class_docstr: This is a module responsible for creating 3D bounding boxes and drawing them
  client-side on pygame surface.
class_docstr_tok: ["This","is","a","module","responsible","for","creating","3D","bounding","boxes","and","drawing","them","client-side","on","pygame","surface","."]
docstr: Transforms coordinates of a vehicle bounding box to world.
docstr_tok: ["Transforms","coordinates","of","a","vehicle","bounding","box","to","world","."]
code: def _vehicle_to_world(cords, vehicle):
      """
      Transforms coordinates of a vehicle bounding box to world.
      """
  
      bb_transform = carla.Transform(vehicle.bounding_box.location)
      bb_vehicle_matrix = ClientSideBoundingBoxes.get_matrix(
          bb_transform
      )
      vehicle_world_matrix = ClientSideBoundingBoxes.get_matrix(
          vehicle.get_transform()
      )
      bb_world_matrix = np.dot(vehicle_world_matrix, bb_vehicle_matrix)
      world_cords = np.dot(bb_world_matrix, np.transpose(cords))
      return world_cords
  
imports: import glob
  import os
  import sys
  import carla
  import weakref
  import random
label_desc: Use image node_id 6 for calling the ClientSideBoundingBoxes obj's underlying member method code with example usage: obj._vehicle_to_world(cords, vehicle) and returns: world_cords