Question on the implementation of rotation augmentation

[TongZhangTHU]

Thank you for your great work.

I noticed that in the apply_se3_aug_con function for rotation augmentation, there are two options, ver=1 and ver=2. However, I observed that at line 364 ( ver=1) and line 368 ( ver=2) in augmentation.py, the rotation is handled differently. Specifically, in ver=1, the rotation matrix is applied via right multiplication, whereas in ver=2, it's applied via the transpose of the rotation matrix using left multiplication. Generally, these two approaches yield different results. I noticed that PerAct uses the former, while RVT uses the latter. Could you please explain why you are using the latter?