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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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The problem of first rotating and then translating #1120

Open persuelx opened 3 weeks ago

persuelx commented 3 weeks ago 
box.translate(-np.array(pose_rec['translation']))
box.rotate(Quaternion(pose_rec['rotation']).inverse)

How should I understand the nuscenes question of translating first and then rotating later，Usually, it is rotated first and then translated.thank you!!

whyekit-motional commented 2 weeks ago

@persuelx it depends on the situation - for example, rotation is performed first followed by translation: https://github.com/nutonomy/nuscenes-devkit/blob/835ddecae31c763bcb303a16cc715df77d77c1a3/python-sdk/nuscenes/nuscenes.py#L884-L885