Prepare the front-end for visual factors

[prashanthr05]

This epic will track the front-end for the visual factors involving RGB images and point clouds depending on OpenCV and PCL.

[prashanthr05]

Currently a vision front end consisting of points and lines tracker along with a feature manager has been implemented. See files,

• Perception/Pipelines/VisionFrontEnd.h
• Perception/Features/FeaturesManager.h
• Perception/Features/ImageProcessor.h
• Perception/Features/PointsTracker.h
• Perception/Features/ArucoPointsLinesTracker.h

A consolidated use-case unit tests available in,

• Perception/tests/Pipelines/VisionFrontEndTest.cpp