Create separate particleFilter instances for each cue

New N particleFilter objects for N image processing cues
previouslym created only one particleFilter object contains N
probablities for N cues. It cannot handle multiple cues well.

Also remove ancient code like HUE, YCrCb parts I wrote year ago at west
torrens library... so much happened since then
Add support for Euler homogeneous coordinate transform

Define Euler translation and rotation based on Homogeneous coordinates
which will be used to translate road cooradinate and image plane
cooradinate.