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The formulation can be modified as follows;
var cosThetaZ = math.sqrt(r00 * r00 + _r20 * _r20);
// thetaZ = Math.asin(r10);
thetaZ = Math.tan2(r10, cosThetaZ);
what this change thetaX, thetaY, thetaZ, are within the range of -pi to +pi, and there is no need to scale the return values by 2.
The text was updated successfully, but these errors were encountered:
Changes to rotationMatrixToEulerAngle
Need for dropping the factor of 2 in return values (pitch, yaw and roll) in the function rotationMatrixToEulerAngle (
human/src/face/angles.ts
Line 56 in 1114014
The formulation can be modified as follows;
var cosThetaZ = math.sqrt(r00 * r00 + _r20 * _r20);
// thetaZ = Math.asin(r10);
thetaZ = Math.tan2(r10, cosThetaZ);
what this change thetaX, thetaY, thetaZ, are within the range of -pi to +pi, and there is no need to scale the return values by 2.
The text was updated successfully, but these errors were encountered: