This is an implementation of Head pose estimation algorithm from single depth Kinect 2 frame.
More detailed information could be found at 
http://fsukno.atspace.eu/Research.htm#HeadPoseChall17

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The algorithms are available as Matlab code:

Main function: HeadPoseEstim_CMTech.m
input:         npy file name with depth information from Kinect 2
output:        pitch, yaw, roll angles

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if found our script helpful, please cite it as:

Dmytro Derkach, Adria Ruiz and Federico M. Sukno 
“Head Pose Estimation Based on 3-D Facial Landmarks Localization and Regression” 
12th IEEE Conference on Automatic Face and Gesture Recognition 2017

@inproceedings{derkach2017head,
  title={Head Pose Estimation Based on 3-D Facial Landmarks Localization and Regression},
  author={Derkach, Dmytro and Ruiz, Adria and Sukno, Federico M},
  booktitle={Automatic Face \& Gesture Recognition (FG 2017), 2017 12th IEEE International Conference on},
  pages={820--827},
  year={2017},
  organization={IEEE}
}