minor rotation calculation fix

CHANGELOG.md

@@ -9,8 +9,10 @@ Repository: **<git+https://github.com/vladmandic/human.git>**
 
 ## Changelog
 
-### **HEAD -> main** 2021/03/28 animethemegadget@gmail.com
+### **HEAD -> main** 2021/03/28 mandic00@live.com
 
+- new face rotation calculations
+- cleanup
 - rotationmatrixtoeulerangle, and fixes
 - experimental: add efficientpose
 - implement nanodet

src/faceall.ts

@@ -39,24 +39,18 @@ const calculateFaceAngle = (face, image_size): { angle: { pitch: number, yaw: nu
     if (r10 < 1) { // YZX calculation
       if (r10 > -1) {
         thetaZ = Math.asin(r10);
+        thetaY = Math.atan2(-r20, r00);
         thetaX = Math.atan2(-r12, r11);
       } else {
         thetaZ = -Math.PI / 2;
+        thetaY = -Math.atan2(r21, r22);
         thetaX = 0;
       }
     } else {
       thetaZ = Math.PI / 2;
+      thetaY = Math.atan2(r21, r22);
       thetaX = 0;
     }
-    if (r02 < 1) { // compensate Y rotation which is not accurate and too small in YZX calculation
-      if (r02 > -1) {
-        thetaY = Math.asin(r02);
-      } else {
-        thetaY = -Math.PI / 2;
-      }
-    } else {
-      thetaY = Math.PI / 2;
-    }
     return { pitch: 2 * -thetaX, yaw: 2 * -thetaY, roll: 2 * -thetaZ };
   };
   // simple Euler angle calculation based existing 3D mesh