now reading input from hal camera

added functionality for seperate intrinsics and depth-to-color extrinsics

added depth integrator class

increased maximum depth difference for light tracking residuals

filtering poorly staturated pixels and depth discontinuities in light integrator

light tracker residuals now default to depth tracker if color is not available

added depth discontinuity check to light tracker image mask kernel

added image mask to ignore under-/over-saturated pixels in lighting tracker

provided interfaces for setting valid depth ranges

fixed keyframe downsample bug in pyramid tracker

added unit test for light tracker track function

added compute jacobian function to light tracker

extracted main logic of light tracker compute system to evaluate function

moved tracker apply update to abstract function

added unit tests for color tracker