Understand the legendary roll, yaw, pitch

Three-dimensional Yaw, Pitch and roll distinction (image)

Yaw pitch tilt/tilt roll rolling

Assuming the z-axis positive direction is the forward direction, there is the following to explain the meaning of the three corner elements:

Yaw (): heading, rotating the object around the y-axis (localrotationy)

Pitch (): pitch, rotate the object around the x-axis (Localrotationx)

Roll (): rolling, rotating the object around the z-axis (Localrotationz)

General understanding of the Roll,yaw,pitch

Explanation of the rotation matrix in the wiki
Dynamic instances
* Roll: Around the X-axis
* Pitch: Around Y axis
* Yaw: Around Z axis

Roll,yaw,pitch of the camera

Roll,yaw,pitch of Mobile Accelerometer

• Roll: Rotate around the axis perpendicular to the phone screen
• Yaw: Rotate in the upward direction of the phone
• Pitch: Change the tilt of your phone

Summarize

From the camera roll,yaw,pitch, we see not that roll: just around the x-axis, yaw is about the y-axis, pitch is around the z axis.

In general, for example, the camera's lens orientation is generally designated as the z-axis.

What the hell is going on here?

I want to look at the meaning of these three words from Roll,yaw,pitch.

• Roll:vt. Roll N.
• Yaw:v. (Rockets, airplanes, spacecraft, etc.) yaw
• Pitch:vi. Throw a tent or a fall

To stop linking these three words to X, Y and Z, we only use descriptive languages.

• Roll means tumbling, what is the tumbling of an airplane in Chinese, is the axis around which the fuselage is located.
• Yaw: is the meaning of yaw, if you want to change course, the plane must be around the direction of gravity axis.
• Pitch: It means to tilt or fall. When the plane is falling, it must be planted, with the straight line of the wing as the axis.

Now think of the camera as an airplane, the lens facing is the head of the plane, is not the same?

Understand the legendary roll, yaw, pitch