Bounding boxes, specified as an M-by-4,
M-by-5, or M-by-9 nonsparse numeric matrix of
M bounding boxes. Each row, M, of the matrix
defines a bounding box as either an axis-aligned rectangle, a rotate rectangle, or a
cuboid. The table below describes the format of the bounding boxes.

Bounding Box

Description

Axis-aligned rectangle

Defined in pixel
coordinates as an M-by-4 numeric matrix with rows of the form
[xywh], where:

M is the number of axis-aligned rectangles.

x and y specify the upper-left corner of the
rectangle.

w specifies the width of the rectangle, which is its length
along the x-axis.

h specifies the height of the rectangle, which is its length
along the y-axis.

Rotated rectangle

Defined in spatial
coordinates as an M-by-5 numeric matrix with rows of the form
[xctryctrxlenylenyaw], where:

M is the number of rotated rectangles.

xctr and yctr specify the center of the
rectangle.

xlen specifies the width of the rectangle, which is its length
along the x-axis before rotation.

ylen specifies the height of the rectangle, which is its length
along the y-axis before rotation.

yaw specifies the rotation angle in degrees. The rotation is
clockwise-positive around the center of the bounding box.

Cuboid

Defined in spatial
coordinates as an M-by-9 numeric matrix with rows of the form
[xctryctrzctrxlenylenzlenxrotyrotzrot], where:

M is the number of cuboids.

xctr, yctr, and zctr
specify the center of the cuboid.

xlen, ylen, and zlen
specify the length of the cuboid along the x-axis,
y-axis, and z-axis, respectively, before
rotation.

xrot, yrot, and zrot
specify the rotation angles of the cuboid around the x-axis,
y-axis, and z-axis, respectively. The
xrot, yrot, and zrot
rotation angles are in degrees about the cuboid center. Each rotation is
clockwise-positive with respect to the positive direction of the associated spatial
axis. The function computes rotation matrices assuming ZYX order
Euler angles [xrotyrotzrot].

The figure shows how these values determine the position of a cuboid.

scale — Scale scalar (default) | row vector

Scale, specified as a scalar or a row vector. When you specify a scalar, the
function applies the same scale factor to the height and width of the bounding boxes in
bboxA. When you specify a row vector, the function applies the
factor in the first element of the vector to resize the height and the second element to
resize the width of the bounding boxes.

Warped bounding boxes, returned as an M2-by-N
matrix of M2 bounding boxes. The number of bounding boxes returned is
less than the number of bounding boxes in the input. Each row, M2, of
the matrix defines one bounding box of the same type as the input
bboxA.

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