def transform_coordinates_hsim_to_trimesh()

in scale_comparison/metrics.py [0:0]

• 3 lines of code
• 1 McCabe index (conditional complexity)

def transform_coordinates_hsim_to_trimesh(xyz: np.ndarray) -> np.ndarray:
    """
    Transforms points from hsim coordinates to trimesh.

    Habitat conventions: X is rightward, Y is upward, -Z is forward
    Trimesh conventions: X is rightward, Y is forward, Z is upward

    Args:
        xyz: (N, 3) array of coordinates
    """
    xyz_trimesh = np.stack([xyz[:, 0], -xyz[:, 2], xyz[:, 1]], axis=1)
    return xyz_trimesh