localize

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localize#

rapidtools.processing.street_localization.localize(obs: Observation, camera_height_m: float = 2.4, min_range_m: float = 2.0, max_range_m: float = 60.0, min_area_fraction: float = 5e-06) → bool[source]#

Fill in the single-view ground position of an observation.

Sets bearing, elevation, range_m, lon and lat on obs and returns True when the geometry is plausible. Detections that are too small, have no ground contact, or fall outside the range window are left without a position and False is returned.

The bearing and elevation come from the full camera pose when the observation carries Mapillary’s computed_rotation in extra (see observation_angles()); otherwise the camera is assumed level.

Parameters:

  • obs – The observation to update in place.

  • camera_height_m – Height of the camera above the ground.

  • min_range_m – Closest plausible object (the ego vehicle and the road surface sit inside this radius).

  • max_range_m – Farthest single-view range worth keeping as a prior.

  • min_area_fraction – Outlines smaller than this share of the image are treated as noise. The default only rejects decoding garbage; whether an object is large enough is decided in metres by classify_track().

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