More tests for Particle Filter

[MinhxNguyen7]

Description

Add tests in https://github.com/uci-uav-forge/uavf_2024/blob/drone-tracking/tests/imaging/drone_tracker_tests.py to test the Kalman filter prediction. We need to simulate the bounding boxes given arbitrary ground truth paths and test the particle filtering against it.

TODOs

• Given positions of the other drone and poses of our drone, both following arbitrary paths, create artificial bounding boxes.
  • Face the "camera" towards an arbitrary point so that the other drone might suddenly appear in frame.
  • This is already done in compute_measurement in `uavf_2024/imaging/particle_filter.py
• Take the bounding boxes, feed them into the particle filtering, and compute the loss between its output and the ground truth generated chosen above.