[new demo] circle tracking and gaze following

[arrenglover]

add the .cpp files for a module to perform circle detection, circle tracking (PUCK), and robot gaze following. Taking the old vAPT algorithm and consolidating it into a single module.

• modify PUCK to work with freely moving paddle. remove constraint of the puck size and instead perform a visual search.
• modify PUCK to work with the gen1 cameras
• add robot control with neck and eyes to the application

[lunagava]

I created a tracking branch to track the circle on the paddle using the algorithm based on the affines I have recently implemented. I uploaded an old code used to control the neck and make the standalone camera on the helmet following the puck. For the demo we want on iCub stereo eyes control is required (have a look at the old ball tracking implementation based on particle filter).

SUGGESTED STEPS (ordered based on priority):

• [ ] track a circle using one of the two iCub cameras (e.g. right camera)
• [ ] track a circle using the stereo camera system
• [ ] control (velocity-based) iCub neck and eyes to have the circle center always matching the camera center

[lunagava]

From the first test using the right camera, the translation works well but the scale does not.