Detection module and Input module changes

-Detection module changed into a real module via factory abc.
-Detection module supports bin filtering - both box and Gaussian.
-Detection module has maxim finder algorithm - naive and line search.
This gets maximums which translate into detected objects.
-PMD Time Of Flight camera support (untested) that works with PMD Nano
(or any other PMD camera). Returns 3D point cloud and intensity.
-Trackers now can be disabled. They remain in memory but are no longer
updated. Used to draw the top down map.
-Drawing detection via draw_detection() function. Draws circles on the
ground representing detected objects.
-draw_plan_view now also draw maximums.
-draw_ground now only has 3 colors - green (not an obstacle), red (an
obstacle) and yellow (maximum).
-Removed tracker filtering without kalman filter. Wasn't updated in
about 6 months and probably didn't work anyway.
-Added image output saving (as png) as well as tracker data saving. Used
for 3D visualization in ENIGMA program.
-Tracker reprojection is now done with matrices, so it is correct.
-Added a "clicker" for demonstration purposes. Will be disabled when
detection is tuned.
-Updated the examples.