utils/pc_util.py [405:425]:
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        return rotmat

    def convert_oriented_box_to_trimesh_fmt(box):
        ctr = box[:3]
        lengths = box[3:6]
        trns = np.eye(4)
        trns[0:3, 3] = ctr
        trns[3,3] = 1.0            
        trns[0:3,0:3] = heading2rotmat(box[6])
        box_trimesh_fmt = trimesh.creation.box(lengths, trns)
        return box_trimesh_fmt

    scene = trimesh.scene.Scene()
    for box in scene_bbox:
        scene.add_geometry(convert_oriented_box_to_trimesh_fmt(box))        
    
    mesh_list = trimesh.util.concatenate(scene.dump())
    # save to ply file    
    trimesh.io.export.export_mesh(mesh_list, out_filename, file_type='ply')
    
    return
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utils/pc_util.py [444:464]:
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        return rotmat

    def convert_oriented_box_to_trimesh_fmt(box):
        ctr = box[:3]
        lengths = box[3:6]
        trns = np.eye(4)
        trns[0:3, 3] = ctr
        trns[3,3] = 1.0            
        trns[0:3,0:3] = heading2rotmat(box[6])
        box_trimesh_fmt = trimesh.creation.box(lengths, trns)
        return box_trimesh_fmt

    scene = trimesh.scene.Scene()
    for box in scene_bbox:
        scene.add_geometry(convert_oriented_box_to_trimesh_fmt(box))        
    
    mesh_list = trimesh.util.concatenate(scene.dump())
    # save to ply file    
    trimesh.io.export.export_mesh(mesh_list, out_filename, file_type='ply')
    
    return
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