坐標系
３Ｄ視線轉２Ｄ視線轉換
gaze_theta = np.arcsin((-1) * gaze_norm[1]) ##pitch
gaze_phi = np.arctan2((-1) * gaze_norm[0], (-1) * gaze_norm[2]) ##yaw
gaze_norm_2d = np.asarray([gaze_theta, gaze_phi])
Headpose Vector轉２Ｄ角度
image.png
image.png
當 可由下式進行簡便計算
M = cv2.Rodrigues(head)[0]
Zv = M[:, 2]
head_2d = np.array([math.asin(Zv[1]), math.atan2(Zv[0], Zv[2])])
