Obtaining euler angles from apriltag_pose_t?

[Windwoes]

Once I have obtained an apriltag_pose_t, how can I get the euler angles from the rotation matrix provided at pose.R?

[mkrogius]

You can use the method common/doubles_mat_to_quat to get a quaternion from the matrix. Then you can use common/doubles_quat_to_rpy to convert that quaternion to RPY.

[vladLozkin]

You can use the method common/doubles_mat_to_quat to get a quaternion from the matrix. Then you can use common/doubles_quat_to_rpy to convert that quaternion to RPY.

Hi, mkrogius,
Im looking for obtaining euler angles from post also but I cannot find the functions that you mentioned in the code...

can you point to a more specific location / show how to call them from cpp?

[mkrogius]

The methods are declared in this header file: https://github.com/AprilRobotics/apriltag/blob/master/common/doubles.h

which templates the code from this header file: https://github.com/AprilRobotics/apriltag/blob/master/common/doubles_floats_impl.h#L456

[chobitsfan]

doubles_mat_to_quat assumes a 4x4 matrix, but pose.R is a 3x3 matrix. You need to re-arrange pose.R before give it to doubles_mat_to_quat