Head Pose Estimation

[saeidn95]

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

const rotationMatrixToEulerAngle = (r: number[]): { pitch: number, yaw: number, roll: number } => {

)

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.

[vladmandic]

why not submit a PR?

[saeidn95]

I could not quite figure how to do that. Let me try again.

[vladmandic]

it would be better as then your name goes to contributors list. if you can't, I'll deal with it next week.

[saeidn95]

Not sure if I did it right, but I did a pull request now.