improved ransac (not really ransac at this point)
remove old ideas from ransac code
change interface to evaluate script, in prep for obstacles evaluation
import slam_eval tools from Galois
change my eval script to eval and plot the map as well
tweak ransac to not miss obstacles that are farther away

(But now it produces duplicate obstacles -- obstacles that overlap
each other almost completely.)
first attempt to use extracted obstacles in pf (very slow)
benchmark for profiling ransac
first attempt at optimizing ransac; no improvement
Revert "first attempt at optimizing ransac; no improvement"

This reverts commit 875b339dec485459d9a3033462245e72b2626c19.
remove unused code
refactor ransac for profiling
remove wip idea
use a much simpler method to extract obstacles
plot obstacles from the best particle
hack: extract the obstacles only once, at the beginning