refactored

ar_tag_pose/detector_board_main.py

@@ -154,7 +154,7 @@ class Detector(abc.ABC):
 			for det in self.detector:
 				success, r_vec, t_vec = det.process(img)
 				if success:
-					rot_e = to_euler(to_tf(r_vec, t_vec))
+					rot_e = to_euler(to_tf(r_vec, t_vec), axis_order="XYZ")
 					rot = [round(180.0 / math.pi * v, 1) for v in rot_e]
 					cv.putText(img, f"{det}: Tilt: {rot[0]:.1f}, Roll: {rot[1]:.1f}, Azimuth: {rot[2]:.1f}",
 							   (30, y_pos), cv.FONT_HERSHEY_SIMPLEX, 0.75,	(0, 255, 0), 2)

ar_tag_pose/utils.py

@@ -25,7 +25,7 @@ def to_tf(r_vec: np.ndarray, t_vec: np.ndarray) -> np.ndarray:
 	r_mat = np.vstack((r_mat, np.array([0, 0, 0, 1])))
 	return r_mat
 
-def to_euler(t1: np.ndarray, t2: np.ndarray | None = None, euler_axis: str= "XYZ") -> np.ndarray:
+def to_euler(t1: np.ndarray, t2: np.ndarray | None = None, axis_order: str= "XYZ") -> np.ndarray:
 	# Transform t2 to t1 coordinate system
 	if t2 is None:
 		tf = np.linalg.inv(t1)
@@ -38,7 +38,7 @@ def to_euler(t1: np.ndarray, t2: np.ndarray | None = None, euler_axis: str= "XYZ
 
 	# Convert to euler angles
 	r = R.from_rotvec(r_vec)
-	res = R.as_euler(r, euler_axis)
+	res = R.as_euler(r, axis_order)
 
 	return res