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The DetectVehicles function groups and classifies points as front, center, back_left or back_right. Points that appear to not belong to a vehicle are discarded.

The Queue collects the 50 most recent samples of the vehicle points. This is necessary, as the vehicle ID can not be determined from a single image.

The DetectVehicleID function extracts the ID for each vehicle from the last second (50 frames) of vehicle points.

The PoseCalculation function calculates the vehicle reference pose based on the front, back_left and back_right points. The calculation is based on manually collected calibration data. See https://git.rwth-aachen.de/CPM/Project/Lab/software/tree/master/matlab_scripts/ips_pose_calibration