/Coop-Evidential-Occupancy-Grid

The goal of this project is to locate vehicles at an intersection using the data of vehicles streamed to the infrastructure to locate everyone.

Primary LanguagePython

upstream-coop-loc

The goal of this project is to locate vehicles at an intersection using the data of vehicles streamed to the infrastructure to locate everyone.

Documentation

ROS Launch

bbox_gol_test

Runs

  • position of : car 1
  • position of : car 2
  • position of : car 3
  • GOL_publisher

gol_gog

simple_test

ROS Nodes

GOL_publisher

This node takes the positions of the cars available and draw theme on the image

Publish

  • Image (with 2D BBox drawn)

Subscribe

  • Image (from camera)
  • BBox 3D

gndTruthCAR

Publish

  • BBox 3D

Subscribe

Nothing

Param

  • Path to the json of the vehicle information

Classes & functions

BBoxManager

drawBoxes

Draw 3D Bounding box on the image.

IN
  • image
  • BBox3D
OUT
  • image with 3D bbox drawn

draw2DBoxes

Draw 2D Bounding box on the image.

IN
  • image
  • BBox3D
OUT
  • image with 2D bbox drawn
  • list of 2D bbox
    • list of 2D points on the image (4 elements, one per corner). Note that everything remains drawn, even if not on the images.