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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

The implementation can be found at https://git.rwth-aachen.de/CPM/Project/Lab/software/tree/master/ips2/src