BoundingBoxes3D don't render correctly when a part of it is outside the image

[Ardorax]

Under certain condition, a BoundingBoxes3D can be incorrectly draw if a part of it is outside the image.

import numpy as np
from aloscene import Frame, BoundingBoxes3D, CameraExtrinsic, CameraIntrinsic

frame = Frame(np.zeros((3, 275, 1242)))


intrisic = CameraIntrinsic(np.array([[721.5377, 0.0, 609.5593, 0.0], [0.0, 721.5377, 172.854, 0.0], [0, 0, 1, 0]]))
extrinsic = CameraExtrinsic(np.array([[1, 0, 0, 0.062169], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]))
frame.append_cam_intrinsic(intrisic)
frame.append_cam_extrinsic(extrinsic)
box3d = BoundingBoxes3D([[3.577114, 0.6670290000000001, 1.436819, 1.895275, 2.195312, 5.530314, 3.1704533267948967]])
frame.append_boxes3d(box3d)

# Box3D don't render correctly
frame.get_view().render()

[Aurelien-VB]

Le bug persiste même avec tous les points dans l'image

import numpy as np
from aloscene import Frame, BoundingBoxes3D, CameraExtrinsic, CameraIntrinsic

frame = Frame(np.zeros((3, 1000, 1242)))


intrisic = CameraIntrinsic(np.array([[721.5377, 0.0, 309.5593, 0.0], [0.0, 721.5377, 300.854, 0.0], [0, 0, 1, 0]]))
extrinsic = CameraExtrinsic(np.array([[1, 0, 0, 0.062169], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]))
frame.append_cam_intrinsic(intrisic)
frame.append_cam_extrinsic(extrinsic)
box3d = BoundingBoxes3D([[3.577114, 0.6670290000000001, 1.436819, 0.895275, 2.195312, 5.530314, 3.1704533267948967]])
frame.append_boxes3d(box3d)

# Box3D don't render correctly
frame.get_view().render()```