Visualization Problem #19
Description
Hello,
I am trying to add a visualization step for the pcd and bbox inside mbp_task.py to observe the training data.I found the line where bbox_gt is defined, but I am confused about its format. The code is in kitti_mem.py:
bbox_gt = np.array([bbox.center[0], bbox.center[1], bbox.center[2], (bbox.orientation.degrees if self.cfg.degree else bbox.orientation.radians) * bbox.orientation.axis[-1]])
This creates a 4-dimensional array [cx, cy, cz, rot].I don't understand the formula (orientation.degrees) * orientation.axis[-1].
My question is: How can I get the rotation information (e.g., a simple yaw angle, or the full 3x3 rotation matrix) at this point in the code, so I can draw the box in Open3D? Or is there any other way to visualize the bbox with this rot format.
Thank you for any help!