Orientation

Yaw Pitch and Roll

Yaw Pitch and Roll (Image source: Peking University)

Orientation represents the rotation of a marker around the x, y, and z axes. These can be accessed as follows:

  • rot_x / pitch - the angle of rotation in radians counter-clockwise about the Cartesian x axis.
  • rot_y / yaw - the angle of rotation in radians counter-clockwise about the Cartesian y axis.
  • rot_z / roll - the angle of rotation in radians counter-clockwise about the Cartesian z axis.

Rotations are applied in order of z, y, x.

markers = r.camera.see()

for m in markers:
    print(m.orientation.rot_x)  # Angle of rotation about x axis.
    print(m.orientation.rot_y)  # Angle of rotation about y axis.
    print(m.orientation.rot_z)  # Angle of rotation about z axis.

Note

In our use case the z axis always faces the camera, and thus will appear as a clockwise rotation

Examples

The following table visually explains what positive and negative rotations represent.

0 in all axes m0x0y0z
π/4 in rot_x m45x0y0z -π/4 in rot_x m-45x0y0z
π/4 in rot_y m0x45y0z -π/4 in rot_y m0x-45y0z
π/4 in rot_z m0x0y45z -π/4 in rot_z m0x0y-45z