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Quaternion multiplication fix #427

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Quaternion multiplication fix #427

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1c82155
Quaternion multiplication fix
JalenLv Oct 9, 2025
1927549
Merge branch 'main' into quaternion_multiplication_fix
JalenLv Nov 23, 2025
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6 changes: 3 additions & 3 deletions src/apriltag/apriltag/apriltag_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -138,16 +138,16 @@ def tagDetectionSub(self, msg):
# Apply a known rotation to the transform
rotation_quaternion = R.from_euler(
"xyz", [float(rpy[0]), float(rpy[1]), float(rpy[2])], degrees=True
).as_quat()
)
current_quaternion = R.from_quat(
[
odom_to_tag_transform.transform.rotation.x,
odom_to_tag_transform.transform.rotation.y,
odom_to_tag_transform.transform.rotation.z,
odom_to_tag_transform.transform.rotation.w,
]
).as_quat()
rotated_quaternion = current_quaternion * rotation_quaternion # Multiply the quaternions
)
rotated_quaternion = (current_quaternion * rotation_quaternion).as_quat() # Multiply the quaternions

# Apply the rotation to the position before adding it to the cumulative sum
# Then, we can just average the positions and use an identity quaternion for the rotation
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