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Add view command, renumber faces, relabel axes

Tim Starling requested to merge work/tstarling/view into main

Add a "view" subcommand which takes arbitrary yaw/pitch/roll angles. This can be used for the thumbnailing component of the panoramic images project.

Renumber the cube faces, using the numbers from Pannellum's generate.py instead of the PeakVisor panorama tool.

Exchange the x and y axes. PanoTools and the Google photosphere documentation agree on a convention for axis labelling, but this was not the same as the axis convention in the PeakVisor panorama tool which served as a starting point for this project.

With the axes thus relabelled, the rotation matrix for yaw/pitch/roll is conventional and can be obtained from Google or Wikipedia. In https://en.wikipedia.org/wiki/Euler_angles I am using the rotation matrix for Tait-Bryan angles with the ZXY rotation order.

Bug: T363885

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