Convert filter node to cpp

[vangeliq]

• Exclusion factor for area of objects
• Implemenet union between RCNN and color filter output
• Include code for publishing to extermination output (if bounding box is within region of interest)
• (under experiments/Python POCs/Camera Subscriber, take publishing functinoality and put into C++)
• 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)