fix: cuboid projection passes wrong point list to projectPoints

[andrewwhitecdw]

Problem

fix: cuboid projection passes wrong point list to projectPoints

Fix

Replace:

        transformed_vertices = [0, 0, 0] * CuboidVertexType.TotalVertexCount
        for vertex_index in range(CuboidVertexType.TotalVertexCount):
            vertex3d = self._vertices[vertex_index]
            transformed_vertices[vertex_index] = world_transform_matrix * vertex3d

        projected_vertices = cv2.projectPoints(transformed_vertices, rvec, tvec, 
                                camera_intrinsic_matrix, dist_coeffs)

        return Cuboid2d(projected_vertices)

with:

        transformed_vertices = []
        for vertex_index in range(CuboidVertexType.TotalVertexCount):
            vertex3d = self._vertices[vertex_index]
            transformed_vertices.append(world_transform_matrix * vertex3d)
        transformed_vertices = np.array(transformed_vertices, dtype=np.float32)

        projected_vertices, _ = cv2.projectPoints(transformed_vertices, rvec, tvec, 
                                camera_intrinsic_matrix, dist_coeffs)

        return Cuboid2d(projected_vertices.reshape(-1, 2))

Files changed

• nvdu/core/cuboid.py

[andrewwhitecdw]

Closing this sweep-generated PR: sole commit is missing a valid Signed-off-by trailer. It does not meet the sweep requirements (single signed-off commit).