Fire detections in 3D

[jescap]

Transform fire detections with Thermal camera to be 3D in arena frame.

Fire detector should subscribe to UAV poses and laser distances and receive a parameter specifying whether camera is pointing FORWARD or DOWNWARD.

If(camera==DOWNWARD) Fire position is the UAV's one but with z = 0.
If(camera==FORWARD) Fire position is the UAV's one but adding the depth distance ahead. This depth can be computed as an average of laser readings in a small cone in the forward direction.