Convert filter node to cpp

[vangeliq]

• [x] Exclusion factor for area of objects
• [ ] Implemenet union between RCNN and color filter output
• [x] Include code for publishing to extermination output (if bounding box is within region of interest)
• [x] (under experiments/Python POCs/Camera Subscriber, take publishing functinoality and put into C++)
• [x] Write a unit test template for specific functions of your code with maize pictures
• [ ] Finish Ishaan's work for the camera node splitting (separate repo branch)