yaw angle in camera coordinate

[liuli15]

Does anyone understand the specific meaning of yaw angle in the camera coordinate?

why the yaw in the camera coordinate can translate to yaw in world coordinate using the following function?
(project_3d_world function in show_2d3d_box.py)

def project_3d_world(p2, de_center_in_world, w3d, h3d, l3d, ry3d, camera2world):

center_world = np.array(de_center_in_world) #bottom center in world
theta = np.matrix([math.cos(ry3d), 0, -math.sin(ry3d)]).reshape(3, 1)    
theta0 = camera2world[:3, :3] * theta  #first column     # theta and theta0 make sense
world2camera = np.linalg.inv(camera2world)       
**yaw_world_res = math.atan2(theta0[1], theta0[0])**        **# totally confusing**
verts3d = get_camera_3d_8points_g2c(w3d, h3d, l3d,
    yaw_world_res, center_world[:3, :], world2camera, p2, isCenter=False)

verts3d = np.array(verts3d)
return verts3d

[Deleted user]

The same question, and I observed that this yaw angle is inconsistent in eval_tools and show_tools, in eval_tools, yaw is the value in the label. The confusing code ishere