ros-perception
Overload of createAABB2D() with signed int arguments
If the upper left corner of the bounding box has negative coordinates, the createAABB2D() with unsigned arguments will return an invalid result, because negative values will be converted to unsigned int. This can happen, for example, when data from cv::Rect returned by an OpenCV tracking algorithm is passed to createAABB2D().
Adding an overload with signed arguments would solve the problem.
How it is possible to have negative coordinates? These are in the image frame. There's no negative coordinate indices
How it is possible to have negative coordinates? These are in the image frame. There's no negative coordinate indices
You can have bounding box outside (at least partially) of your image. Some OpenCV trackers return such bounding boxes.