simplify bbox extraction code

data/scannet/load_scannet_data.py

@@ -61,15 +61,10 @@ def extract_bbox(mesh_vertices, object_id_to_segs, object_id_to_label_id,
  obj_pc = mesh_vertices[instance_ids == obj_id, 0:3]
  if len(obj_pc) == 0:
  continue
- xmin = np.min(obj_pc[:, 0])
- ymin = np.min(obj_pc[:, 1])
- zmin = np.min(obj_pc[:, 2])
- xmax = np.max(obj_pc[:, 0])
- ymax = np.max(obj_pc[:, 1])
- zmax = np.max(obj_pc[:, 2])
- bbox = np.array([(xmin + xmax) / 2, (ymin + ymax) / 2,
- (zmin + zmax) / 2, xmax - xmin, ymax - ymin,
- zmax - zmin, label_id])
+ xyz_min = np.min(obj_pc, axis=0)
+ xyz_max = np.max(obj_pc, axis=0)
+ bbox = np.concatenate([(xyz_min + xyz_max) / 2.0, xyz_max - xyz_min,
+ np.array([label_id])])
  # NOTE: this assumes obj_id is in 1,2,3,.,,,.NUM_INSTANCES
  instance_bboxes[obj_id - 1, :] = bbox
  return instance_bboxes