projecting 3D points to images

[samarth-robo]

[from an email query]

Basically, I am trying to project the 3D vertices of objects on to provided 2D images. I use the following transformations: ​ projected2d_verts = (cam_intrinsics @ (cp.obj_poses[:3, :3] @ obj3d_verts.T) + cp.obj_poses[:3, 3].reshape(3,1))

But I am getting below(wrong) projection(object projection is at the top left which should have been overlapping the mug in the hand) ​ ​ I am not able to find what's wrong here. Would you have any suggestions to rectify this? ​ Thanks a lot in Advance for your time on this issue.

[samarth-robo]

Please use the project() function from utilities/misc.py.

An example is shown in the Utilities section of the demo iPython notebook.

[anilesec]

Thank you!