The IPS software has two major components, the LED detection and the IPS pipeline. The LED detection reads images from the camera at 50 Hz and extracts the list of image coordinates for all visible LEDs. These
LedPoints are published via DDS. The raw images are not saved or published, as this would create impractically large data volumes. The IPS pipeline processes the LED points and publishes
VehicleObservations, which include the vehicle's position, orientation, identity and a timestamp.
The LED detection uses the OpenCV functions
cv::findContours to find the centers of the LEDs.