Stereo processing for spryTrack #12
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The ctrk factory source was causing all components to be re-bridged every update, producing excessive warnings.
User manual states option ids associated with each device option name may change between SDK versions, so option list is queried. When attempting to set an option, we now first check that it is supported, and for integer-value options also check whether it is within the valid range for that option.
Bridge handles more than just CRTK topics, and the longer name is a little unwieldy
Only add colors to pointclouds if enabled in configuration, this helps speed up processing speed quite a bit in some circumstances. Also enables speckle filtering to clean up semi-global matching disparity, and replaces invalid values in the depth map with NaN.
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Adds stereo processing to produce dense point clouds from scene for the spryTrack cameras.
The mtsAtracsysFusionTrack component requires raw stereo images from camera and provides them via a "StereoRaw" interface. The separate mtsAtracsysStereo component handles all image rectification and stereo reconstruction. Stereo processing is configurable via the JSON config file, and config options are documented in the README (alongside a little advice).
Depends on jhu-cisst/cisst-ros#23 and jhu-cisst/cisst#101.