The problem of first rotating and then translating

[persuelx]

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]

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

nuscenes-devkit/python-sdk/nuscenes/nuscenes.py

Lines 884 to 885 in 835ddec

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