Added peak detection
Removed debug print of peaks.
RGB SOA generation now flips image. Still working on correcting the normals throughout program.
Added flip code for depth image.
Corrected the coordinate frames on the normal histogram.
Implemented wrapping 2D Normal histogram.
Simplified normals by projecting into the +z normal hemisphere.
Peaks are maintained in this space, normals in their original format and viewpoint facing orientation.
Normals are considered 180 degree ambiguous so they will be compared on those symmetric grounds.
Added distance refined segmentation.
Removed debug print of peaks again.
Added plane stats accumulation.
Stats buffers are now cleared every loop.