Coordinate Systems

Scene Coordinate

• axis (m): [x, y, z]

• phi (deg): angle on the x-y plane. 0 deg is the positive x-axis, 90 deg is the positive y-axis

• theta (deg): angle on the z-x plane. 0 deg is the positive z-axis, 90 deg is the x-y plane

• azimuth (deg): azimuth -90 ~ 90 deg equal to phi -90 ~ 90 deg

• elevation (deg): elevation -90 ~ 90 deg equal to theta 180 ~ 0 deg

Object’s Local Coordinate

• axis (m): [x, y, z]

• yaw (deg): rotation along the z-axis. Positive yaw rotates the object from the positive x-axis to the positive y-axis

• pitch (deg): rotation along the y-axis. Positive pitch rotates the object from the positive x-axis to the positive z-axis

• roll (deg): rotation along the x-axis. Positive roll rotates the object from the positive z-axis to the negative y-axis

• origin (m): [x, y, z]

• rotation (deg): [yaw, pitch, roll]

• rotation rate (deg/s): [yaw rate, pitch rate, roll rate]