Regarding yaw pitch roll calulation

[olga.kuzminykh]

Hi Asit,

Columns of a 3x3 matrix include the coordinates of basis vectors in the global coordinate system of a camera.

Please refer to this post: Local Joint Coordinate & Rotation Matrix problem

@olga.kuzminykh

In the coordinate system of a depth camera, local X would have coordinates (orient.matrix[0], orient.matrix[3], orient.matrix[6]) , local Y would have coordinates (orient.matrix[1], orient.matrix[4], orient.matrix[7]) , and local Z would have coordinates (orient.matrix[2], orient.matrix[5], orient.matrix[8]) .

As for the question about the T-Pose, please take a look at this video (red vector is X, green is Y, blue is Z): https://www.dropbox.com/s/3boo4tr2a1e7umw/Nuitrack_Joint_Orientation.mp4?dl=0