Box transformation

[WangYueFt]

Thanks so much for the great code base. If my coordinate system is like the following, do you know how I should do the transformation? Thanks!

front: x left: y z: up the definition of yaw is like: y axis: -pi y axis negative: 0 x axis: -pi/2

[lilanxiao]

Hmm, my code uses a common right-handed coordinate system. But your coordinate system looks special.

Suppose a bounding box in your coordinate system is defined with 7 parameters (x, y, z, a, b, c, angle), you could transform it to (-y, x, z, b, a, c, angle).

Then, the parameters should be compatible with my code.