Checks if we should see the ball and bumps covariance if we don't.
Also removes kalman filter as we don't have too much noise currently and is simplifies the code and enables more non linear modelling of the ball behavior.
Proposed changes
Create a subscription on the camera info topic to get the camera matrix
test whether it is in fov by transforming it into the camera frame and applying the camera matrix
Summary
Checks if we should see the ball and bumps covariance if we don't. Also removes kalman filter as we don't have too much noise currently and is simplifies the code and enables more non linear modelling of the ball behavior.
Proposed changes
Create a subscription on the camera info topic to get the camera matrix
test whether it is in fov by transforming it into the camera frame and applying the camera matrix
Related issues
230
Checklist
[ ] Run
colcon build[ ] Write documentation
[ ] Test on your machine
[ ] Test on the robot
[ ] Create issues for future work
[x] Triage this PR and label it