Package 'araponga'

Title:	Estimate 3D Orientations from 2D Landmarks
Description:	Estimates possible 3D orientations of an object from the 2D image coordinates of two landmarks and an approximate camera-object elevation angle. Because a projected 2D angle can be compatible with multiple 3D pitch, yaw, and view-elevation angles, the package returns compatible sets of orientations rather than a single unconstrained estimate.
Authors:	João C T Menezes [aut, cre, cph] (ORCID: <https://orcid.org/0000-0003-4156-2934>)
Maintainer:	João C T Menezes <[email protected]>
License:	GPL (>= 3)
Version:	1.0.1.9000
Built:	2026-07-03 07:49:48 UTC
Source:	https://github.com/jocateme/araponga

Help Index

Plot angle conventions
Convert degrees to radians, and vice versa
Download the precomputed simulation dataset
Find combinations of 3D orientations that project to an observed 2D pitch
Calculate projected 2D pitch angle from orientations and view elevation
Calculate projected 2D pitch from two landmarks
Simulate error in 2D pitch calculation from labeling error
Visualize angles
Create and apply 3D rotations
Summarize yaw angles into the smallest continuous interval
Trim candidate yaw sets by directional separation

Plot angle conventions

Description

Quick visual reminders of the angle conventions used by araponga.

Usage

conventions(type = c("pitch", "yaw", "view_elevation"))
conventions(type = c("pitch", "yaw", "view_elevation"))

Arguments

type

Character vector specifying which convention plot(s) to draw. Choices are "pitch", "yaw", and "view_elevation". Default plots all.

Value

No return value.

Examples


conventions()

conventions("yaw")

conventions()

conventions("yaw")

Convert degrees to radians, and vice versa

Description

deg2rad() takes angles in degrees and returns them converted in radians.

rad2deg() takes angles in radians and returns them converted in degrees.

Usage

deg2rad(deg)

rad2deg(rad)
deg2rad(deg)

rad2deg(rad)

Arguments

deg

Numeric vector of angles in degrees.

rad

Numeric vector of angles in radians.

Value

A numeric vector of angles, in radians or degrees. Length matches deg or rad.

Examples

deg2rad(c(0, 90, 180))

rad2deg(c(0, pi/2, pi))

deg2rad(c(0, 90, 180))

rad2deg(c(0, pi/2, pi))

Download the precomputed simulation dataset

Description

Download the precomputed simulation dataset used by find.3d() and related functions.

Usage

download.simdata(overwrite = FALSE, quiet = FALSE)
download.simdata(overwrite = FALSE, quiet = FALSE)

Arguments

overwrite

Logical scalar. If TRUE, re-download the archive even if a cached copy is already present.

quiet

Logical scalar. If TRUE, suppress download progress and nonessential messages where supported by the underlying downloader.

Details

The dataset is stored under tools::R_user_dir("araponga", "cache"). If the archive is already available locally and overwrite = FALSE, the cached dataset is reused. See find.3d() for how the dataset was constructed.

Value

An invisible character scalar giving the normalized path to the extracted simulation dataset directory.

Find combinations of 3D orientations that project to an observed 2D pitch

Description

Using precomputed simulation data, recover the combinations of yaw, pitch, and view elevations (at 1° resolution) that produce a given observed 2D pitch. find.pitch() and find.yaw() are convenient wrappers for two common uses: finding 3D pitch and yaw, respectively.

Usage

find.3d(
  pitch2d,
  find = NULL,
  candidate_view_elevations = NULL,
  candidate_pitches = NULL,
  candidate_yaws = NULL,
  label_error,
  label_nsamp = 625,
  sim_download = FALSE
)

find.yaw(
  pitch2d,
  candidate_view_elevations = NULL,
  candidate_pitches = NULL,
  candidate_yaws = NULL,
  paired = FALSE,
  label_error,
  label_nsamp = 625,
  sim_download = FALSE
)

find.pitch(
  pitch2d,
  candidate_pitches = NULL,
  candidate_yaws = NULL,
  candidate_view_elevations = NULL,
  paired = FALSE,
  label_error,
  label_nsamp = 625,
  sim_download = FALSE
)
find.3d(
  pitch2d,
  find = NULL,
  candidate_view_elevations = NULL,
  candidate_pitches = NULL,
  candidate_yaws = NULL,
  label_error,
  label_nsamp = 625,
  sim_download = FALSE
)

find.yaw(
  pitch2d,
  candidate_view_elevations = NULL,
  candidate_pitches = NULL,
  candidate_yaws = NULL,
  paired = FALSE,
  label_error,
  label_nsamp = 625,
  sim_download = FALSE
)

find.pitch(
  pitch2d,
  candidate_pitches = NULL,
  candidate_yaws = NULL,
  candidate_view_elevations = NULL,
  paired = FALSE,
  label_error,
  label_nsamp = 625,
  sim_download = FALSE
)

Arguments

pitch2d

Either a numeric scalar returned by pitch2d.from.xy() or a numeric vector of >1 candidate 2D pitch angles (e.g., as returned by pitch2d.w.error()), in degrees in the interval (-180, 180].

find

Character vector. Which angle(s) to return between "pitch", "yaw", "view_elevation", and "pitch2d". Default (NULL) returns all.

candidate_view_elevations

Optional numeric vector: known or candidate camera elevation angle(s) relative to the object, in degrees, in the interval [-90, 90]. Convention: -90 = seen from straight below, 0 = eye level, 90 = seen from straight above. Default is NULL (all view elevations considered). Provided values are rounded to the nearest integer.

candidate_pitches

Optional numeric vector: known or candidate (3D) pitch angle(s), in degrees, in the interval [-90, 90]. Convention: 90 = pointed up, 0 = horizontally aligned, -90 = pointed down. Default is NULL (all pitches considered). Provided values are rounded to the nearest integer.

candidate_yaws

Optional numeric vector: known or candidate yaw angle(s), in degrees, in the interval (-180, 180]. Convention: 0 = pointed right, 90 = pointed straight away, -90 = pointed straight toward, 180 = pointed left. Default is NULL (all yaws considered). Provided values are rounded to the nearest integer.

label_error

Positive numeric scalar specifying the error (± pixels) used to perturb landmark coordinates. Passed internally to pitch2d.w.error(). Required if length(pitch2d) = 1.

label_nsamp

Positive integer scalar specifying the approximate number of grid combinations to evaluate. Passed internally to pitch2d.w.error(). Required if length(pitch2d) = 1.

sim_download

Logical scalar. If TRUE, the function will attempt to download the precomputed simulation dataset automatically if it is not found in the local cache. Default is FALSE (CRAN-friendly).

paired

Logical scalar. If TRUE, a data.frame of yaws mapped to pitches will be returned; if FALSE (default), a vector of yaws or pitches.

Details

The lookup is based on a precomputed Blender simulation grid. A 3D pyramid was generated and rotated by pitch, then yaw, then roll (equivalently to what rotate3d() does) for all 11,793,960 integer combinations of pitch (-90:90), yaw (-179:180), and roll (-90:90). For each combination the base midpoint and tip were projected to 2D pixel coordinates with an orthographic camera. The cached simulation table stores the resulting projected geometry and derived 2D pitch values; find.3d() (and wrappers) then filter that table for combinations compatible with the requested 2D pitch and any optional candidate constraints.

Value

A data.frame with all or a subset of the following columns:

pitch: integer: pitch angles (degrees) compatible with the provided arguments.
yaw: integer: yaw angles (degrees) compatible with the provided arguments.
pitch2d: numeric: projected 2D pitch angles (degrees) compatible with the provided arguments.
view_elevation: integer: elevation angles (degrees) compatible with the provided arguments.

If no matches are found, the returned data.frame has zero rows.

For find.pitch(..., paired = FALSE) and find.yaw(..., paired = FALSE), an integer vector of pitch or yaw angles compatible with the provided arguments.

Examples


# test that dataset is downloaded before running examples
sim_path <- file.path(
  tools::R_user_dir("araponga", "cache"),
  "sim_data_parquet"
)

if(dir.exists(sim_path)){

# hypothetical pitch2d from coordinates
p2d <- pitch2d.from.xy(10, 1, -12, 20)

# pitches that project to `p2d` (± 2 pixel error) if seen from 30° (± 1° error) below
find.pitch(
  p2d,
  candidate_view_elevations = -29:-31,
  label_error = 2,
  sim_download = FALSE
  )

# same returned values as from:
find.3d(
  p2d,
  find = "pitch",
  candidate_view_elevations = -29:-31,
  label_error = 2,
  sim_download = FALSE
  )

# similar to above, now given yaw between 5° and 15°
find.pitch(
  pitch2d = p2d,
  candidate_view_elevations = -29:-31,
  candidate_yaws = 5:15,
  label_error = 2,
  sim_download = FALSE
  )

# yaws that project to `p2d` (± 2 pixel error) if seen from 10° (± 2° error) below
find.yaw(
  p2d,
  candidate_view_elevations = -8:-12,
  label_error = 2
  )

} else {
message(
  "Run download.simdata() first to enable this example."
  )
}


# test that dataset is downloaded before running examples
sim_path <- file.path(
  tools::R_user_dir("araponga", "cache"),
  "sim_data_parquet"
)

if(dir.exists(sim_path)){

# hypothetical pitch2d from coordinates
p2d <- pitch2d.from.xy(10, 1, -12, 20)

# pitches that project to `p2d` (± 2 pixel error) if seen from 30° (± 1° error) below
find.pitch(
  p2d,
  candidate_view_elevations = -29:-31,
  label_error = 2,
  sim_download = FALSE
  )

# same returned values as from:
find.3d(
  p2d,
  find = "pitch",
  candidate_view_elevations = -29:-31,
  label_error = 2,
  sim_download = FALSE
  )

# similar to above, now given yaw between 5° and 15°
find.pitch(
  pitch2d = p2d,
  candidate_view_elevations = -29:-31,
  candidate_yaws = 5:15,
  label_error = 2,
  sim_download = FALSE
  )

# yaws that project to `p2d` (± 2 pixel error) if seen from 10° (± 2° error) below
find.yaw(
  p2d,
  candidate_view_elevations = -8:-12,
  label_error = 2
  )

} else {
message(
  "Run download.simdata() first to enable this example."
  )
}

Calculate projected 2D pitch angle from orientations and view elevation

Description

Compute the 2D pitch produced by 3D orientations (pitch, yaw) when viewed from a specified elevation.

Usage

pitch2d.from.3d(pitch, yaw, view_elevation, plot = FALSE)
pitch2d.from.3d(pitch, yaw, view_elevation, plot = FALSE)

Arguments

pitch

Numeric scalar: vertical angle relative to horizontal plane, in degrees, in the interval [-90, 90]. Convention: 90 = pointed up, 0 = horizontally aligned, -90 = pointed down.

yaw

Numeric scalar: horizontal angle around the vertical axis, in degrees, in the interval (-180, 180]. Convention: 0 = pointed right, 90 = pointed straight away, -90 = pointed straight toward, 180 = pointed left.

view_elevation

Numeric scalar: camera elevation angle relative to the object, in degrees, in the interval [-90, 90]. Convention: -90 = seen from straight below, 0 = eye level, 90 = seen from straight above.

plot

Logical scalar. TRUE draws a diagnostic plot with original and rotated axes, and calculated 2D pitch angle.

Details

The function constructs the full rotation matrix $R$ using rotate3d(pitch, yaw, view_elevation) and computes the projected 2D pitch $p_{2}$ as

$p_{2} = \operatorname{atan2}\!\big(R_{2,1},\,R_{1,1}\big)$

Value

Numeric scalar: 2D pitch angle, in degrees, in the interval (-180°, 180°]. Convention: 0 points right, 90 points up, -90 points down, 180 points left.

Examples

# object pointed up 15 degrees
pitch2d.from.3d(15, 0, 0, plot = TRUE)
# object pointed up 15 and 30 degrees toward camera
pitch2d.from.3d(15, -30, 0, plot = TRUE)
# object pointed up 15 degrees, looked at from 30 degrees below
pitch2d.from.3d(15, 0, -30, plot = TRUE)

# object pointed up 15 degrees
pitch2d.from.3d(15, 0, 0, plot = TRUE)
# object pointed up 15 and 30 degrees toward camera
pitch2d.from.3d(15, -30, 0, plot = TRUE)
# object pointed up 15 degrees, looked at from 30 degrees below
pitch2d.from.3d(15, 0, -30, plot = TRUE)

Calculate projected 2D pitch from two landmarks

Description

Compute the 2D pitch angle defined by two landmarks: a tip point and a base point.

Usage

pitch2d.from.xy(x_tip, y_tip, x_base, y_base, plot = FALSE)
pitch2d.from.xy(x_tip, y_tip, x_base, y_base, plot = FALSE)

Arguments

x_tip, x_base

Numeric scalars or vectors: image x-coordinate(s) of tip and base of object, with x increasing right.

y_tip, y_base

Numeric scalars or vectors: image y-coordinate(s) of the tip and base of objects, with y increasing up.

plot

Logical scalar. TRUE draws a diagnostic plot with base-tip segment and calculated 2D pitch angle. Plotting is only supported for single base-tip pair.

Details

The calculation uses the two-landmark vector

$(dx,dy)=(x_{tip}-x_{base}, y_{tip}-y_{base})$

and returns

$p_{2} = \operatorname{atan2}(dy, dx).$

Value

Numeric vector of 2D pitch angles, in degrees, in the interval (-180°, 180°]. Convention: 0 points right, 90 points up, -90 points down, 180 points left.

Scalar outputs also include an "xy" attribute containing the input coordinates, which makes it directly compatible with find.3d().

Examples

# scalar examples (plots)
pitch2d.from.xy(1, 0, 0, 0, plot = TRUE) # pointed right -> 0°
pitch2d.from.xy(-1, 0, 0, 0, plot = TRUE) # pointed left -> 180°
pitch2d.from.xy(0, 1, 0, 0, plot = TRUE) # pointed up -> 90°
pitch2d.from.xy(0, -1, 0, 0, plot = TRUE) # pointed down -> -90°

# vectorised usage (no plot)
x_tips  <- c(1, 0, -1)
y_tips  <- c(0, 1, 0)
x_bases <- c(0, 0, 0)
y_bases <- c(0, 0, 0)
pitch2d.from.xy(x_tips, y_tips, x_bases, y_bases)

# scalar examples (plots)
pitch2d.from.xy(1, 0, 0, 0, plot = TRUE) # pointed right -> 0°
pitch2d.from.xy(-1, 0, 0, 0, plot = TRUE) # pointed left -> 180°
pitch2d.from.xy(0, 1, 0, 0, plot = TRUE) # pointed up -> 90°
pitch2d.from.xy(0, -1, 0, 0, plot = TRUE) # pointed down -> -90°

# vectorised usage (no plot)
x_tips  <- c(1, 0, -1)
y_tips  <- c(0, 1, 0)
x_bases <- c(0, 0, 0)
y_bases <- c(0, 0, 0)
pitch2d.from.xy(x_tips, y_tips, x_bases, y_bases)

Simulate error in 2D pitch calculation from labeling error

Description

pitch2d.w.error() simulates the effect of landmark-labeling uncertainty on a 2D pitch value returned by pitch2d.from.xy().

Usage

pitch2d.w.error(
  pitch2d,
  label_error,
  label_nsamp = 625,
  add_boundaries = FALSE
)
pitch2d.w.error(
  pitch2d,
  label_error,
  label_nsamp = 625,
  add_boundaries = FALSE
)

Arguments

pitch2d

Numeric scalar returned by pitch2d.from.xy().

label_error

Positive numeric scalar specifying the error (± pixels) used to perturb each landmark coordinate.

label_nsamp

Positive integer scalar specifying the approximate number of grid combinations to evaluate. Default 625 uses a 5-point grid for each of the four coordinates, for 5^4 = 625 total combinations.

add_boundaries

Logical scalar (default FALSE). If TRUE, boundary angles 0, 90, -90, and 180 are added when the simulated set spans them. This is useful when working with the returned angles individually, since these boundary values can behave differently from interior values.

Value

Numeric vector of unique simulated 2D pitch angles, in degrees, in the interval ⁠(-180, 180]⁠.

Examples


# A pitch value computed from landmark coordinates
p2d <- pitch2d.from.xy(x_tip  = 100, y_tip  = 80, x_base = 110, y_base = 120)

# Simulate the effect of ±1 pixel labeling uncertainty
pitch2d.w.error(p2d, label_error = 1)

#' # Simulate the effect of ±5 pixel labeling uncertainty
pitch2d.w.error(p2d, label_error = 5)

# A pitch value computed from landmark coordinates
p2d <- pitch2d.from.xy(x_tip  = 100, y_tip  = 80, x_base = 110, y_base = 120)

# Simulate the effect of ±1 pixel labeling uncertainty
pitch2d.w.error(p2d, label_error = 1)

#' # Simulate the effect of ±5 pixel labeling uncertainty
pitch2d.w.error(p2d, label_error = 5)

Visualize angles

Description

Plotting helper for quick visual inspection of angles, in particular pitches, yaws, and view elevations.

Usage

## S3 method for class 'angles'
plot(
  angles = NULL,
  type = NULL,
  facing = c("right", "left"),
  col = NULL,
  main = NULL,
  labels = TRUE,
  add = FALSE
)
## S3 method for class 'angles'
plot(
  angles = NULL,
  type = NULL,
  facing = c("right", "left"),
  col = NULL,
  main = NULL,
  labels = TRUE,
  add = FALSE
)

Arguments

angles

Set(s) of angles to be plotted, in degrees in the range (-180, 180]. If a numeric vector, one plot is generated. If a list or a data.frame, length(angles) plots are generated, customized when names(angles) match "pitch", "yaw", or "view_elevation". Compatible with outputs from find.3d(), find.pitch(), and find.yaw().

type

When angles is a vector, optional character choice between "pitch", "yaw", and "view_elevation" that determines the kind of visualization to be generated. If NULL (default), a generic plot is generated.

facing

Character choice between "right" (default) or "left": which direction the object should be facing for pitch and view_elevation.

col

Optional vector of colors to draw angle segments in each plot. Recycled to match length(angles) when angles is not a vector.

main

Optional character vector: titles for each plot. Recycled to match length(angles) when angles is not a vector.

labels

Logical scalar (default TRUE): should inset labels be plotted?

add

Logical scalar (default FALSE): should angle segments be added to the current plotting device?

Value

No return value.

Examples

# calls with a vector
## pitch between 60 and 70
plot.angles(60:70, "pitch")
## view_elevation between -30 and -40
plot.angles(-30:-40, "view_elevation")

# call with named list
list <- list(pitch = 10:30, yaw = -100:-45, view_elevation = -10:-15)
plot.angles(list)

# call with output from find.3d

# test that dataset is downloaded before running example
sim_path <- file.path(
  tools::R_user_dir("araponga", "cache"),
  "sim_data_parquet"
)

if(dir.exists(sim_path)){
## pitches and yaws that project to 10° (± 1° error) if seen from 15° below
df <- find.3d(
  9:11,
  find = c("pitch", "yaw"),
  candidate_view_elevations = -15,
  sim_download = FALSE
  )
plot.angles(df)
} else {
message(
  "Run download.simdata() first to enable this example."
  )
}


# calls with a vector
## pitch between 60 and 70
plot.angles(60:70, "pitch")
## view_elevation between -30 and -40
plot.angles(-30:-40, "view_elevation")

# call with named list
list <- list(pitch = 10:30, yaw = -100:-45, view_elevation = -10:-15)
plot.angles(list)

# call with output from find.3d

# test that dataset is downloaded before running example
sim_path <- file.path(
  tools::R_user_dir("araponga", "cache"),
  "sim_data_parquet"
)

if(dir.exists(sim_path)){
## pitches and yaws that project to 10° (± 1° error) if seen from 15° below
df <- find.3d(
  9:11,
  find = c("pitch", "yaw"),
  candidate_view_elevations = -15,
  sim_download = FALSE
  )
plot.angles(df)
} else {
message(
  "Run download.simdata() first to enable this example."
  )
}

Create and apply 3D rotations

Description

Create a 3×3 rotation matrix corresponding to sequential Euler rotations about Z, then Y, then X (i.e., ZYX or pitch–yaw–roll sequence).

Usage

rotate3d(pitch = 0, yaw = 0, roll = 0)

Rz(pitch = 0)

Ry(yaw = 0)

Rx(roll = 0)
rotate3d(pitch = 0, yaw = 0, roll = 0)

Rz(pitch = 0)

Ry(yaw = 0)

Rx(roll = 0)

Arguments

pitch

Numeric scalar: angle in degrees for rotation about the Z axis. Defaults to 0 (no rotation).

yaw

Numeric scalar: angle in degrees for rotation about the Y axis. Defaults to 0 (no rotation).

roll

Numeric scalar: angle in degrees for rotation about the X axis. Defaults to 0 (no rotation).

Value

A numeric 3×3 matrix (class matrix).

Examples

# rotate 45 about z, then 30 about y, then -80 about x
rotate3d(45, 30, -80)

# rotate 30 degrees about x
Rx(30)

# rotate 45 about z, then 30 about y, then -80 about x
rotate3d(45, 30, -80)

# rotate 30 degrees about x
Rx(30)

Summarize yaw angles into the smallest continuous interval

Description

Given a set of yaw angles (or any set of angles that wrap around ± 180), summarize.yaws() returns the endpoints and width of the smallest continuous angular interval that contains all supplied angles.

Usage

summarize.yaws(yaws, plot = FALSE, tie_action = c("all", "error"))
summarize.yaws(yaws, plot = FALSE, tie_action = c("all", "error"))

Arguments

yaws

Numeric vector of yaw angles, in degrees, in the interval (-180, 180].

plot

Logical scalar. TRUE draws a diagnostic plot with individual candidate angles and the returned smallest continuous interval that contains them. Works only when length(yaws) > 1.

tie_action

Choice between "all" and "error" on how to proceed when multiple smallest continuous intervals exist. "all" (default) issues a warning and returns all possible intervals (see Value), while "error" issues an error.

Value

A named list with components:

from: numeric scalar: interval start (clockwise-most endpoint), in degrees.
to: numeric scalar: interval end (counterclockwise-most endpoint), in degrees.
width: numeric scalar: angular width of the shortest enclosing arc, in degrees.
wrap: logical: TRUE if the interval crosses the ±180 boundary.
all: list containing the output (from, to, width, wrap) for all alternative intervals, if any

Examples

# simple non-wrapping interval
summarize.yaws(-60:60, plot = TRUE)

# a wrapping interval (points around ±180)
summarize.yaws(c(-175:-170, 171:179), plot = TRUE)


# singleton (no plotting)
summarize.yaws(30)

# more than one interval possible (returns warning)
summarize.yaws(c(-90, 90))

# output from find.yaw()

# test that dataset is downloaded before running example
sim_path <- file.path(
  tools::R_user_dir("araponga", "cache"),
  "sim_data_parquet"
)

if(dir.exists(sim_path)){
yaws <- find.yaw(
  pitch2d = 14:16,
  candidate_view_elevations = -45,
  candidate_pitches = 10:20,
  sim_download = FALSE
  )
summarize.yaws(yaws, plot = TRUE)
} else {
message(
  "Run download.simdata() first to enable this example."
  )
}


# simple non-wrapping interval
summarize.yaws(-60:60, plot = TRUE)

# a wrapping interval (points around ±180)
summarize.yaws(c(-175:-170, 171:179), plot = TRUE)


# singleton (no plotting)
summarize.yaws(30)

# more than one interval possible (returns warning)
summarize.yaws(c(-90, 90))

# output from find.yaw()

# test that dataset is downloaded before running example
sim_path <- file.path(
  tools::R_user_dir("araponga", "cache"),
  "sim_data_parquet"
)

if(dir.exists(sim_path)){
yaws <- find.yaw(
  pitch2d = 14:16,
  candidate_view_elevations = -45,
  candidate_pitches = 10:20,
  sim_download = FALSE
  )
summarize.yaws(yaws, plot = TRUE)
} else {
message(
  "Run download.simdata() first to enable this example."
  )
}

Trim candidate yaw sets by directional separation

Description

Trim two candidate yaw sets to angles that have at least one compatible partner in the other set, given minimum and maximum directional separation constraints.

Usage

trim.yaws(ccw_yaws, cw_yaws, min_sep, max_sep, plot = FALSE)
trim.yaws(ccw_yaws, cw_yaws, min_sep, max_sep, plot = FALSE)

Arguments

ccw_yaws

Numeric vector: candidate yaw angles known/expected to be counterclockwise of cw_yaws (degrees, in the interval (-180, 180]).

cw_yaws

Numeric vector: candidate yaw angles known/expected to be clockwise of ccw_yaws (degrees, in the interval (-180, 180]).

min_sep

Non-negative numeric scalar: the minimum angular separation (degrees) allowed between a value in one set and a partner in the other set.

max_sep

Non-negative numeric scalar: the maximum angular separation (degrees) allowed between a value in one set and a partner in the other set.

plot

Logical scalar. TRUE draws diagnostic plots with retained (blue) and excluded (red) angles for each set.

Details

Given two sets of candidate yaw angles, trim.yaws() removes elements from each set that do not have at least one partner in the other set that is at least min_sep and up to max_sep clockwise (for ccw_yaws set) or counterclockwise (for cw_yaws) from it. In other words, each retained ccw_yaws angle will be ⁠>= min_sep⁠ and ⁠<= max_sep⁠ counterclockwise of at least one cw_yaws angle. Analogously, each retained cw_yaws angle will be ⁠>= min_sep⁠ and ⁠<= max_sep⁠ clockwise of at least one ccw_yaws angle.

Value

A list with elements:

trimmed_ccw_yaws: numeric: subset of ccw_yaws that have at least one matching cw_yaws.
trimmed_cw_yaws: numeric: subset of cw_yaws that have at least one matching ccw_yaws.

Examples

# hypothetical candidate yaw sets:
a <- 10:80
b <- 30:90

# we know `a` to be CCW of `b` by up to 180°
trim.yaws(a, b, 0, 180, plot = TRUE)

# we know `a` to be CCW of `b` by 30 to 45°
trim.yaws(a, b, 30, 45, plot = TRUE)

# if no mutual partners exist, both returned vectors become empty
trim.yaws(ccw_yaws = c(-10), cw_yaws = c(130), min_sep = 0, max_sep = 180)

# hypothetical candidate yaw sets:
a <- 10:80
b <- 30:90

# we know `a` to be CCW of `b` by up to 180°
trim.yaws(a, b, 0, 180, plot = TRUE)

# we know `a` to be CCW of `b` by 30 to 45°
trim.yaws(a, b, 30, 45, plot = TRUE)

# if no mutual partners exist, both returned vectors become empty
trim.yaws(ccw_yaws = c(-10), cw_yaws = c(130), min_sep = 0, max_sep = 180)

Package 'araponga'

Help Index

Plot angle conventions

Description

Usage

Arguments

Value

See Also

Examples

Convert degrees to radians, and vice versa

Description

Usage

Arguments

Value

Examples

Download the precomputed simulation dataset

Description

Usage

Arguments

Details

Value

Find combinations of 3D orientations that project to an observed 2D pitch

Description

Usage

Arguments

Details

Value

See Also

Examples

Calculate projected 2D pitch angle from orientations and view elevation

Description

Usage

Arguments

Details

Value

See Also

Examples

Calculate projected 2D pitch from two landmarks

Description

Usage

Arguments

Details

Value

See Also

Examples

Simulate error in 2D pitch calculation from labeling error

Description

Usage

Arguments

Value

See Also

Examples

Visualize angles

Description

Usage

Arguments

Value

See Also

Examples

Create and apply 3D rotations

Description

Usage

Arguments

Value

Examples

Summarize yaw angles into the smallest continuous interval

Description

Usage

Arguments

Value

Examples

Trim candidate yaw sets by directional separation

Description

Usage

Arguments

Details

Value

Examples