parameter refinments. Cylinder seems to work better
Merge remote-tracking branch 'upstream/master'
make sure we do not put out rois when there is no ground visible
remove debug output
add alternative downsampling method based on random point choosing. To be tested on real data
use no more than 5 neighbors when approximating surface normals
detector publishes planes. Contain bounding box, plane coefficients and whether it is the ground plane.
additional condition for cube recognition -> needs parallel plane to ground
Merge pull request #4 from mlosch/master

Detector publishes planes. Recognition uses planes for further distinction. Increased performance. Added cube condition.