update docstring

Signed-off-by: Kenji Brameld <[email protected]>

ipm_library/ipm_library/ipm.py

@@ -88,9 +88,12 @@ def map_point(
 
         :param plane: Plane in which the mapping should happen
         :param point: Point that should be mapped
-        :param time: Time at which the point (or the image where it is from) is was captured
-        :param plane_frame_id: TF2 frame referenced for the plane
-        :param output_frame_id: TF2 frame in which the output should be provided
+        :param time: Time that point (or the image where it is from) was captured. If not
+            provided, current time will be used for transforms.
+        :param plane_frame_id: TF2 frame that the plane is defined in. If not provided, it is
+            assumed that the plane is in CameraInfo's frame.
+        :param output_frame_id: TF2 frame in which the output should be provided. If not provided,
+            the returned point will be in CameraInfo's frame.
         :rasies CameraInfoNotSetException if camera info has not been provided
         :raise: InvalidPlaneException if the plane is invalid
         :raise: NoIntersectionError if the point is not on the plane
@@ -131,9 +134,12 @@ def map_points(
         :param plane_msg: Plane in which the mapping should happen
         :param points: Points that should be mapped in the form of
             a nx2 numpy array where n is the number of points
-        :param time: Time at which the point (or the image where it is from) is was captured
-        :param plane_frame_id: TF2 frame referenced for the plane
-        :param output_frame_id: TF2 frame in which the output should be provided
+        :param time: Time that points (or the image where it is from) was captured. If not
+            provided, current time will be used for transforms.
+        :param plane_frame_id: TF2 frame that the plane is defined in. If not provided, it is
+            assumed that the plane is in CameraInfo's frame.
+        :param output_frame_id: TF2 frame in which the output should be provided. If not provided,
+            the returned points will be in CameraInfo's frame.
         :returns: The points mapped onto the given plane in the output frame
         :rasies CameraInfoNotSetException if camera info has not been provided
         :raises InvalidPlaneException if the plane is invalid

ipm_library/test/test_ipm.py

@@ -75,9 +75,7 @@ def test_ipm_map_point_no_transform():
     point_original = np.array([[point_original_x], [point_original_y]])
     point_original_msg = Point2D(x=point_original_x, y=point_original_y)
     # Map points
-    point_mapped_msg = ipm.map_point(
-        plane,
-        point_original_msg)
+    point_mapped_msg = ipm.map_point(plane, point_original_msg)
     # Perform projection back into 2D image using projection matrix K to ensure that
     # it's the same as the original point
     point_mapped_vec = np.array([[point_mapped_msg.point.x],

ipm_service/ipm_service/ipm.py

@@ -111,7 +111,7 @@ def point_cloud_mapping_callback(
 
         # Map optional output_frame_id from '' to None
         if request.output_frame_id == '':
-            output_frame_id = self.ipm.get_camera_info().header.frame_id
+            output_frame_id = None
         else:
             output_frame_id = request.output_frame_id
 

ipm_service/test/test_ipm_service.py

@@ -20,7 +20,7 @@
 from sensor_msgs.msg import CameraInfo
 from sensor_msgs_py.point_cloud2 import create_cloud, PointField, read_points_numpy
 from shape_msgs.msg import Plane
-from std_msgs.msg import Header, String
+from std_msgs.msg import Header
 from tf2_ros import Buffer
 from vision_msgs.msg import Point2D
 
@@ -158,9 +158,7 @@ def test_map_point():
     assert future.result().result == MapPoint.Response.RESULT_SUCCESS
 
     ipm = IPM(Buffer(), camera_info)
-    expected_point = ipm.map_point(
-        plane,
-        point)
+    expected_point = ipm.map_point(plane, point)
     assert future.result().point == expected_point
 
     rclpy.shutdown()
@@ -249,9 +247,7 @@ def test_map_point_cloud():
     assert future.result().result == MapPointCloud2.Response.RESULT_SUCCESS
 
     ipm = IPM(Buffer(), camera_info)
-    _, expected_points = ipm.map_points(
-        plane,
-        points)
+    _, expected_points = ipm.map_points(plane, points)
 
     np.testing.assert_allclose(
         read_points_numpy(future.result().points),