utils/box_util.py [266:285]:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    input_shape = angle.shape
    R = roty_batch(angle)
    l = np.expand_dims(box_size[..., 0], -1)  # [x1,...,xn,1]
    w = np.expand_dims(box_size[..., 1], -1)
    h = np.expand_dims(box_size[..., 2], -1)
    corners_3d = np.zeros(tuple(list(input_shape) + [8, 3]))
    corners_3d[..., :, 0] = np.concatenate(
        (l / 2, l / 2, -l / 2, -l / 2, l / 2, l / 2, -l / 2, -l / 2), -1
    )
    corners_3d[..., :, 1] = np.concatenate(
        (h / 2, h / 2, h / 2, h / 2, -h / 2, -h / 2, -h / 2, -h / 2), -1
    )
    corners_3d[..., :, 2] = np.concatenate(
        (w / 2, -w / 2, -w / 2, w / 2, w / 2, -w / 2, -w / 2, w / 2), -1
    )
    tlist = [i for i in range(len(input_shape))]
    tlist += [len(input_shape) + 1, len(input_shape)]
    corners_3d = np.matmul(corners_3d, np.transpose(R, tuple(tlist)))
    corners_3d += np.expand_dims(center, -2)
    return corners_3d
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -



utils/box_util.py [362:381]:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    input_shape = angle.shape
    R = roty_batch(angle)
    l = np.expand_dims(box_size[..., 0], -1)  # [x1,...,xn,1]
    w = np.expand_dims(box_size[..., 1], -1)
    h = np.expand_dims(box_size[..., 2], -1)
    corners_3d = np.zeros(tuple(list(input_shape) + [8, 3]))
    corners_3d[..., :, 0] = np.concatenate(
        (l / 2, l / 2, -l / 2, -l / 2, l / 2, l / 2, -l / 2, -l / 2), -1
    )
    corners_3d[..., :, 1] = np.concatenate(
        (h / 2, h / 2, h / 2, h / 2, -h / 2, -h / 2, -h / 2, -h / 2), -1
    )
    corners_3d[..., :, 2] = np.concatenate(
        (w / 2, -w / 2, -w / 2, w / 2, w / 2, -w / 2, -w / 2, w / 2), -1
    )
    tlist = [i for i in range(len(input_shape))]
    tlist += [len(input_shape) + 1, len(input_shape)]
    corners_3d = np.matmul(corners_3d, np.transpose(R, tuple(tlist)))
    corners_3d += np.expand_dims(center, -2)
    return corners_3d
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -