I use quaternions in 3D geometry contexts a lot right now. Manipulating point clouds, describing camera orientations etc. But I kind of agree, a standard 4x4 ro

I use quaternions in 3D geometry contexts a lot right now. Manipulating point clouds, describing camera orientations etc. But I kind of agree, a standard 4x4 rotation matrix would most likely be just as useful. I use them because it’s how Colmap represents camera extrinsics. They might use them just because serializing q{xyzw} is more elegant than dumping a matrix to text.