Implementation of IROS 2017 research paper: Shape priors for real-time monocular object localization in dynamic environments

input.txt file contains initialization values that you can copy and paste in the matlab command line.
To view the reprojection of a car of a particular sequence, frame and id change the input.txt parameters.

After initializing values you can run the script by the following command in matlab. Make sure you change your directory location for KITTI dataset in the code

# frame is the wireframe of the car
# seq - sequence
# frm - image frame
# camH - camera height
# avgCarWidth - average car width
# avgCarHeight - average car height
# avgCarLength - average car avgCarLength
# K - camera intrinsic matrix
complete_pipeline;