Coordinate Transform

[rland93]

We need to transform the coordinate system from image coordinates to "world" coordinates. We use this by leveraging the information that we know about the system:

• Current heading
• Current altitude
• Camera FOV, vertical and horizontal

We need to compute the transform between the camera coordinates to world coordinates, as shown in this image:

Finding this transformation is related to finding the viewing frustum.

Unfortunately, we will not be able to test your solution until we do an actual flight test with localization.

[rland93]

this was fixed in #9 but I want to review before closing

[rland93]

Added 714a793

But leaving open pending integration.

[rland93]

Since this isn't integrated yet, I'm going to move it to an unspecified (later) release.

[rland93]

@dangthanhan507 Looks good. Yeah, that is intentional, since we want as much surface area in the python package rather than in the ROS codebase. The merging of attitude data and object coordinate data will have to happen in #54