def generate_line(box_size, box_center, box_rotation, type_name): # global vis_level yaw = box_rotation dir = np.array([np.math.cos(yaw), np.math.sin(yaw), 0]) ortho_dir = np.array([-dir[1], dir[0], 0]) width = box_size[1] height = box_size[0] deep = box_size[2] center = box_center[0], box_center[1], box_center[2] center = np.array(center) # 计算八个点 points = np.array([[0.0, 0.0, 0.0] for i in range(8)]) z_dir = np.array([0.0, 0.0, 1.0]) points[0] = center + dir * (height * 0.5) + ortho_dir * (width * 0.5) - z_dir * (deep * 0.5) points[1] = center - dir * (height * 0.5) + ortho_dir * (width * 0.5) - z_dir * (deep * 0.5) points[2] = center - dir * (height * 0.5) - ortho_dir * (width * 0.5) - z_dir * (deep * 0.5) points[3] = center + dir * (height * 0.5) - ortho_dir * (width * 0.5) - z_dir * (deep * 0.5) points[4] = center + dir * (height * 0.5) + ortho_dir * (width * 0.5) + z_dir * (deep * 0.5) points[5] = center - dir * (height * 0.5) + ortho_dir * (width * 0.5) + z_dir * (deep * 0.5) points[6] = center - dir * (height * 0.5) - ortho_dir * (width * 0.5) + z_dir * (deep * 0.5) points[7] = center + dir * (height * 0.5) - ortho_dir * (width * 0.5) + z_dir * (deep * 0.5) points = [[points[point_id, 0], points[point_id, 1], points[point_id, 2]] for point_id in range(8)] points = np.array(points) lines = [[0, 1], [1, 2], [2, 3], [3, 0], [4, 5], [5, 6], [6, 7], [7, 4], [0, 4], [1, 5], [2, 6], [3, 7]] line_color = [np.array(box_colormap[label_name[type_name]]) for i in range(len(lines))] return points, lines, line_color给这段代码加注释

# 定义函数，接收四个参数：盒子大小，盒子中心，盒子旋转角度，盒子类型名称
def generate_line(box_size, box_center, box_rotation, type_name):
# 定义变量
# 计算盒子方向向量
yaw = box_rotation
dir = np.array([np.math.cos(yaw), np.math.sin(yaw), 0])
# 计算盒子方向向量的垂直向量
ortho_dir = np.array([-dir[1], dir[0], 0])
# 获取盒子的宽，高，深度和中心坐标
width = box_size[1]
height = box_size[0]
deep = box_size[2]
center = box_center[0], box_center[1], box_center[2]
center = np.array(center)

# 计算盒子的八个点
points = np.array([[0.0, 0.0, 0.0] for i in range(8)])
z_dir = np.array([0.0, 0.0, 1.0])
points[0] = center + dir * (height * 0.5) + ortho_dir * (width * 0.5) - z_dir * (deep * 0.5)
points[1] = center - dir * (height * 0.5) + ortho_dir * (width * 0.5) - z_dir * (deep * 0.5)
points[2] = center - dir * (height * 0.5) - ortho_dir * (width * 0.5) - z_dir * (deep * 0.5)
points[3] = center + dir * (height * 0.5) - ortho_dir * (width * 0.5) - z_dir * (deep * 0.5)
points[4] = center + dir * (height * 0.5) + ortho_dir * (width * 0.5) + z_dir * (deep * 0.5)
points[5] = center - dir * (height * 0.5) + ortho_dir * (width * 0.5) + z_dir * (deep * 0.5)
points[6] = center - dir * (height * 0.5) - ortho_dir * (width * 0.5) + z_dir * (deep * 0.5)
points[7] = center + dir * (height * 0.5) - ortho_dir * (width * 0.5) + z_dir * (deep * 0.5)

# 转化成列表格式
points = [[points[point_id, 0], points[point_id, 1], points[point_id, 2]] for point_id in range(8)]
points = np.array(points)

# 定义盒子的12条边
lines = [[0, 1], [1, 2], [2, 3], [3, 0], [4, 5], [5, 6], [6, 7], [7, 4], [0, 4], [1, 5], [2, 6], [3, 7]]

# 定义每条边的颜色
line_color = [np.array(box_colormap[label_name[type_name]]) for i in range(len(lines))]

# 返回盒子的点、边和颜色
return points, lines, line_color