Projecting detected planes into image coordinates about objectron HOT 1 OPEN

Your code seems correct to me. The planes are estimated by the AR tracking system in 3D, across multiple previous frames. So they are not limited just to the current frames and they might be out of the boundaries, or even behind the camera (thus negative values). Also I would trust the planes in the later frames in the video more, as the tracking system had more time to refine those planes. You can get more information about plane geometry from this reference.

It is easier to visualize it in 3D:

If you want to get plane points visible in the camera, you need to create a grid from the plane polygons and for each point on the grid, project it and check if it is visible in the image.

Also thanks for the bug-report, currently the bike videos have an issue where the portrait mode of the video is not properly detected by ffmpeg. I will fix it in the next update.

from objectron.