Function slam_mer::map::helper::project

• Defined in File rasterization_helper.hpp

Function Documentation

std::tuple<bool, array4D_t> slam_mer::map::helper::project(const array3D_t &box3dMin_, const array3D_t &box3dMax_, const pose_t worldToCameraTransformation_, const intrinsics_t &intrinsics_)

Project a 3D axis-aligned bounding box to an image-space 2D box.

Parameters:

• box3dMin_ – Minimum world-space corner (x, y, z) of the 3D box.

• box3dMax_ – Maximum world-space corner (x, y, z) of the 3D box.

• worldToCameraTransformation_ – Pose that maps world coordinates to camera coordinates.

• intrinsics_ – Camera intrinsics used for projection.

Returns:

Tuple where: first value is true when projection produced valid image points; second value is image-space box (xMin, yMin, xMax, yMax).