update backend constants with image_geometry::PinholeCameraModel() data

[redto0]

The Issue

Currently the Backend of the planner uses constant values for translating points from provided camera space into normal kart space. This works for each individual Detection method in SIM but will not work for real life and future methods. We need to delete these constant values and use the correct values from the camera model.

What We Need

1. Research regarding relevant functions and there required Data.
2. People to write and TEST these ideas.
3. Research into how the Camera model works so we can arcuately use its data
4. Updating how we use this with the PinholeCameraModel() in the backend::cameraPixelToGroundPos() function of line 89
5. In addition, the perception nodes (road_detectors) will also need to reflect the planners use of the TF2 frames.

What we know

this is issue is directly tied to issue #6. Although this now superseeds that issue, our knowledge gained by solving will help you with this task.

We know that most, if not all of this data will be stored in the image_geometry model which is obtained from the camera. We know that the PinholeCameraModel is designed to work with the camera model for normal operations. Fortunity we already subscribe to this data in the planner already, so getting it will not be an issue!

Keep in mind

As always you should create a development branch from yourself, in this case forked from Jared_setup_redtoo_dev. I would recommend using the lab computers as they already have the phoniex repo setup. If you are interested in using you own device, make sure to use ubuntu 22.04 and folow the instructions for installing ROS2 and Phoenix by following the readme!

If you have questions, comments, concerns or find yourself lost feel free to reach out to Derek, Alex or Jared for help. In addition, the #planning channel in the discord is always a great place to look for help.

Useful links

https://wiki.ros.org/image_geometry
https://docs.ros.org/en/diamondback/api/image_geometry/html/c++/classimage__geometry_1_1PinholeCameraModel.html

CAMERA DOCS

https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CameraInfo.html