I need to place a car in the road scene(cityScapes). Car image should have a proper size according to its distance from the camera. So I have a real size of the car like its width(2.5m), camera parameters matrix(fx,fy,cx,cy), JSON with segmentation and I can place a horizon.
I already have a polygon of the road and I think it is something to do with this formula:
but I am not sure how to place coordinates correctly(like I don't have Z)
I don't ask about full-working code, I just need tips about a geometry model to use.