What program for Linux or Android can write tags on photos: yaw, pitch(bearing) and roll?

Question

linux

In general, for 3d scanning of various monuments and other objects of cultural heritage, in addition to recording GPS coordinates, it became necessary to record angles during photography: azimuth (direction angle), roll (tilt angle left-right), trim (tilt angle forward-backward) as well as the distance to the subject of photography.
Of all the good things listed above in EXIF, for some reason, only GPS coordinates, the direction of the image, the focal length are recorded, but not everything else. At the same time, I know for sure that all orientation sensors and an infrared rangefinder are in the camera.
Perhaps this information needs to be collected by some other program or tracker and saved not in photo tags, but, for example, in some XML or CSV.
Is there something ready for Android? Or do it all by yourself again?