# Orientation¶ 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 π/4 in rot_x -π/4 in rot_x π/4 in rot_y -π/4 in rot_y π/4 in rot_z -π/4 in rot_z 