I would like to ask you the details of using Cubeslam

[wangni-bupt]

In the code implementation, I found that the projection from 2D to 3D is assumed to be on the ground, but how is it done for the object on the desktop? Looking forward to your reply

'''
Vector4d ground_plane_world(0,0,1,0);
plane_hits_3d( transToWolrd,
invK,
ground_plane_sensor,
box_corners_2d_float.rightCols(4),
obj_gnd_pt_world_3d);
'''