Added skeleton for disparity video stream filtering

vision/scripts/obstacle_detection/disparity_noise_filter.py

@@ -0,0 +1,28 @@
+
+
+def filter_disparity_images(last_frames):
+
+    # For each pixel in the images, compare the value across each of the images
+
+
+    # If the values vary too much, sets the pixel value to 0
+
+    # Otherwise, keep the value the same
+
+    # return filtered image
+
+
+
+# Write a ros node that listens to the topic where disparity images are being published
+
+# Keep a list of the last 'n' frames
+
+# Loop continuously
+
+# Each time through the loop, get the latest frame, add it to the list of frames
+
+# If list is full, remove the oldest frame
+
+# Call the filtering function
+
+# Publish the filtered image