Performance improvements to the gripper and head cameras

[hello-robot-shehab]

Changes in this PR:

• Updated gripper camera's pipeline to match stretch4_gripper_modeling_and_control's settings for adding a sync node, lowering buffer size to 1, and a sync threshold to 15ms.
• Changed head cameras to also use a sync node
• Improved rerun logging performance by moving logging to a background thread.
• Changed stretch_camera_show --gripper to not do point cloud anymore -> stretch_rgbd_show --gripper does that instead.

To test

• Run stretch_camera_show -lrc --rerun --show_fps and observe that the FPS is near 30fps (it's slightly less because center camera is at 10fps

• Run stretch_camera_show -lr --rerun --show_fps and observe that the FPS is 30fps.

• Run stretch_camera_show -c --rerun --show_fps and observe that the FPS is 10fps.

• Run stretch_camera_show -g --rerun --show_fps and observe that the FPS is 30fps.

• Run stretch_rgbd_show -g --show_fps and make sure a point cloud from the gripper is displayed.

• Make sure to have ~/repos/stretch4_rgbd and ~/repos/stretch4_gripper_modeling_and_control cloned, and checkout cd ~/repos/stretch4_rgbd && git checkout feature/combined_left_and_right_rgbd in stretch4_rgbd, and then run python3 test/test_camera_benchmark.py, you should get an output like:

================================================================================
                      PERFORMANCE COMPARISON REPORT
================================================================================
Implementation                                     | Init Latency | Realized FPS | Sensor-to-Host Latency | Jitter (Arrival) | Drop Rate  | Frames Recv
-------------------------------------------------------------------------------------------------------------------------------------------------
Head (stretch4_rgbd)                               | 5.66 s      | 30.0         | 46.3 ± 6.7 ms          | 11.16 ms     | 0.0 %      | 301
Head (stretch4_body)                               | 4.82 s      | 30.1         | 50.2 ± 1.8 ms          | 1.99 ms     | 0.0 %      | 302
Gripper (stretch4_gripper_modeling_and_control)    | 2.99 s      | 30.1         | 74.0 ± 3.8 ms          | 1.64 ms     | 0.0 %      | 301
Gripper (stretch4_body)                            | 3.41 s      | 29.9         | 75.1 ± 3.8 ms          | 3.43 ms     | 0.3 %      | 299

================================================================================
                           REGRESSION CHECK
================================================================================

Evaluating Head Camera:
  * Latency: Old=46.3ms, New=50.2ms (Limit=53.2ms)
  * FPS:     Old=30.0, New=30.1 (Limit=25.5)
  [+] PASSED: Performance is equivalent within threshold bounds!

Evaluating Gripper Camera:
  * Latency: Old=74.0ms, New=75.1ms (Limit=85.1ms)
  * FPS:     Old=30.1, New=29.9 (Limit=25.6)
  [+] PASSED: Performance is equivalent within threshold bounds!

[hello-ola]

All tests passed

First frame received! Initialization Latency: 3.400 s

================================================================================
                      PERFORMANCE COMPARISON REPORT
================================================================================
Implementation                                     | Init Latency | Realized FPS | Sensor-to-Host Latency | Jitter (Arrival) | Drop Rate  | Frames Recv
-------------------------------------------------------------------------------------------------------------------------------------------------
Head (stretch4_rgbd)                               | 5.26 s      | 30.0         | 49.0 ± 6.9 ms          | 11.16 ms     | 0.0 %      | 300
Head (stretch4_body)                               | 5.36 s      | 30.0         | 50.6 ± 1.3 ms          | 1.67 ms     | 0.0 %      | 301
Gripper (stretch4_gripper_modeling_and_control)    | 3.05 s      | 30.1         | 71.3 ± 3.6 ms          | 1.66 ms     | 0.0 %      | 302
Gripper (stretch4_body)                            | 3.40 s      | 29.9         | 72.7 ± 2.0 ms          | 2.82 ms     | 0.3 %      | 298

================================================================================
                           REGRESSION CHECK
================================================================================

Evaluating Head Camera:
  * Latency: Old=49.0ms, New=50.6ms (Limit=56.3ms)
  * FPS:     Old=30.0, New=30.0 (Limit=25.5)
  [+] PASSED: Performance is equivalent within threshold bounds!

Evaluating Gripper Camera:
  * Latency: Old=71.3ms, New=72.7ms (Limit=82.0ms)
  * FPS:     Old=30.1, New=29.9 (Limit=25.6)
  [+] PASSED: Performance is equivalent within threshold bounds!

Saved performance report to: camera_regression_results.md

[hello-ola]

LGTM! note that test requires branch feature/combined_left_and_right_rgbd on stretch4_rgbd