Pitch and Roll Estimate

[Daniel-Martin576]

Pitch, roll estimate for point projector for Sedanii -- test accuracy of the current projector

Our point projector takes in a camera image (usually a binary image of the lines detected) and maps every pixel in the image to a point in a point cloud (so that pixels higher in the image are farther away and vice versa). This works okay when the car is steady since we assume the camera is at a fixed angle; however, when our car jerks forward and backward during sudden accelerations the projected points will quickly appear really close then super far away. We need a pitch and roll estimator so that we know the current position of the camera to correct this.

Due: Jan 19