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[#1240] Implement projection to 2d

Yunus Emre Çalışkan requested to merge 983-implement-2d-projection into master

Description

Notes for reviewer

This MR implements a 3D to 2D projection for autoware_auto_msgs::msg::Shapes given intrinsics and an ego->camera transform.

This is required for #983 (closed).

Closes #1240 (closed)

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Checklist

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Edited by Yunus Emre Çalışkan

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