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argoverse / argoverse-api

Official GitHub repository for Argoverse dataset
https://www.argoverse.org
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Fix convexhull boundary computation #244

Open johnwlambert opened 3 years ago

johnwlambert commented 3 years ago

Switch to fully using scipy (8.3k stars) instead of quaternion (413 stars) for rotation matrix -> quaternion conversions.

Note: the quaternion library uses scalar-first order qw, qx, qy, qz (see this issue), whereas scipy uses scalar-last order, so we re-order the coefficients inside yaw_to_quaternion3d().

Resolves the issue mentioned in https://github.com/argoai/argoverse-api/issues/239.

johnwlambert commented 3 years ago

@tagarwal-argoai would you mind taking a look at this, also?