From 73eecabe061efba4f2a02ff25ad4715e71a46581 Mon Sep 17 00:00:00 2001
From: Qu0rise <daison9200reply@gmail.com>
Date: Tue, 15 Apr 2025 17:24:35 +0900
Subject: [PATCH 1/2] Fix(argo2): Restore compatibility with modern kornia
 versions (>=0.7.0)

---
 pcdet/datasets/argo2/argo2_utils/so3.py | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/pcdet/datasets/argo2/argo2_utils/so3.py b/pcdet/datasets/argo2/argo2_utils/so3.py
index f5ec5e095..edfe1cb53 100644
--- a/pcdet/datasets/argo2/argo2_utils/so3.py
+++ b/pcdet/datasets/argo2/argo2_utils/so3.py
@@ -16,9 +16,7 @@ def quat_to_mat(quat_wxyz: Tensor) -> Tensor:
     Returns:
         (...,3,3) 3D rotation matrices.
     """
-    return C.quaternion_to_rotation_matrix(
-        quat_wxyz, order=C.QuaternionCoeffOrder.WXYZ
-    )
+    return C.quaternion_to_rotation_matrix(quat_wxyz)
 
 
 # @torch.jit.script
@@ -31,9 +29,7 @@ def mat_to_quat(mat: Tensor) -> Tensor:
     Returns:
         (...,4) Scalar first quaternions.
     """
-    return C.rotation_matrix_to_quaternion(
-        mat, order=C.QuaternionCoeffOrder.WXYZ
-    )
+    return C.rotation_matrix_to_quaternion(mat)
 
 
 @torch.jit.script

From 89856a794ba1c438ccaa152680b08a30c47e7f93 Mon Sep 17 00:00:00 2001
From: qu0rise <108322653+Qu0rise@users.noreply.github.com>
Date: Tue, 13 May 2025 11:30:12 +0900
Subject: [PATCH 2/2] fix(argo2): drop TorchScript wrappers on kornia calls
 (>=0.7)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* remove `@torch.jit.script` from `quat_to_mat` and keep `mat_to_quat`
  unscripted – TorchScript no longer supported in kornia>=0.7
* pure-PyTorch helpers (`quat_to_xyz`, etc.) remain scripted
  (they still compile fine)
---
 pcdet/datasets/argo2/argo2_utils/so3.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pcdet/datasets/argo2/argo2_utils/so3.py b/pcdet/datasets/argo2/argo2_utils/so3.py
index edfe1cb53..9fcad07dd 100644
--- a/pcdet/datasets/argo2/argo2_utils/so3.py
+++ b/pcdet/datasets/argo2/argo2_utils/so3.py
@@ -6,7 +6,7 @@
 from math import pi as PI
 
 
-@torch.jit.script
+# ── kornia wrapper: TorchScript removed ────────────────────────────────
 def quat_to_mat(quat_wxyz: Tensor) -> Tensor:
     """Convert scalar first quaternion to rotation matrix.