I followed this tutorial to calculate joint angle of left knee but this takes into consideration when the sensor is placed straight (I have asked the developer of this blog). I have to tilt the camera downwards to see feet and for that the camera tilt should also be included in angle calculation. As the camera is rotated along X axis, the rotation matrix will be:
x: [1, 0, 0]
y: [0, cos A, -sin A]
z: [0, sin A, cos A]
where A is the camera angle tilted downwards (clockwise rotation)
I calculated camera angle as follows:
cameraAngleRadians= Math.Atan(floorClipPlane.Z / floorClipPlane.Y);
Now how should I use this rotation matrix in following formula:
Any help will be really appreciated. Hoping to get response soon. I am using Unity to program and sensor used is Orbbec Astra Pro