Capability to Align Color Frame with Depth Frame.

[Luxonis-Brandon]

Start with the why:

In cases where absolute alignment (or as close to it as possible) is required between the neural inference results and the depth results and the neural inference must be run on the color camera, it is desirable to be able to align the color frame and the depth frame (which is aligned with the RIGHT grayscale cameras) through the color and grayscale camera intrinsics.

Move to the how:

This capability will require the calibration of the color camera intrinsics and extrinsics to the grayscale (right camera), either at the factory, or by the user interested in the feature and the implementation of the distortion and translation using the WARP blocks and additional logic in DepthaI.

Move to the what:

Allow registration of the color and depth frames.

[Luxonis-Brandon]

We have the initial version of this calibration working:

Note that Deeplabv3+ was run so the pixel-matching could be checked in multiple locations.

[Luxonis-Brandon]

Accidentally had mad this a duplicate issue. Will close this and move to: #284