Refactoring to consolidate matrix operations#17
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…n't in three different places. This branch REQUIRES stretch4_mujoco to also have the refactor applied. Approve/update that one first.
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The matrix operations to convert from a depth image to 3d points were repeated in three places. This change adds a function to pointcloud_utils.py in stretch4_mujoco and updates other pointcloud utilities and the stretch4_mujoco_driver. Important: this change will break things unless the matching feature update in stretch4_mujoco is applied first.