(box)
| 195 | return rotmat |
| 196 | |
| 197 | def convert_oriented_box_to_trimesh_fmt(box): |
| 198 | ctr = box[:3] |
| 199 | lengths = box[3:6] |
| 200 | trns = np.eye(4) |
| 201 | trns[0:3, 3] = ctr |
| 202 | trns[3, 3] = 1.0 |
| 203 | trns[0:3, 0:3] = heading2rotmat(box[6]) |
| 204 | box_trimesh_fmt = trimesh.creation.box(lengths, trns) |
| 205 | return box_trimesh_fmt |
| 206 | |
| 207 | if colors is not None: |
| 208 | if colors.shape[0] != len(scene_bbox): |
no test coverage detected