raster - What Open Source (command line/API) method is there to orthorectify and georeference an aerial image given telemetry data?

How can I take an image and orthorectify it automatically with open source software? The information associated with each image is:

• camera specs


• latitude, longitude, elevation of the camera



• orientation of the camera: facing down off a UAV, roll pitch and yaw are given

I want to output a geotiff file and hopefully end up stitching the images together to create a map.