Coordinate System Transformations

I have an image of two objects (reference & measurement object). I have the rotational data (yaw, pitch and roll) on both objects with reference to the camera. If we transfer reference to the reference object (this becomes 0,0,0), how do I determine the measurement objects rotation with respect of the reference object (0,0,0)?

Thanks!

[Jan]

Please describe information you can get fromnthe "images". If you have the rotational data, where is the problem for determination of the rotation? Are you searching for the direction-cosine-matrix, which transforms one reference from to another? Does the question concern the images in any way?

[Mark]

Hi Jan, thanks for helping me. From the image I get the yaw, pitch and roll (degrees) for object 1 and 2 with respect to the camera. If I make object 1 my reference (0,0,0), how do I determine the position of object 2?

Example... Object 1 (-12, -5, -2) and Object 2 ( +13, -10, +20). How would I use the DCM to solve this problem?

Answer 1

[Mark]

Does this look correct?

% Reference data
RefYaw = toRadians('degrees', 1);
RefPitch = toRadians('degrees', 0);
RefRoll = toRadians('degrees', 0);

% convert to a Reference dcm
Refdcm = angle2dcm(RefYaw, RefPitch, RefRoll);

% Measurement data
MeasYaw = toRadians('degrees', 15);
MeasPitch = toRadians('degrees', 0);
MeasRoll = toRadians('degrees', 0);

% convert to a Measurement dcm
Measdcm = angle2dcm(MeasYaw, MeasPitch, MeasRoll);

% find transfer
Resultdcm = Refdcm * Measdcm;
[y p r] = dcm2angle(Resultdcm);

yaw = toDegrees('radians', y)
pitch = toDegrees('radians', p)
roll = toDegrees('radians', r)

[Mark]

I think it should be....

% find transfer

Resultdcm = Refdcm - Measdcm;

[Jan]

You just need the Aerospace Toolbox to run this...