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Yaw is the horizontal rotation angle of the camera.

If shooting a panorama you rotate the camera horizontally (around a vertical axis). You will treat one image as an anchor image which is considered to have Yaw = 0 The angle you rotated your camera relatively to this image is it's Yaw value.

For a typical 360� panorama the yaw difference from one image to the next can be estimated by dividing 360 by the number of images.