function?[corners_2Dface_idx]?=?computeBox3D（objectP）
%?takes?an?object?and?a?projection?matrix?（P）?and?projects?the?3D
%?bounding?box?into?the?image?plane.

%?index?for?3D?bounding?box?faces
face_idx?=?[?1265???%?front?face
?????????????2376???%?left?face
?????????????3487???%?back?face
?????????????4158];?%?right?face

%?compute?rotational?matrix?around?yaw?axis
R?=?[+cos（object.ry）?0?+sin（object.ry）;
???????????????????0?1???????????????0;
?????-sin（object.ry）?0?+cos（object.ry）];

%?3D?bounding?box?dimensions
l?=?object.l;
w?=?object.w;
h?=?object.h;

%?3D?bounding?box?corners
x_corners?=?[l/2?l/2?-l/2?-l/2?l/2?l/2?-l/2?-l/2];
y_corners?=?[0000-h-h-h-h];
z_corners?=?[w/2?-w/2?-w/2?w/2?w/2?-w/2?-w/2?w/2];

%?rotate?and?translate?3D?bounding?box
corners_3D?=?R*[x_corners;y_corners;z_corners];
corners_3D（1:）?=?corners_3D（1:）?+?object.t（1）;
corners_3D（2:）?=?corners_3D（2:）?+?object.t（2）;
corners_3D（3:）?=?corners_3D（3:）?+?object.t（3）;

%?only?draw?3D?bounding?box?for?objects?in?front?of?the?camera
if?any（corners_3D（3:）<0.1）?
??corners_2D?=?[];
??return;
end

%?project?the?3D?bounding?box?into?the?image?plane
corners_2D?=?projectToImage（corners_3D?P）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????1215??2013-10-03?12:39??xiaoche\computeBox3D.m

?????文件????????950??2013-10-03?12:39??xiaoche\computeOrientation3D.m

?????文件???????1187??2014-02-28?15:43??xiaoche\drawBox2D.m

?????文件???????1147??2013-10-03?12:39??xiaoche\drawBox3D.m

?????文件????????579??2013-10-03?12:39??xiaoche\projectToImage.m

?????文件????????461??2013-10-03?12:39??xiaoche\readCalibration.m

?????文件???????2009??2014-02-28?15:43??xiaoche\readLabels.m

?????文件???????3782??2014-02-28?15:43??xiaoche\run_demo.m

?????文件????????906??2014-02-28?15:43??xiaoche\run_readWriteDemo.m

?????文件???????3029??2014-02-28?15:43??xiaoche\visualization.m

?????文件???????3322??2014-02-28?15:43??xiaoche\writeLabels.m

?????目錄??????????0??2018-03-02?11:54??xiaoche

-----------?---------??----------?-----??----

????????????????18587????????????????????12