(box)
| 156 | """ |
| 157 | |
| 158 | def convert_box_to_trimesh_fmt(box): |
| 159 | ctr = box[:3] |
| 160 | lengths = box[3:] |
| 161 | trns = np.eye(4) |
| 162 | trns[0:3, 3] = ctr |
| 163 | trns[3, 3] = 1.0 |
| 164 | box_trimesh_fmt = trimesh.creation.box(lengths, trns) |
| 165 | return box_trimesh_fmt |
| 166 | |
| 167 | scene = trimesh.scene.Scene() |
| 168 | for box in scene_bbox: |