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Hi,

The object centered view is generated for the cases when the object is completely not in camera view or only a part of it is visible. That is, the object is not occluded by other object but the robot is not looking at the object at all, it's not in the view. In that case the number of visible pixels of the object will be 0. Please refer to chapter "3.1.2 Visibility Computation" on page 126 (142) of @Lorenz's thesis for in detail explanations:

https://mediatum.ub.tum.de/doc/1239461/1239461.pdf

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