instance_crop.hpp

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// SPDX-FileCopyrightText: 2026 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
// Pinhole projection of a set of world-space points into a sensor frame, and
// selection of the best view + 2D bounding box for cropping an instance out of
// its color image (#373).
//
// The projection math mirrors what vision/project.cpp does with rtabmap
// (world -> base via pose^-1, base -> camera via localTransform^-1, then a
// pinhole divide), but is reimplemented here with plain Eigen so it is small,
// dependency-light and directly unit-testable — no rtabmap CameraModel, no
// z-buffer. We only need where the points land, not a full depth render.
 
#include "reusex/core/SensorIntrinsics.hpp"
 
#include <Eigen/Core>
 
#include <array>
#include <cstddef>
#include <optional>
#include <vector>
 
namespace reusex::vision {

struct ProjectedBox {
  int x_min = 0, y_min = 0, x_max = 0, y_max = 0;
  int in_bounds = 0; 
};

std::optional<ProjectedBox>
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);
 
} // namespace reusex::vision