Add 3d bbox file

bbox_3d.py

+import numpy as np
+
+
+def get_bbox(ext):
+    pcd_bbox = np.array([
+        [ext[0], ext[1], ext[2]],
+        [- ext[0], ext[1], ext[2]],
+        [ext[0], - ext[1], ext[2]],
+        [- ext[0], - ext[1], ext[2]],
+        [ext[0], ext[1], - ext[2]],
+        [- ext[0], ext[1], - ext[2]],
+        [ext[0], - ext[1], - ext[2]],
+        [- ext[0], - ext[1], - ext[2]]
+    ])
+
+    return pcd_bbox
+
+
+def generate_3d_bbox(data_name):
+    objs = {"Banana": [0.029497003182768822, 0.15110498666763306, 0.060593008995056152],
+            "Orange": [0.073495000600814819, 0.075856998562812805, 0.074581995606422424],
+            "Pear": [0.066010989248752594, 0.12873399630188942, 0.06739199161529541]}
+    for key, val in objs.items():
+        ext = [x / 2 for x in val]
+        bbox = get_bbox(ext)
+        np.savetxt(f'{data_name}/Bbox/{key}_bbox_3d.txt', bbox)
+        # print(ext)
+