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The problem of first rotating and then translating #1120

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persuelx opened this issue Oct 29, 2024 · 1 comment
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The problem of first rotating and then translating #1120

persuelx opened this issue Oct 29, 2024 · 1 comment

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@persuelx
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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
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@persuelx it depends on the situation - for example, rotation is performed first followed by translation:

pc.rotate(Quaternion(cs_record['rotation']).rotation_matrix)
pc.translate(np.array(cs_record['translation']))

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