Euler to Cartesian Conversion

eulerCartesian.py

    # yaw and pitch are important for mouse control
    poseArrowX = orientation[0] #* arrowLength
    poseArrowY = orientation[1] #* arrowLength

    # Taking 2nd and 3rd row for 2D Projection
    ############################# LEFT EYE ###################################
    cv2.arrowedLine(frame, leftEye_Center,
              (int((xCenter_left + arrowLength * (cosR * cosY + sinY * sinP * sinR))),
              int((yCenter_left + arrowLength * cosP * sinR))), (255, 0, 0), 4)
    
    # center to top
    cv2.arrowedLine(frame, leftEye_Center,
              (int(((xCenter_left + arrowLength * (sinY * sinP * cosR - cosY * sinR)))),
              int((yCenter_left + arrowLength * cosP * cosR))), (0, 0, 255), 4)

    center to forward
    cv2.arrowedLine(frame, leftEye_Center, \
              (int(((xCenter_left + arrowLength * sinY * cosP))), \
              int((yCenter_left - arrowLength * sinP))), (0, 255, 0), 4)

    ############################# RIGHT EYE ###################################
    cv2.arrowedLine(frame, rightEye_Center,
              (int((xCenter_right + arrowLength * (cosR * cosY + sinY * sinP * sinR))),
              int((yCenter_right + arrowLength * cosP * sinR))), (255, 0, 0), 4)
    
    # center to top
    cv2.arrowedLine(frame, rightEye_Center,
              (int(((xCenter_right + arrowLength * (sinY * sinP * cosR - cosY * sinR)))),
              int((yCenter_right + arrowLength * cosP * cosR))), (0, 0, 255), 4)

    center to forward
    cv2.arrowedLine(frame, rightEye_Center,
              (int(((xCenter_right + arrowLength * sinY * cosP))),
              int((yCenter_right - arrowLength * sinP))), (0, 255, 0), 4)