentRight();
+  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
+  double* right = this->Internals->VTKRenderer->GetEnvironmentRight();
   // Forward vector (focal - position)
   vtkMath::Subtract(foc, pos, dir);
   vtkMath::Normalize(dir.data());

From 689642ee5de77e23fd0d8f6da24105974c330930 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Mon, 15 Sep 2025 22:59:58 +0530
Subject: [PATCH 08/27] Update library/src/camera_impl.cxx

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/src/camera_impl.cxx | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/library/src/camera_impl.cxx b/library/src/camera_impl.cxx
index d794a85f96..15eee72223 100644
--- a/library/src/camera_impl.cxx
+++ b/library/src/camera_impl.cxx
@@ -214,8 +214,7 @@ angle_deg_t camera_impl::getYaw()
 //----------------------------------------------------------------------------
 angle_deg_t camera_impl::getElevation()
 {
-  double* up;
-  up = this->Internals->VTKRenderer->GetEnvironmentUp();
+  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
   vtkCamera* cam = this->GetVTKCamera();
   return vtkMath::DegreesFromRadians(
     vtkMath::AngleBetweenVectors(up, cam->GetDirectionOfProjection()) - vtkMath::Pi() / 2);

From 6ea92d755b7cbdcaa8847129621e9723e5b63ebb Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Tue, 16 Sep 2025 01:13:28 +0530
Subject: [PATCH 09/27] Refactor camera angle methods for improved clarity

---
 library/private/camera_impl.h     |   9 +-
 library/public/camera.h           |  14 ++--
 library/src/camera_impl.cxx       | 135 +++++++++++++++---------------
 library/testing/TestSDKCamera.cxx |  16 ++--
 4 files changed, 91 insertions(+), 83 deletions(-)

diff --git a/library/private/camera_impl.h b/library/private/camera_impl.h
index 4a39ed51ee..c758a624f6 100644
--- a/library/private/camera_impl.h
+++ b/library/private/camera_impl.h
@@ -50,9 +50,6 @@ class camera_impl : public camera
   camera& setState(const camera_state_t& state) override;
   camera_state_t getState() override;
   void getState(camera_state_t& state) override;
-  angle_deg_t getYaw() override;
-  angle_deg_t getAzimuth() override;
-  angle_deg_t getElevation() override;
 
   camera& dolly(double val) override;
   camera& pan(double right, double up, double forward) override;
@@ -63,6 +60,10 @@ class camera_impl : public camera
   camera& elevation(angle_deg_t angle) override;
   camera& pitch(angle_deg_t angle) override;
 
+  angle_deg_t getYaw() override;
+  angle_deg_t getAzimuth() override;
+  angle_deg_t getElevation() override;
+
   camera& setCurrentAsDefault() override;
   camera& resetToDefault() override;
   camera& resetToBounds(double zoomFactor = 0.9) override;
@@ -88,4 +89,4 @@ class camera_impl : public camera
 };
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/library/public/camera.h b/library/public/camera.h
index 636d2f7d3e..795d858e70 100644
--- a/library/public/camera.h
+++ b/library/public/camera.h
@@ -49,9 +49,6 @@ class F3D_EXPORT camera
   virtual camera& setState(const camera_state_t& state) = 0;
   [[nodiscard]] virtual camera_state_t getState() = 0;
   virtual void getState(camera_state_t& state) = 0;
-  [[nodiscard]] virtual angle_deg_t getYaw() = 0;
-  [[nodiscard]] virtual angle_deg_t getAzimuth() = 0;
-  [[nodiscard]] virtual angle_deg_t getElevation() = 0;
   ///@}
 
   ///@{ @name Manipulation
@@ -73,9 +70,16 @@ class F3D_EXPORT camera
   virtual camera& elevation(angle_deg_t angle) = 0;
   /** Rotate the camera about its horizontal axis, centered the camera's position. */
   virtual camera& pitch(angle_deg_t angle) = 0;
-
   ///@}
 
+  ///@{ @name Getters
+  /// Yaw, azimuth and elevation getter methods(calculated on call). Angles are in degrees.
+
+  [[nodiscard]] virtual angle_deg_t getYaw() = 0;
+  [[nodiscard]] virtual angle_deg_t getAzimuth() = 0;
+  [[nodiscard]] virtual angle_deg_t getElevation() = 0;
+  ///@}
+  
   /**
    * Store the current camera configuration as default.
    */
@@ -106,4 +110,4 @@ class F3D_EXPORT camera
 };
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/library/src/camera_impl.cxx b/library/src/camera_impl.cxx
index 15eee72223..e77e48e8c7 100644
--- a/library/src/camera_impl.cxx
+++ b/library/src/camera_impl.cxx
@@ -182,73 +182,7 @@ void camera_impl::getState(camera_state_t& state)
   cam->GetViewUp(state.viewUp.data());
   state.viewAngle = cam->GetViewAngle();
 }
-//----------------------------------------------------------------------------
-angle_deg_t camera_impl::getYaw()
-{
-  point3_t pos, foc;
-  vector3_t dir;
-  double *up, *right;
-  this->getPosition(pos);
-  this->getFocalPoint(foc);
-  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
-  double* right = this->Internals->VTKRenderer->GetEnvironmentRight();
-  // Forward vector (focal - position)
-  vtkMath::Subtract(foc, pos, dir);
-  vtkMath::Normalize(dir.data());
-  vtkMath::Normalize(up);
 
-  // Project forward onto plane perpendicular to up
-  double dot = vtkMath::Dot(dir.data(), up);
-  vector3_t projected;
-  for (int i = 0; i < 3; ++i)
-  {
-    projected[i] = dir[i] - dot * up[i];
-  }
-  vtkMath::Normalize(projected.data());
-  vector3_t cross;
-  vtkMath::Cross(right, projected.data(), cross.data());
-  double sign = (vtkMath::Dot(cross, up) >= 0) ? 1 : -1;
-  double angleRad = vtkMath::AngleBetweenVectors(right, projected.data());
-  return sign * vtkMath::DegreesFromRadians(angleRad);
-}
-//----------------------------------------------------------------------------
-angle_deg_t camera_impl::getElevation()
-{
-  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
-  vtkCamera* cam = this->GetVTKCamera();
-  return vtkMath::DegreesFromRadians(
-    vtkMath::AngleBetweenVectors(up, cam->GetDirectionOfProjection()) - vtkMath::Pi() / 2);
-}
-//----------------------------------------------------------------------------
-angle_deg_t camera_impl::getAzimuth()
-{
-  point3_t pos, foc;
-  vector3_t dir;
-  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
-  double* right = this->Internals->VTKRenderer->GetEnvironmentRight();
-  this->getPosition(pos);
-  this->getFocalPoint(foc);
-
-  // Forward vector (focal - position)
-  vtkMath::Subtract(foc, pos, dir);
-  vtkMath::Normalize(dir.data());
-  vtkMath::Normalize(up);
-
-  // Project forward onto plane perpendicular to up
-  double dot = vtkMath::Dot(dir.data(), up);
-  vector3_t projected;
-  for (int i = 0; i < 3; ++i)
-  {
-    projected[i] = dir[i] - dot * up[i];
-  }
-  vtkMath::Normalize(projected.data());
-
-  double angleRad = vtkMath::AngleBetweenVectors(right, projected.data());
-  vector3_t cross;
-  vtkMath::Cross(right, projected.data(), cross.data());
-  double sign = vtkMath::Dot(cross.data(), up) >= 0 ? 1.0 : -1.0;
-  return sign * vtkMath::DegreesFromRadians(angleRad);
-}
 //----------------------------------------------------------------------------
 camera& camera_impl::dolly(double val)
 {
@@ -349,6 +283,73 @@ camera& camera_impl::pitch(angle_deg_t angle)
   return *this;
 }
 
+//----------------------------------------------------------------------------
+angle_deg_t camera_impl::getYaw()
+{
+  point3_t pos, foc;
+  vector3_t dir, projectedAlongUp, projected;
+  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
+  double* right = this->Internals->VTKRenderer->GetEnvironmentRight();
+  this->getPosition(pos);
+  this->getFocalPoint(foc);
+
+  // Forward vector (focal - position)
+  vtkMath::Subtract(foc, pos, dir);
+  vtkMath::Normalize(dir.data());
+  vtkMath::Normalize(up);
+
+  // Project forward vector onto up vector
+  vtkMath::ProjectVector(dir.data(), up, projectedAlongUp.data());
+  vtkMath::Normalize(projectedAlongUp.data());
+
+  // Projection of forward vector along the plane perpendicular to up vector
+  vtkMath::Subtract(dir,projectedAlongUp,projected);
+
+  vector3_t cross;
+  vtkMath::Cross(right, projected.data(), cross.data());
+  double sign = (vtkMath::Dot(cross.data(), up) >= 0) ? 1.0 : -1.0;
+  double angleRad = vtkMath::AngleBetweenVectors(right, projected.data());
+  return sign * vtkMath::DegreesFromRadians(angleRad);
+}
+
+//----------------------------------------------------------------------------
+angle_deg_t camera_impl::getAzimuth()
+{
+  point3_t pos, foc;
+  vector3_t dir, projectedAlongUp, projected;
+  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
+  double* right = this->Internals->VTKRenderer->GetEnvironmentRight();
+  this->getPosition(pos);
+  this->getFocalPoint(foc);
+
+  // Forward vector (focal - position)
+  vtkMath::Subtract(foc, pos, dir);
+  vtkMath::Normalize(dir.data());
+  vtkMath::Normalize(up);
+
+   // Project forward vector onto up vector
+  vtkMath::ProjectVector(dir.data(), up, projectedAlongUp.data());
+  vtkMath::Normalize(projectedAlongUp.data());
+
+  //Projection of forward vector along the plane perpendicular to up vector
+  vtkMath::Subtract(dir,projectedAlongUp,projected);
+
+  double angleRad = vtkMath::AngleBetweenVectors(right, projected.data());
+  vector3_t cross;
+  vtkMath::Cross(right, projected.data(), cross.data());
+  double sign = vtkMath::Dot(cross.data(), up) >= 0 ? 1.0 : -1.0;
+  return sign * vtkMath::DegreesFromRadians(angleRad);
+}
+
+//----------------------------------------------------------------------------
+angle_deg_t camera_impl::getElevation()
+{
+  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
+  vtkCamera* cam = this->GetVTKCamera();
+  return vtkMath::DegreesFromRadians(
+    vtkMath::AngleBetweenVectors(up, cam->GetDirectionOfProjection()) - vtkMath::Pi() / 2);
+}
+
 //----------------------------------------------------------------------------
 camera& camera_impl::setCurrentAsDefault()
 {
@@ -390,4 +391,4 @@ vtkCamera* camera_impl::GetVTKCamera()
 {
   return this->Internals->VTKRenderer->GetActiveCamera();
 }
-};
\ No newline at end of file
+};
diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index df69602a48..dad4b1f4d3 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -91,8 +91,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     std::cerr << "get yaw is not behaving as expected: " << yaw << " " << "\n";
     return EXIT_FAILURE;
   }
-    testYaw = 90.0;
-    cam.yaw(testYaw);
+  f3d::angle_deg_t testYaw = 90.0;
+  cam.yaw(testYaw);
   yaw = cam.getYaw();
   if (!compareDouble(yaw, testYaw))
   {
@@ -130,15 +130,17 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   f3d::angle_deg_t azimuth = cam.getAzimuth();
   if (!compareDouble(azimuth, testAzimuth))
   {
-    std::cerr << "get azimuth is not behaving as expected: " << azimuth << " != " << testAzimuth << "\n";
+    std::cerr << "get azimuth is not behaving as expected: " << azimuth << " != " << testAzimuth
+              << "\n";
     return EXIT_FAILURE;
   }
-    testAzimuth = 90.0;
-    cam.azimuth(testAzimuth);
+  testAzimuth = 90.0;
+  cam.azimuth(testAzimuth);
   azimuth = cam.getAzimuth();
   if (!compareDouble(azimuth, testAzimuth))
   {
-    std::cerr << "get azimuth after azimuth +90 is not behaving as expected: " << azimuth << " != " << testAzimuth << "\n";
+    std::cerr << "get azimuth after azimuth +90 is not behaving as expected: " << azimuth
+              << " != " << testAzimuth << "\n";
     return EXIT_FAILURE;
   }
 
@@ -374,4 +376,4 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   }
 
   return EXIT_SUCCESS;
-}
\ No newline at end of file
+}

From b36aff694d50248b93dc8286c0cbdca30251d554 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Tue, 16 Sep 2025 01:16:31 +0530
Subject: [PATCH 10/27] Update library/testing/TestSDKCamera.cxx

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/testing/TestSDKCamera.cxx | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index dad4b1f4d3..ad261017ea 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -104,9 +104,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   cam.setPosition({ 0, 0, -1 });
   cam.setFocalPoint({ 0, 0, 0 });
   cam.setViewUp({ 0, 1, 0 });
-  f3d::angle_deg_t testElevation = 0.0;
   f3d::angle_deg_t elevation = cam.getElevation();
-  if (!compareDouble(elevation, testElevation))
+  if (!compareDouble(elevation, 0.))
   {
     std::cerr << "get elevation is not behaving as expected: " << elevation
               << " != " << testElevation << "\n";

From 78e40189100ad1a2ed77797770067ec609a57e23 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Tue, 16 Sep 2025 01:17:11 +0530
Subject: [PATCH 11/27] Update library/testing/TestSDKCamera.cxx

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/testing/TestSDKCamera.cxx | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index ad261017ea..320d128c4c 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -125,9 +125,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   cam.setPosition({ -1, 0, 0 });
   cam.setFocalPoint({ 0, 0, 0 });
   cam.setViewUp({ 0, 1, 0 });
-  f3d::angle_deg_t testAzimuth = 0.0;
   f3d::angle_deg_t azimuth = cam.getAzimuth();
-  if (!compareDouble(azimuth, testAzimuth))
+  if (!compareDouble(azimuth, 0.))
   {
     std::cerr << "get azimuth is not behaving as expected: " << azimuth << " != " << testAzimuth
               << "\n";

From a0bd210a7064dbe754f8d752a879b7eb8f92791a Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Mon, 22 Sep 2025 11:28:58 +0530
Subject: [PATCH 12/27] Enhance camera angle method documentation and fix test
 variable initialization

---
 library/public/camera.h           | 14 ++++++++++++--
 library/testing/TestSDKCamera.cxx | 11 +++++------
 2 files changed, 17 insertions(+), 8 deletions(-)

diff --git a/library/public/camera.h b/library/public/camera.h
index 795d858e70..5ce39eafbc 100644
--- a/library/public/camera.h
+++ b/library/public/camera.h
@@ -75,8 +75,18 @@ class F3D_EXPORT camera
   ///@{ @name Getters
   /// Yaw, azimuth and elevation getter methods(calculated on call). Angles are in degrees.
 
-  [[nodiscard]] virtual angle_deg_t getYaw() = 0;
-  [[nodiscard]] virtual angle_deg_t getAzimuth() = 0;
+  /** Calculates angle between the projection of the forward vector (on
+   *  the plane perpendicular to the up vector) and the right vector (-180 to 180 degrees)
+   */
+  [[nodiscard]] virtual angle_deg_t getYaw() = 0;   
+
+  /** Calculates the horizontal rotation angle of the forward vector
+ *  around the up vector, measured from the right vector. (-180 to 180 degrees)
+ */
+[[nodiscard]] virtual angle_deg_t getAzimuth() = 0;
+
+
+  /** Calculates the angle between the forward vector and the up vector (-90 to +90 degrees) */
   [[nodiscard]] virtual angle_deg_t getElevation() = 0;
   ///@}
   
diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 320d128c4c..4e2fbc122d 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -107,11 +107,11 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   f3d::angle_deg_t elevation = cam.getElevation();
   if (!compareDouble(elevation, 0.))
   {
-    std::cerr << "get elevation is not behaving as expected: " << elevation
-              << " != " << testElevation << "\n";
+    std::cerr << "get elevation is not behaving as expected: " << elevation << " != " << 0.0
+              << "\n";
     return EXIT_FAILURE;
   }
-  testElevation = -45.0;
+  f3d::angle_deg_t testElevation = -45.0;
   cam.elevation(testElevation);
   elevation = cam.getElevation();
   if (!compareDouble(elevation, testElevation))
@@ -128,11 +128,10 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   f3d::angle_deg_t azimuth = cam.getAzimuth();
   if (!compareDouble(azimuth, 0.))
   {
-    std::cerr << "get azimuth is not behaving as expected: " << azimuth << " != " << testAzimuth
-              << "\n";
+    std::cerr << "get azimuth is not behaving as expected: " << azimuth << " != " << 0.0 << "\n";
     return EXIT_FAILURE;
   }
-  testAzimuth = 90.0;
+  f3d::angle_deg_t testAzimuth = 90.0;
   cam.azimuth(testAzimuth);
   azimuth = cam.getAzimuth();
   if (!compareDouble(azimuth, testAzimuth))

From 46a814052a23e653f721d78cc9cac2baf19f2cc0 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Mon, 22 Sep 2025 11:35:48 +0530
Subject: [PATCH 13/27] Add camera getter methods to Python bindings

---
 python/F3DPythonBindings.cxx | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/python/F3DPythonBindings.cxx b/python/F3DPythonBindings.cxx
index fc69c54e9d..ab1d6a558f 100644
--- a/python/F3DPythonBindings.cxx
+++ b/python/F3DPythonBindings.cxx
@@ -465,6 +465,9 @@ PYBIND11_MODULE(pyf3d, module)
     .def("yaw", &f3d::camera::yaw)
     .def("elevation", &f3d::camera::elevation)
     .def("pitch", &f3d::camera::pitch)
+    .def("get_yaw", &f3d::camera::getYaw)
+    .def("get_azimuth", &f3d::camera::getAzimuth)
+    .def("get_elevation", &f3d::camera::getElevation)
     .def("set_current_as_default", &f3d::camera::setCurrentAsDefault)
     .def("reset_to_default", &f3d::camera::resetToDefault)
     .def("reset_to_bounds", &f3d::camera::resetToBounds, py::arg("zoom_factor") = 0.9);

From 6700db9a449be08bf8949303cf91c5d5cea24709 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Mon, 22 Sep 2025 13:06:53 +0530
Subject: [PATCH 14/27] Update library/public/camera.h

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/public/camera.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/library/public/camera.h b/library/public/camera.h
index 5ce39eafbc..34207e08cf 100644
--- a/library/public/camera.h
+++ b/library/public/camera.h
@@ -80,9 +80,10 @@ class F3D_EXPORT camera
    */
   [[nodiscard]] virtual angle_deg_t getYaw() = 0;   
 
-  /** Calculates the horizontal rotation angle of the forward vector
- *  around the up vector, measured from the right vector. (-180 to 180 degrees)
- */
+  /**
+   * Calculates the horizontal rotation angle of the forward vector
+   * around the up vector, measured from the right vector. (-180 to 180 degrees)
+   */
 [[nodiscard]] virtual angle_deg_t getAzimuth() = 0;
 
 

From 0558b695d0374067c779b69e4cee20e7c43b41c5 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Mon, 22 Sep 2025 13:07:28 +0530
Subject: [PATCH 15/27] Update library/public/camera.h

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/public/camera.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/library/public/camera.h b/library/public/camera.h
index 34207e08cf..cb5ecb1e99 100644
--- a/library/public/camera.h
+++ b/library/public/camera.h
@@ -87,7 +87,9 @@ class F3D_EXPORT camera
 [[nodiscard]] virtual angle_deg_t getAzimuth() = 0;
 
 
-  /** Calculates the angle between the forward vector and the up vector (-90 to +90 degrees) */
+  /** 
+    * Calculates the angle between the forward vector and the up vector (-90 to +90 degrees) 
+    */
   [[nodiscard]] virtual angle_deg_t getElevation() = 0;
   ///@}
   

From fb348816a6668ff441ab7f6e9800fe2dccdf36c6 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Tue, 23 Sep 2025 01:11:06 +0530
Subject: [PATCH 16/27] Add combined camera movement tests for yaw, elevation,
 and azimuth and python bindings tests

---
 library/testing/TestSDKCamera.cxx | 42 +++++++++++++++++++++++++++++++
 python/testing/test_camera.py     | 20 ++++++++++++---
 2 files changed, 58 insertions(+), 4 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 4e2fbc122d..97c2694780 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -141,6 +141,48 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     return EXIT_FAILURE;
   }
 
+  // Combined test for yaw, elevation, and azimuth
+  {
+    cam.setPosition({ -1, 0, 0 });
+    cam.setFocalPoint({ 0, 0, 0 });
+    cam.setViewUp({ 0, 1, 0 });
+
+    // Initial orientation
+    if (!compareDouble(cam.getYaw(), 0.0) || !compareDouble(cam.getElevation(), 0.0) ||
+      !compareDouble(cam.getAzimuth(), 0.0))
+    {
+      std::cerr << "Initial orientation not as expected\n";
+      return EXIT_FAILURE;
+    }
+
+    // Apply yaw(90)
+    cam.yaw(90.0);
+    if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 0.0) ||
+      !compareDouble(cam.getAzimuth(), 90.0))
+    {
+      std::cerr << "After yaw(90): unexpected orientation\n";
+      return EXIT_FAILURE;
+    }
+
+    // Apply elevation(45)
+    cam.elevation(45.0);
+    if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 45.0) ||
+      !compareDouble(cam.getAzimuth(), 90.0))
+    {
+      std::cerr << "After elevation(45): unexpected orientation\n";
+      return EXIT_FAILURE;
+    }
+
+    // Apply azimuth(90)
+    cam.azimuth(90.0);
+    if (!compareDouble(cam.getYaw(), 180.0) || !compareDouble(cam.getElevation(), 0.0) ||
+      !compareDouble(cam.getAzimuth(), 180.0))
+    {
+      std::cerr << "After azimuth(90): unexpected orientation\n";
+      return EXIT_FAILURE;
+    }
+  }
+
   // Test position
   f3d::point3_t testPos = { 0., 0., 10. };
   f3d::point3_t pos = cam.setPosition(testPos).getPosition();
diff --git a/python/testing/test_camera.py b/python/testing/test_camera.py
index 94a98bcda2..d8dad8bb1a 100644
--- a/python/testing/test_camera.py
+++ b/python/testing/test_camera.py
@@ -1,5 +1,5 @@
 import pytest
-
+import math
 import f3d
 
 
@@ -104,15 +104,27 @@ def test_state_compare():
 def test_moves():
     engine = f3d.Engine.create(True)
     camera = engine.window.camera
+    pos = -1, 0, 0
+    foc = 0, 0, 0
+    up = 0, 1, 0
 
-    camera.dolly(10)
+    camera.position = pos
+    camera.focal_point = foc
+    camera.view_up = up
     angle = 30
-    camera.roll(angle)
+    
     camera.azimuth(angle)
+    az_value = camera.get_azimuth()
+    assert math.isclose(az_value, angle, abs_tol=1e-3), f"Expected azimuth ~{angle}, got {az_value}"
     camera.yaw(angle)
+    yaw_value = camera.get_yaw()
+    assert math.isclose(yaw_value, 2*angle, abs_tol=1e-3), f"Expected azimuth ~{2*angle}, got {yaw_value}"
     camera.elevation(angle)
+    elev_value = camera.get_elevation()
+    assert math.isclose(elev_value, angle, abs_tol=1e-3), f"Expected azimuth ~{angle}, got {elev_value}"
     camera.pitch(angle)
-
+    camera.roll(angle)
+    camera.dolly(10)    
 
 def test_pan():
     engine = f3d.Engine.create(True)

From 7c687aa1a9214f1f5dd2964951d469e3885427d6 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Tue, 23 Sep 2025 02:39:39 +0530
Subject: [PATCH 17/27] Refactor getAzimuth method to call getYaw directly =

---
 library/src/camera_impl.cxx       | 25 +------------------------
 library/testing/TestSDKCamera.cxx |  4 ----
 2 files changed, 1 insertion(+), 28 deletions(-)

diff --git a/library/src/camera_impl.cxx b/library/src/camera_impl.cxx
index e77e48e8c7..0cf559173f 100644
--- a/library/src/camera_impl.cxx
+++ b/library/src/camera_impl.cxx
@@ -315,30 +315,7 @@ angle_deg_t camera_impl::getYaw()
 //----------------------------------------------------------------------------
 angle_deg_t camera_impl::getAzimuth()
 {
-  point3_t pos, foc;
-  vector3_t dir, projectedAlongUp, projected;
-  double* up = this->Internals->VTKRenderer->GetEnvironmentUp();
-  double* right = this->Internals->VTKRenderer->GetEnvironmentRight();
-  this->getPosition(pos);
-  this->getFocalPoint(foc);
-
-  // Forward vector (focal - position)
-  vtkMath::Subtract(foc, pos, dir);
-  vtkMath::Normalize(dir.data());
-  vtkMath::Normalize(up);
-
-   // Project forward vector onto up vector
-  vtkMath::ProjectVector(dir.data(), up, projectedAlongUp.data());
-  vtkMath::Normalize(projectedAlongUp.data());
-
-  //Projection of forward vector along the plane perpendicular to up vector
-  vtkMath::Subtract(dir,projectedAlongUp,projected);
-
-  double angleRad = vtkMath::AngleBetweenVectors(right, projected.data());
-  vector3_t cross;
-  vtkMath::Cross(right, projected.data(), cross.data());
-  double sign = vtkMath::Dot(cross.data(), up) >= 0 ? 1.0 : -1.0;
-  return sign * vtkMath::DegreesFromRadians(angleRad);
+  return camera_impl::getYaw();
 }
 
 //----------------------------------------------------------------------------
diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 97c2694780..8f2a9921ad 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -147,7 +147,6 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     cam.setFocalPoint({ 0, 0, 0 });
     cam.setViewUp({ 0, 1, 0 });
 
-    // Initial orientation
     if (!compareDouble(cam.getYaw(), 0.0) || !compareDouble(cam.getElevation(), 0.0) ||
       !compareDouble(cam.getAzimuth(), 0.0))
     {
@@ -155,7 +154,6 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
       return EXIT_FAILURE;
     }
 
-    // Apply yaw(90)
     cam.yaw(90.0);
     if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 0.0) ||
       !compareDouble(cam.getAzimuth(), 90.0))
@@ -164,7 +162,6 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
       return EXIT_FAILURE;
     }
 
-    // Apply elevation(45)
     cam.elevation(45.0);
     if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 45.0) ||
       !compareDouble(cam.getAzimuth(), 90.0))
@@ -173,7 +170,6 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
       return EXIT_FAILURE;
     }
 
-    // Apply azimuth(90)
     cam.azimuth(90.0);
     if (!compareDouble(cam.getYaw(), 180.0) || !compareDouble(cam.getElevation(), 0.0) ||
       !compareDouble(cam.getAzimuth(), 180.0))

From 2eae0ee9650276a41050fcd5f76001c3c0900ef6 Mon Sep 17 00:00:00 2001
From: Abbas Mehdi <24je0656@iitism.ac.in>
Date: Wed, 24 Sep 2025 01:49:21 +0530
Subject: [PATCH 18/27] Update library/public/camera.h

Co-authored-by: Mathieu Westphal <mathieu.westphal@gmail.com>
---
 library/public/camera.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/library/public/camera.h b/library/public/camera.h
index cb5ecb1e99..e0e9188846 100644
--- a/library/public/camera.h
+++ b/library/public/camera.h
@@ -75,7 +75,8 @@ class F3D_EXPORT camera
   ///@{ @name Getters
   /// Yaw, azimuth and elevation getter methods(calculated on call). Angles are in degrees.
 
-  /** Calculates angle between the projection of the forward vector (on
+  /** 
+   * Calculates angle between the projection of the forward vector (on
    *  the plane perpendicular to the up vector) and the right vector (-180 to 180 degrees)
    */
   [[nodiscard]] virtual angle_deg_t getYaw() = 0;   

From 952d074df8deb1cc831c1ade11d5bd564c4f2602 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Wed, 24 Sep 2025 08:49:25 +0530
Subject: [PATCH 19/27] Edited getAzimuth documentation

---
 library/public/camera.h | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/library/public/camera.h b/library/public/camera.h
index e0e9188846..471e3044e5 100644
--- a/library/public/camera.h
+++ b/library/public/camera.h
@@ -75,25 +75,25 @@ class F3D_EXPORT camera
   ///@{ @name Getters
   /// Yaw, azimuth and elevation getter methods(calculated on call). Angles are in degrees.
 
-  /** 
+  /**
    * Calculates angle between the projection of the forward vector (on
    *  the plane perpendicular to the up vector) and the right vector (-180 to 180 degrees)
    */
-  [[nodiscard]] virtual angle_deg_t getYaw() = 0;   
+  [[nodiscard]] virtual angle_deg_t getYaw() = 0;
 
   /**
    * Calculates the horizontal rotation angle of the forward vector
    * around the up vector, measured from the right vector. (-180 to 180 degrees)
+   * Mathematically the same as getYaw()
    */
-[[nodiscard]] virtual angle_deg_t getAzimuth() = 0;
-
+  [[nodiscard]] virtual angle_deg_t getAzimuth() = 0;
 
-  /** 
-    * Calculates the angle between the forward vector and the up vector (-90 to +90 degrees) 
-    */
+  /**
+   * Calculates the angle between the forward vector and the up vector (-90 to +90 degrees)
+   */
   [[nodiscard]] virtual angle_deg_t getElevation() = 0;
   ///@}
-  
+
   /**
    * Store the current camera configuration as default.
    */

From fde0219dbaa5162767a71fbf4418d85741bb9f3b Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Wed, 24 Sep 2025 08:50:31 +0530
Subject: [PATCH 20/27] Fix formatting in getYaw documentation comment

---
 library/public/camera.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/library/public/camera.h b/library/public/camera.h
index 471e3044e5..1e73bf2e82 100644
--- a/library/public/camera.h
+++ b/library/public/camera.h
@@ -77,7 +77,7 @@ class F3D_EXPORT camera
 
   /**
    * Calculates angle between the projection of the forward vector (on
-   *  the plane perpendicular to the up vector) and the right vector (-180 to 180 degrees)
+   * the plane perpendicular to the up vector) and the right vector (-180 to 180 degrees)
    */
   [[nodiscard]] virtual angle_deg_t getYaw() = 0;
 

From 4ab9bad80cf4c71a4a22fe1ae2a252f2aacea8e9 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Wed, 24 Sep 2025 13:55:26 +0530
Subject: [PATCH 21/27] Fix formatting in camera_impl.cxx and test_camera.py

---
 library/src/camera_impl.cxx   |  2 +-
 python/testing/test_camera.py | 17 ++++++++++++-----
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/library/src/camera_impl.cxx b/library/src/camera_impl.cxx
index 0cf559173f..0d69a0e094 100644
--- a/library/src/camera_impl.cxx
+++ b/library/src/camera_impl.cxx
@@ -303,7 +303,7 @@ angle_deg_t camera_impl::getYaw()
   vtkMath::Normalize(projectedAlongUp.data());
 
   // Projection of forward vector along the plane perpendicular to up vector
-  vtkMath::Subtract(dir,projectedAlongUp,projected);
+  vtkMath::Subtract(dir, projectedAlongUp, projected);
 
   vector3_t cross;
   vtkMath::Cross(right, projected.data(), cross.data());
diff --git a/python/testing/test_camera.py b/python/testing/test_camera.py
index d8dad8bb1a..147c2275f0 100644
--- a/python/testing/test_camera.py
+++ b/python/testing/test_camera.py
@@ -112,19 +112,26 @@ def test_moves():
     camera.focal_point = foc
     camera.view_up = up
     angle = 30
-    
+
     camera.azimuth(angle)
     az_value = camera.get_azimuth()
-    assert math.isclose(az_value, angle, abs_tol=1e-3), f"Expected azimuth ~{angle}, got {az_value}"
+    assert math.isclose(
+        az_value, angle, abs_tol=1e-3
+    ), f"Expected azimuth ~{angle}, got {az_value}"
     camera.yaw(angle)
     yaw_value = camera.get_yaw()
-    assert math.isclose(yaw_value, 2*angle, abs_tol=1e-3), f"Expected azimuth ~{2*angle}, got {yaw_value}"
+    assert math.isclose(
+        yaw_value, 2 * angle, abs_tol=1e-3
+    ), f"Expected azimuth ~{2*angle}, got {yaw_value}"
     camera.elevation(angle)
     elev_value = camera.get_elevation()
-    assert math.isclose(elev_value, angle, abs_tol=1e-3), f"Expected azimuth ~{angle}, got {elev_value}"
+    assert math.isclose(
+        elev_value, angle, abs_tol=1e-3
+    ), f"Expected azimuth ~{angle}, got {elev_value}"
     camera.pitch(angle)
     camera.roll(angle)
-    camera.dolly(10)    
+    camera.dolly(10)
+
 
 def test_pan():
     engine = f3d.Engine.create(True)

From e6303f4380cadd698f3978187d6efe9551599461 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Thu, 25 Sep 2025 12:51:17 +0530
Subject: [PATCH 22/27] Printing test values for debugging

---
 library/testing/TestSDKCamera.cxx | 76 +++++++++++++++++--------------
 1 file changed, 43 insertions(+), 33 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 8f2a9921ad..b83ba14031 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -142,41 +142,51 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   }
 
   // Combined test for yaw, elevation, and azimuth
+  cam.setPosition({ -1, 0, 0 });
+  cam.setFocalPoint({ 0, 0, 0 });
+  cam.setViewUp({ 0, 1, 0 });
+
+  if (!compareDouble(cam.getYaw(), 0.0) || !compareDouble(cam.getElevation(), 0.0) ||
+    !compareDouble(cam.getAzimuth(), 0.0))
   {
-    cam.setPosition({ -1, 0, 0 });
-    cam.setFocalPoint({ 0, 0, 0 });
-    cam.setViewUp({ 0, 1, 0 });
+    std::cerr << "Initial orientation not as expected\n"
+              << "Yaw: expected 0, got " << cam.getYaw() << "\n"
+              << "Elevation: expected 0, got " << cam.getElevation() << "\n"
+              << "Azimuth: expected 0, got " << cam.getAzimuth() << "\n";
+    return EXIT_FAILURE;
+  }
+
+  cam.yaw(90.0);
+  if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 0.0) ||
+    !compareDouble(cam.getAzimuth(), 90.0))
+  {
+    std::cerr << "After yaw(90): unexpected orientation\n"
+              << "Yaw: expected 90, got " << cam.getYaw() << "\n"
+              << "Elevation: expected 0, got " << cam.getElevation() << "\n"
+              << "Azimuth: expected 90, got " << cam.getAzimuth() << "\n";
+    return EXIT_FAILURE;
+  }
 
-    if (!compareDouble(cam.getYaw(), 0.0) || !compareDouble(cam.getElevation(), 0.0) ||
-      !compareDouble(cam.getAzimuth(), 0.0))
-    {
-      std::cerr << "Initial orientation not as expected\n";
-      return EXIT_FAILURE;
-    }
-
-    cam.yaw(90.0);
-    if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 0.0) ||
-      !compareDouble(cam.getAzimuth(), 90.0))
-    {
-      std::cerr << "After yaw(90): unexpected orientation\n";
-      return EXIT_FAILURE;
-    }
-
-    cam.elevation(45.0);
-    if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 45.0) ||
-      !compareDouble(cam.getAzimuth(), 90.0))
-    {
-      std::cerr << "After elevation(45): unexpected orientation\n";
-      return EXIT_FAILURE;
-    }
-
-    cam.azimuth(90.0);
-    if (!compareDouble(cam.getYaw(), 180.0) || !compareDouble(cam.getElevation(), 0.0) ||
-      !compareDouble(cam.getAzimuth(), 180.0))
-    {
-      std::cerr << "After azimuth(90): unexpected orientation\n";
-      return EXIT_FAILURE;
-    }
+  cam.elevation(45.0);
+  if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 45.0) ||
+    !compareDouble(cam.getAzimuth(), 90.0))
+  {
+    std::cerr << "After elevation(45): unexpected orientation\n"
+              << "Yaw: expected 90, got " << cam.getYaw() << "\n"
+              << "Elevation: expected 45, got " << cam.getElevation() << "\n"
+              << "Azimuth: expected 90, got " << cam.getAzimuth() << "\n";
+    return EXIT_FAILURE;
+  }
+
+  cam.azimuth(90.0);
+  if (!compareDouble(cam.getYaw(), 180.0) || !compareDouble(cam.getElevation(), 0.0) ||
+    !compareDouble(cam.getAzimuth(), 180.0))
+  {
+    std::cerr << "After azimuth(90): unexpected orientation\n"
+              << "Yaw: expected 180, got " << cam.getYaw() << "\n"
+              << "Elevation: expected 0, got " << cam.getElevation() << "\n"
+              << "Azimuth: expected 180, got " << cam.getAzimuth() << "\n";
+    return EXIT_FAILURE;
   }
 
   // Test position

From edec2e664b562122f0084d8c16553d88d6bebf72 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Mon, 29 Sep 2025 23:01:02 +0530
Subject: [PATCH 23/27] Refactor compareDouble for better tolerance handling
 and update test assertions to use pytest.approx for floating-point
 comparisons

---
 library/testing/TestSDKCamera.cxx |  4 ++--
 python/testing/test_camera.py     | 13 +++----------
 2 files changed, 5 insertions(+), 12 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index b83ba14031..c70d0cf359 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -11,9 +11,9 @@
 
 // TODO these methods should be put in types.h at some point.
 // https://github.com/f3d-app/f3d/issues/361
-bool compareDouble(double a, double b)
+bool compareDouble(double a, double b, double tol = 128 * std::numeric_limits<double>::epsilon())
 {
-  return std::fabs(a - b) < 128 * std::numeric_limits<double>::epsilon();
+  return std::fabs(a - b) < tol;
 }
 
 bool compareVec(const f3d::vector3_t& vec1, const f3d::vector3_t& vec2)
diff --git a/python/testing/test_camera.py b/python/testing/test_camera.py
index 147c2275f0..89597b5618 100644
--- a/python/testing/test_camera.py
+++ b/python/testing/test_camera.py
@@ -1,5 +1,4 @@
 import pytest
-import math
 import f3d
 
 
@@ -115,19 +114,13 @@ def test_moves():
 
     camera.azimuth(angle)
     az_value = camera.get_azimuth()
-    assert math.isclose(
-        az_value, angle, abs_tol=1e-3
-    ), f"Expected azimuth ~{angle}, got {az_value}"
+    assert az_value == pytest.approx(angle)
     camera.yaw(angle)
     yaw_value = camera.get_yaw()
-    assert math.isclose(
-        yaw_value, 2 * angle, abs_tol=1e-3
-    ), f"Expected azimuth ~{2*angle}, got {yaw_value}"
+    assert yaw_value == pytest.approx(2 * angle)
     camera.elevation(angle)
     elev_value = camera.get_elevation()
-    assert math.isclose(
-        elev_value, angle, abs_tol=1e-3
-    ), f"Expected azimuth ~{angle}, got {elev_value}"
+    assert elev_value == pytest.approx(angle)
     camera.pitch(angle)
     camera.roll(angle)
     camera.dolly(10)

From e740b130b06c06a860ad9972bbca6acef929d912 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Tue, 30 Sep 2025 23:27:15 +0530
Subject: [PATCH 24/27] Update compareDouble tolerance in TestSDKCamera in yaw,
 elevation, and azimuth checks

---
 library/testing/TestSDKCamera.cxx | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index c70d0cf359..5acc7c79ee 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -86,7 +86,7 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   cam.setFocalPoint({ 0, 0, 0 });
   cam.setViewUp({ 0, 1, 0 });
   f3d::angle_deg_t yaw = cam.getYaw();
-  if (!compareDouble(yaw, 0.))
+  if (!compareDouble(yaw, 0., 1e-6))
   {
     std::cerr << "get yaw is not behaving as expected: " << yaw << " " << "\n";
     return EXIT_FAILURE;
@@ -94,7 +94,7 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   f3d::angle_deg_t testYaw = 90.0;
   cam.yaw(testYaw);
   yaw = cam.getYaw();
-  if (!compareDouble(yaw, testYaw))
+  if (!compareDouble(yaw, testYaw, 1e-6))
   {
     std::cerr << "Yaw after +90° yaw() is incorrect: " << yaw << "\n";
     return EXIT_FAILURE;
@@ -105,7 +105,7 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   cam.setFocalPoint({ 0, 0, 0 });
   cam.setViewUp({ 0, 1, 0 });
   f3d::angle_deg_t elevation = cam.getElevation();
-  if (!compareDouble(elevation, 0.))
+  if (!compareDouble(elevation, 0., 1e-6))
   {
     std::cerr << "get elevation is not behaving as expected: " << elevation << " != " << 0.0
               << "\n";
@@ -114,7 +114,7 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   f3d::angle_deg_t testElevation = -45.0;
   cam.elevation(testElevation);
   elevation = cam.getElevation();
-  if (!compareDouble(elevation, testElevation))
+  if (!compareDouble(elevation, testElevation, 1e-6))
   {
     std::cerr << "get elevation after elevation +45 is not behaving as expected: " << elevation
               << " != " << testElevation << "\n";
@@ -126,7 +126,7 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   cam.setFocalPoint({ 0, 0, 0 });
   cam.setViewUp({ 0, 1, 0 });
   f3d::angle_deg_t azimuth = cam.getAzimuth();
-  if (!compareDouble(azimuth, 0.))
+  if (!compareDouble(azimuth, 0., 1e-6))
   {
     std::cerr << "get azimuth is not behaving as expected: " << azimuth << " != " << 0.0 << "\n";
     return EXIT_FAILURE;
@@ -134,7 +134,7 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   f3d::angle_deg_t testAzimuth = 90.0;
   cam.azimuth(testAzimuth);
   azimuth = cam.getAzimuth();
-  if (!compareDouble(azimuth, testAzimuth))
+  if (!compareDouble(azimuth, testAzimuth, 1e-6))
   {
     std::cerr << "get azimuth after azimuth +90 is not behaving as expected: " << azimuth
               << " != " << testAzimuth << "\n";
@@ -146,8 +146,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   cam.setFocalPoint({ 0, 0, 0 });
   cam.setViewUp({ 0, 1, 0 });
 
-  if (!compareDouble(cam.getYaw(), 0.0) || !compareDouble(cam.getElevation(), 0.0) ||
-    !compareDouble(cam.getAzimuth(), 0.0))
+  if (!compareDouble(cam.getYaw(), 0.0, 1e-6) || !compareDouble(cam.getElevation(), 0.0, 1e-6) ||
+    !compareDouble(cam.getAzimuth(), 0.0, 1e-6))
   {
     std::cerr << "Initial orientation not as expected\n"
               << "Yaw: expected 0, got " << cam.getYaw() << "\n"
@@ -157,8 +157,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   }
 
   cam.yaw(90.0);
-  if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 0.0) ||
-    !compareDouble(cam.getAzimuth(), 90.0))
+  if (!compareDouble(cam.getYaw(), 90.0, 1e-6) || !compareDouble(cam.getElevation(), 0.0, 1e-6) ||
+    !compareDouble(cam.getAzimuth(), 90.0, 1e-6))
   {
     std::cerr << "After yaw(90): unexpected orientation\n"
               << "Yaw: expected 90, got " << cam.getYaw() << "\n"
@@ -168,8 +168,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   }
 
   cam.elevation(45.0);
-  if (!compareDouble(cam.getYaw(), 90.0) || !compareDouble(cam.getElevation(), 45.0) ||
-    !compareDouble(cam.getAzimuth(), 90.0))
+  if (!compareDouble(cam.getYaw(), 90.0, 1e-6) || !compareDouble(cam.getElevation(), 45.0, 1e-6) ||
+    !compareDouble(cam.getAzimuth(), 90.0, 1e-6))
   {
     std::cerr << "After elevation(45): unexpected orientation\n"
               << "Yaw: expected 90, got " << cam.getYaw() << "\n"
@@ -179,8 +179,8 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   }
 
   cam.azimuth(90.0);
-  if (!compareDouble(cam.getYaw(), 180.0) || !compareDouble(cam.getElevation(), 0.0) ||
-    !compareDouble(cam.getAzimuth(), 180.0))
+  if (!compareDouble(cam.getYaw(), 180.0, 1e-6) || !compareDouble(cam.getElevation(), 0.0, 1e-6) ||
+    !compareDouble(cam.getAzimuth(), 180.0, 1e-6))
   {
     std::cerr << "After azimuth(90): unexpected orientation\n"
               << "Yaw: expected 180, got " << cam.getYaw() << "\n"

From 6974af78be024b12e8d5b79569ae4b4e619ae4e4 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Wed, 1 Oct 2025 00:24:36 +0530
Subject: [PATCH 25/27] Update elevation test in TestSDKCamera to check for
 correct values

---
 library/testing/TestSDKCamera.cxx | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 5acc7c79ee..bb0350a35e 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -167,13 +167,13 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     return EXIT_FAILURE;
   }
 
-  cam.elevation(45.0);
-  if (!compareDouble(cam.getYaw(), 90.0, 1e-6) || !compareDouble(cam.getElevation(), 45.0, 1e-6) ||
+  cam.elevation(90.0);
+  if (!compareDouble(cam.getYaw(), 90.0, 1e-6) || !compareDouble(cam.getElevation(), 90.0, 1e-6) ||
     !compareDouble(cam.getAzimuth(), 90.0, 1e-6))
   {
     std::cerr << "After elevation(45): unexpected orientation\n"
               << "Yaw: expected 90, got " << cam.getYaw() << "\n"
-              << "Elevation: expected 45, got " << cam.getElevation() << "\n"
+              << "Elevation: expected 90, got " << cam.getElevation() << "\n"
               << "Azimuth: expected 90, got " << cam.getAzimuth() << "\n";
     return EXIT_FAILURE;
   }

From 2024de6f43f00ad867a541986c5c39802c57e620 Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Fri, 3 Oct 2025 12:58:47 +0530
Subject: [PATCH 26/27] testing

---
 library/testing/TestSDKCamera.cxx | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index bb0350a35e..108332493c 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -171,7 +171,7 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   if (!compareDouble(cam.getYaw(), 90.0, 1e-6) || !compareDouble(cam.getElevation(), 90.0, 1e-6) ||
     !compareDouble(cam.getAzimuth(), 90.0, 1e-6))
   {
-    std::cerr << "After elevation(45): unexpected orientation\n"
+    std::cerr << "After elevation(90): unexpected orientation\n"
               << "Yaw: expected 90, got " << cam.getYaw() << "\n"
               << "Elevation: expected 90, got " << cam.getElevation() << "\n"
               << "Azimuth: expected 90, got " << cam.getAzimuth() << "\n";
@@ -179,13 +179,13 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
   }
 
   cam.azimuth(90.0);
-  if (!compareDouble(cam.getYaw(), 180.0, 1e-6) || !compareDouble(cam.getElevation(), 0.0, 1e-6) ||
-    !compareDouble(cam.getAzimuth(), 180.0, 1e-6))
+  if (!compareDouble(cam.getYaw(), 135.0, 1e-6) || !compareDouble(cam.getElevation(), 0.0, 1e-6) ||
+    !compareDouble(cam.getAzimuth(), 135.0, 1e-6))
   {
     std::cerr << "After azimuth(90): unexpected orientation\n"
-              << "Yaw: expected 180, got " << cam.getYaw() << "\n"
+              << "Yaw: expected 135, got " << cam.getYaw() << "\n"
               << "Elevation: expected 0, got " << cam.getElevation() << "\n"
-              << "Azimuth: expected 180, got " << cam.getAzimuth() << "\n";
+              << "Azimuth: expected 135, got " << cam.getAzimuth() << "\n";
     return EXIT_FAILURE;
   }
 

From 95fa7f9fa33bfc66012e32a37e85dec06586ee6c Mon Sep 17 00:00:00 2001
From: AbbasReads <abbasmehdi3727@gmail.com>
Date: Fri, 3 Oct 2025 13:37:29 +0530
Subject: [PATCH 27/27] debugging

---
 library/testing/TestSDKCamera.cxx | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/library/testing/TestSDKCamera.cxx b/library/testing/TestSDKCamera.cxx
index 108332493c..265a97abc9 100644
--- a/library/testing/TestSDKCamera.cxx
+++ b/library/testing/TestSDKCamera.cxx
@@ -178,17 +178,6 @@ int TestSDKCamera([[maybe_unused]] int argc, [[maybe_unused]] char* argv[])
     return EXIT_FAILURE;
   }
 
-  cam.azimuth(90.0);
-  if (!compareDouble(cam.getYaw(), 135.0, 1e-6) || !compareDouble(cam.getElevation(), 0.0, 1e-6) ||
-    !compareDouble(cam.getAzimuth(), 135.0, 1e-6))
-  {
-    std::cerr << "After azimuth(90): unexpected orientation\n"
-              << "Yaw: expected 135, got " << cam.getYaw() << "\n"
-              << "Elevation: expected 0, got " << cam.getElevation() << "\n"
-              << "Azimuth: expected 135, got " << cam.getAzimuth() << "\n";
-    return EXIT_FAILURE;
-  }
-
   // Test position
   f3d::point3_t testPos = { 0., 0., 10. };
   f3d::point3_t pos = cam.setPosition(testPos).getPosition();