The projection of 3D box

[LuPaoPao]

I projected the 3D box onto the 2D pixel plane, but the orientation of the box was wrong. I did this:

step 1: Convert the orientation to a rotation matrix and then to a quaternion, using the corner points of the box.

def xyz2Quaternion(xyz):
rot = np.array(xyz)
rot_matrix = R.from_euler("xyz", rot, degrees=False).as_matrix()
return Quaternion(matrix=rot_matrix)

step 2: Convert the orientation to a rotation matrix and then to a quaternion, using the corner points of the box.
camera_intrinsic= [[640.0, 0.0, 640.0],
[0.0, 640.0, 400.0],
[0.0, 0.0, 1.0]]}
view = np.eye(4)
view[:3, :3] = np.array(camera_intrinsic)
in_front = corners_3d[2, :] > 0.1
if all(in_front) is False:
continue
points = corners_3d
points = np.concatenate((points, np.ones((1, points.shape[1]))), axis=0)
points = np.dot(view, points)[:3, :]
points /= points[2, :]