Standard(s) to store and share geolocation and 3D orientation data for an object, e.g. a raster

As an example, GeoTIFF is a great standard to embed geolocation data into a raster file for cartographic purposes.

But in that case, raster files are usually supposed to be on the projection plane.

What if I want now to share the position (i.e. geolocation) + 3D orientation of an oblique raster (perspective projection) e.g. a simple photograph for example, for which the position and the orientation data are known? For example its position (X,Y,Z) is given as WGS84 coordinates + ellipsoidal height, and its orientation is given as 3 locally defined attitude angles, such as yaw(Z), pitch(X) and roll(Y).

Does there exist any well established and used (geo-)standardized way to store and share these data, either both together position + orientation (best case) or separately?