Yaw, Pitch and Roll

hi Everyone I have a video where I record, on each frame, the location of a little plaque with 4 colored dots (different color for each dot) which is moving. I want to calculate Yaw, Pitch and Roll of the plaque over time....

is there any solution for this problema allready out there???

cheeers

mario

Answer 1

[Chad Greene]

Check out the xyz2rpy function described here. The results are not exact science, but it'll return something that looks decent. Depending on the speed of your particles you might have to scale roll by a rollfactor.

[Mario Trevino]

hi Chad thanks for your answer. Im not sure that your code actually Works with what I need to solve. I have a fixed webcam which is recording a tag with 4 colored dots over the head of a moving animal. Im going to extract the location of each dot over time, and combining that information I want to estimate yaw, pitch and roll... any hints?

Answer 2

[Chad Greene]

Perhaps you could fit a plane to the 4 points using least squares. If you fit that plane with z as the independent variable, the dz/dx slope would be pitch and dz/dy would be roll. Fit another plane to the same 4 points with x as the independent variable, and dx/dy would be yaw. I am not sure if that's the most elegant solution, or even if it's completely right, but it might be worth trying. The values of roll, pitch, and yaw would be relative to a global coordinate system.