Bug for yaw in data converter

[YangyangFu]

Is this a bug for calculating yaw?

VAD/tools/data_converter/vad_nuscenes_converter.py

Lines 32 to 38 in 36047b6

	def quart_to_rpy(qua):
	x, y, z, w = qua
	roll = math.atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y))
	pitch = math.asin(2 * (w * y - x * z))
	yaw = math.atan2(2 * (w * z + x * y), 1 - 2 * (z * z + y * y))
	return roll, pitch, yaw

The quaternion should be (w, x, y, z). And shouldn't the correct code be:

def quart_to_rpy(qua):
    w, x, y, z = qua
    roll = math.atan2(2 * (w * x - y * z), 1 - 2 * (x * x + y * y))
    pitch = math.asin(2 * (w * y + x * z))
    yaw = math.atan2(2 * (w * z - x * y), 1 - 2 * (z * z + y * y))
    return roll, pitch, yaw