Inconsistent rotation directions in rotation_3d_in_axis and rotation_points_single_angle

[Tobi995]

In box_np_ops.py it's written as:

def rotation_points_single_angle(points, angle, axis=0):
    # points: [N, 3]
    rot_sin = np.sin(angle)
    rot_cos = np.cos(angle)
    if axis == 1:
        rot_mat_T = np.array(
            [[rot_cos, 0, -rot_sin], [0, 1, 0], [rot_sin, 0, rot_cos]],
            dtype=points.dtype)
    elif axis == 2 or axis == -1:
        rot_mat_T = np.array(
            [[rot_cos, -rot_sin, 0], [rot_sin, rot_cos, 0], [0, 0, 1]],
            dtype=points.dtype)
    elif axis == 0:
        rot_mat_T = np.array(
            [[1, 0, 0], [0, rot_cos, -rot_sin], [0, rot_sin, rot_cos]],
            dtype=points.dtype)
    else:
        raise ValueError("axis should in range")

    return points @ rot_mat_T

This results in mathematically negative rotation directions when axis == 2 or axis == 0, but mathematically negative direction for axis == 1. Transposing the matrices for axis == 2 and axis == 0 would fix that. The same happens in the rotation_3d_in_axis function.

For reference see Wikipedia on rotation matrices