New color name based sample detection node

This only publishes image space coordinates currently, 3-space
coordinates coming soon
Added 3d point outflow based on stereo disp and cam parameters
Handle monocular images
Node for projecting ray from monocular cam to ground plane
The z coord in the monocular vector should be 1.0 for downstream use
Launch for testing color name detection on the nav pair
Launch for testing color name detection on the search DSLR
More parameters
This now appears to place the center point correctly on the ground
Added ray_to_points to the CMake install