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Merge pull request #110 from wehr-lab/parallax

Improvements from Parallax experiment

Did a bunch of improvement for a specific experiment that is to be included in v0.4.0

Moved the stuff that was specific to its own plugin repository: https://github.com/auto-pi-lot/autopilot-plugin-parallax

and am pulling

new
* hardware - ~ finally a class to read from a picamera ~ written efficiently with numpy buffers according to a bunch of scattered advice from the picamera package maintainer. it's great.
* transforms - timeseries - adapted a Kalman filter from the wonderful [filterpy](https://github.com/rlabbe/filterpy) package! it's in the new `timeseries` transform module
* transforms - geometry - IMU_Orientation performs a sensor fusion algorithm with the Kalman Filter class to combine gyroscope and accelerometer measurements into a better esimate of earth-centric roll and pitch. This is used by the IMU class, but is made independent so it can be used without an Autopilot hardware object/post-facto/etc.
* transforms - timeseries - Filter_IIR implements scipy's IIR filter as a transform object.
* transforms - timeseries - integrate adds successive numbers together (scaled by `dt` if requested). not much by itself, but when used with a kalman filter very useful :)
* transforms - geometry - Rotate - use scipy to rotate a vector by some angle in x, y, and/or z
* transforms - spheroid - fit and transform 3d coordinates according to some spheroid - used in the IMU's accelerometer calibration method: given some target spheroid, and some deformed spheroid (eg. a miscalibrated accelerometer might have the x, y, or z axis scaled or offset) either explicitly set or estimated from a series of point measurements, transform future input given that transformation to correct for the deformed source spheroid.
* transforms - math - add. add a value to some numbers lmao. 
* gui - dialogue widget for streaming video outside of a task context
* scripts - `pi... (continued)

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