Regarding 3D bounding box visualisation in non blocking point cloud sequences

[ParvezAlam123]

Hello everyone,
I have written code for 3D bounding box visualisation as follows:
class NonBlockVisualizer:
def init(self, point_size=1, background_color=[0, 0, 0]):
self.__visualizer = o3d.visualization.Visualizer()
self.__visualizer.create_window()
opt = self.__visualizer.get_render_option()
opt.background_color = np.asarray(background_color)
opt = self.__visualizer.get_render_option()
opt.point_size = point_size

    self.__pcd_vis = o3d.geometry.PointCloud()
    self.__initialized = False
    
    self.view_control = self.__visualizer.get_view_control()
    
    
    
 
     
    
    
    
    

def add_bounding_box(self, center, length, width, height, orientation):
   # Define the vertices of the bounding box
   vertices = np.asarray([
         [length/2, width/2, height/2],
         [-length/2, width/2, height/2],
         [-length/2, -width/2, height/2],
         [length/2, -width/2, height/2],
         [length/2, width/2, -height/2],
         [-length/2, width/2, -height/2],
         [-length/2, -width/2, -height/2],
         [length/2, -width/2, -height/2]])

   # Rotate the vertices based on the orientation
   R = np.array([[np.cos(orientation), -np.sin(orientation), 0],
              [np.sin(orientation), np.cos(orientation), 0],
              [0, 0, 1]])
   vertices = vertices @ R.T

   # Translate the vertices to the center of the bounding box
   vertices = vertices + center

   # Define the edges of the bounding box
   edges = np.array([[0, 1], [1, 2], [2, 3], [3, 0],
                  [4, 5], [5, 6], [6, 7], [7, 4],
                  [0, 4], [1, 5], [2, 6], [3, 7]])

   # Create the LineSet geometry
   line_set = o3d.geometry.LineSet()
   line_set.points = o3d.utility.Vector3dVector(vertices)
   line_set.lines = o3d.utility.Vector2iVector(edges)

   # Set the colors of the edges
   colors = [[1, 0, 0] for i in range(len(edges))]
   line_set.colors = o3d.utility.Vector3dVector(colors)
   
   
   

   
   
   return line_set 
   
   


def update_renderer(self, pcd, bb_list, wait_time=0):
    self.__pcd_vis.points = pcd.points
    self.__pcd_vis.colors = pcd.colors
    
    
    
    if not self.__initialized:
        self.__initialized = True
        self.__visualizer.add_geometry(self.__pcd_vis)
        
      
        for dim_of_bb in bb_list:
           line_set = self.add_bounding_box(dim_of_bb[0], dim_of_bb[1], dim_of_bb[2], dim_of_bb[3], dim_of_bb[4])
           self.__visualizer.add_geometry(line_set)
           lines.append(line_set)
              
    else:
        self.__visualizer.update_geometry(self.__pcd_vis)
        
        for i in range(len(lines)):
           self.__visualizer.remove_geometry(lines[i])
           
        lines.clear() 
      
        for dim_of_bb in bb_list:
           line_set = self.add_bounding_box(dim_of_bb[0], dim_of_bb[1], dim_of_bb[2], dim_of_bb[3], dim_of_bb[4], )
           self.__visualizer.add_geometry(line_set)
           lines.append(line_set) 
    
      
    
       
    
    
             
    
    self.view_control.set_zoom(0.2)  
    #self.view_control.rotate(45,30)
    self.__visualizer.poll_events()
    self.__visualizer.update_renderer()
    
    #self.__visualizer.run() 

Can anyone give me better code, in the above code point cloud sequence is going one place to another not stable, ?