Merge pull request #1 from cmdunkers/develop

merged in intial stuff
added thin_to_lines code. Seems to work okay, but need to tweak gains to get a better lines image
Merge pull request #2 from mkosowsk/develop

added thin_to_lines code. Seems to work okay, but need to tweak gains to...
Merge pull request #1 from oddbotics/develop

kdh