WIP Perception stuff.

[frk2]

It currently is able to segment a image in a numpy array on gpu. Also we have a live ZED SVO file reader -> segmentation utility so we can see stuff happening live.

You need: https://github.com/frk2/cuda-fun installed for this to work properly.

Make sure you have GIT LFS installed to pull in the test data!

To test first do a ament build and then run:

python3 zed_svo_inference.py ../test_data/videos/drive92-280-small.svo