instance_crop.hpp File Reference

#include "reusex/core/SensorIntrinsics.hpp"
#include <Eigen/Core>
#include <array>
#include <cstddef>
#include <optional>
#include <vector>

Include dependency graph for instance_crop.hpp:

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Classes
struct	reusex::vision::ProjectedBox
	A projected 2D bounding box of an instance in one frame, with the count of points that landed inside the image. More...

Namespaces
namespace	reusex
namespace	reusex::vision

Functions
std::optional< ProjectedBox >	reusex::vision::project_points_to_box (const std::vector< Eigen::Vector3f > &world_points, const std::array< double, 16 > &pose, const core::SensorIntrinsics &intrinsics, int image_width, int image_height)
	Project world_points into the camera described by pose (row-major 4x4 base-to-world) and intrinsics, returning the pixel bounding box of the points that fall in front of the camera AND inside the image.