Fixed vertical direction in arduino code, added depth converter node
Added dilate operation to offset effect of erosion to vision API
Added dynamic reconfigure to beluga tracking node
Overhauled world/image transforms for Beluga tracker, fixes #19
Adding find_offset.py, a tool to find the location of each camera relative to the world origin
Updated offset values for cameras
Changed transforms to output None to z when appropriate
Implemented estimator that combines depth measurement and planar measurement and passes through the raw data (in meters)
Implementing masking for beluga tracker
Changed default erode to 4 for belugas
Fixed estimating on not-measurement bug in passthrough estimator
Adjusted passthrough to calculate z from bottom of the tank.
Fixed order of offsets passed to tracker object for beluga tracker
Fixed depth converter
Merge branch 'fix_beluga_tracking' of https://github.com/leonard-lab/dcslROS into fix_beluga_tracking

Conflicts:
	dcsl_state_estimator/scripts/estimate_by_planar_passthrough.py