Go to the documentation of this file.00001 import numpy as np
00002
00003
00004 def rects_msg_to_ndarray(rects_msg):
00005 rects = np.zeros((len(rects_msg.rects), 4), dtype=np.float32)
00006 for i, r in enumerate(rects_msg.rects):
00007 xmin = r.x
00008 ymin = r.y
00009 xmax = r.x + r.width
00010 ymax = r.y + r.height
00011 rects[i] = [xmin, ymin, xmax, ymax]
00012 return rects
00013
00014
00015 def bounding_box_msg_to_aabb(bbox_msg):
00016 center_x = bbox_msg.pose.position.x
00017 center_y = bbox_msg.pose.position.y
00018 center_z = bbox_msg.pose.position.z
00019 dim_x = bbox_msg.dimensions.x
00020 dim_y = bbox_msg.dimensions.y
00021 dim_z = bbox_msg.dimensions.z
00022 x1 = center_x - dim_x / 2.
00023 x2 = center_x + dim_x / 2.
00024 y1 = center_y - dim_y / 2.
00025 y2 = center_y + dim_y / 2.
00026 z1 = center_z - dim_z / 2.
00027 z2 = center_z + dim_z / 2.
00028 return x1, y1, z1, x2, y2, z2