Successful calculation of rotation by in non-coplanar points into pose estimator

So I have a functional pose estimator now, and can begin possibly either improving its performance, or moving onto the next part of my project, which would involve getting the physical dimensions of the work environment relative to the user.

Link to a demonstration of it: 
http://youtu.be/5BeG51WrvNw

As well as some images:
(Yaw Test)

(Pitch Test) 

Not sure if I should factor in roll... Face isn't detected that way currently..