Feature/vision_tracking_control

[mkabtoul]

Adds Vision target tracking controllers using RGB or RGBD information

This PR includes significant set of features, improvements, and fixes focused on the vision-based controller modules. It also improves documentation coverage.

The PR also removes Matplotlib, Pandas, Omegaconf and Scipy from the dependencies.

Features Summary:

• Adds VisionDWA C++ class that implements a depth-based vision target tracking controller using DWA sampling
• Adds Python wrapper class
• Integrated 3D box tracking with a new internal Kalman filter-based state estimator.
• Enabled switching between global and local coordinate references.
• Enabled configurable search behavior for tracking loss recovery.
• Adds RGBFollower class that implemented pure RGB image based target tracking controller along with its Python wrapper
• Refactored old VisionFollower class to unify interfaces for RGB and RGB-D use cases.

[aleph-ra]

Ready to merge after discussed fixes.