Orientation

Orientation represents the rotation of a marker around its center. The axis and rotations follow the aircraft principal axis as shown in the diagram below.

These properties can be accessed as follows:

yaw

The yaw of the marker, a rotation about the vertical axis, in radians. Positive values indicate a rotation clockwise from the perspective of the marker. Zero values have the marker facing the camera square-on.

pitch

The pitch of the marker, a rotation about the transverse axis, in radians. Positive values indicate a rotation upwards from the perspective of the marker. Zero values have the marker facing the camera square-on.

roll

The roll of the marker, a rotation about the longitudinal axis, in radians. Positive values indicate a rotation clockwise from the perspective of the marker. Zero values have the marker facing the camera square-on.

markers = robot.camera.see()

for marker in markers:
   print(marker.orientation.yaw)
   print(marker.orientation.pitch)
   print(marker.orientation.roll)

Examples

The following images visually explains what positive and negative rotations represent. The red arrow is not normally present on the marker but is used in these examples to indicate which way is up.

Zero on all axis

	π/4	-π/4
yaw
pitch
roll