I want to compute Euler angle from 3d points which are in a same plane and nearly rectangle shape.

These 3d points are collected by robot arm. I want to know the correct rotation value of the plane for robot arm control.

I computed like below and I don't know how to convert three angles to Euler angles.

`P1 = [-426159, 501913, 845131]P2 = [-48717.2, 499318, 847679]P3 = [-43057.3, 493773, 478609]P4 = [-422845, 495153, 475314]Z_angle = atan((P2(2) - P1(2)) / (P2(1) - P1(1))) * 180 / pi;Y_angle = atan((P2(3) - P1(3)) / (P2(1) - P1(1))) * 180 / pi;X_angle = atan((P1(3) - P4(3)) / (P1(2) - P4(2))) * 180 / pi;`

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