Decision de-distord & trim (aim node)

[Sebdar]

Our "contract" with the C&S team is to give them an absolute position for the turret, which is not the case yet. We have to transform the $x, y$ coordinates from a bounding box to an absolute turret position $\theta, \phi$ which depends on :

• The current position of the turret (using a TF2 coordinate frame)
• The distortion from the camera (using OpenCV's camera matrix & dedisotord features)