What is the target of all this ? Driving in an automotive scenario with a given speed and turnrate at any moment, we want to predict the displacement of a 2D-projection (pixel) between two frames:
By using the camera-calibration, I can create artificial curves and walls as 3D point-sets and project them back to 2D. Using discretized values for speed, turnrate, streetwidth and wall-height, I can then simulate the displacement of these 3D-Points when they are projected to 2D (our image).
(Note for me: this is the backprojection-code, main-file: main_displacements.py)