> However, I'm trying to understand roll, pitch and yaw.  Where is the
> (0,0,0) point for anchoring the frame of reference of the coordinate
> system?  
Without being able to answer your more theoretical questions: (0,0,0) is 
the centre of the resulting 2D panorama. Wherever you choose to have 
that. Wherever you drag the images in the preview: (0,0,0) is at the 
crosshair intersection. All y,p,r entries relate to this point.
So in your case I assume you levelled your tripod reasonably and your 
first image is taken at y=0, p=x (you would have to remember this) and 
all are of course more or less at r=0. So the easiest start is: in hugin 
you would set your first image at y=0 and p=x, r=0.
But you might want the final pano framed differently, e.g. the first 
image not necessarily in the center, so it would be y=(wherever you want 
it to appear in the final panorama, but all other images have to be 
shifted by this angle).

> Is it somehow, "The location of the anchor image" (assuming
> that r,p,y for the anchor image are left at zero)?  
I think this is it in case you shot horizontal (which I often do not do).

regards
Joachim

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