Input ps is NxC points with first 3 channels as XYZ z is facing forward, x is left ward, y is downward

Input: (n,3), Output: (n,3)

Rotation about the y-axis.

Rotation about the y-axis. t: (x1,x2,...xn) return: (x1,x2,...,xn,3,3)

Rotation about the z-axis.

pred_xyz: B x N x 3 src_range: [[B x 3], [B x 3]] - min and max XYZ coords dst_range: [[B x 3], [B x 3]] - min and max XYZ coords

Warning: does not synchronize the deque!

bbox: (cx, cy, cz, lx, ly, lz, r), center and length in three axis, the last is the rotation output_file: string

Export scene bbox to meshes Args: scene_bbox: (N x 6 numpy array): xyz pos of center and 3 lengths out_filename: (string) filename

Create lines represented as cylinders connecting pairs of 3D points Args: pcl: (N x 2 x 3 numpy array): N pairs of xyz pos filenam

Export oriented (around Z axis) scene bbox to meshes Args: scene_bbox: (N x 7 numpy array): xyz pos of center and 3 lengths (dx,dy,dz)

Export oriented (around Y axis) scene bbox to meshes Args: scene_bbox: (N x 7 numpy array): xyz pos of center and 3 lengths (dx,dy,dz)