5 rects = np.zeros((len(rects_msg.rects), 4), dtype=np.float32)
6 for i, r
in enumerate(rects_msg.rects):
11 rects[i] = [xmin, ymin, xmax, ymax]
16 center_x = bbox_msg.pose.position.x
17 center_y = bbox_msg.pose.position.y
18 center_z = bbox_msg.pose.position.z
19 dim_x = bbox_msg.dimensions.x
20 dim_y = bbox_msg.dimensions.y
21 dim_z = bbox_msg.dimensions.z
22 x1 = center_x - dim_x / 2.
23 x2 = center_x + dim_x / 2.
24 y1 = center_y - dim_y / 2.
25 y2 = center_y + dim_y / 2.
26 z1 = center_z - dim_z / 2.
27 z2 = center_z + dim_z / 2.
28 return x1, y1, z1, x2, y2, z2
def bounding_box_msg_to_aabb(bbox_msg)
def rects_msg_to_ndarray(rects_msg)