Merged changes from Havens

Changes from havens, I think he is working on the bridge dataset, and
these changes have broken the signs dataset.  Probably because of the
yaw kludge.
ignore bak files
Revert "Merged changes from Havens"

This reverts commit 287e00f5c523d18b44e780971c7cb5328491b214.
Revert "Revert "Merged changes from Havens""

This reverts commit 1e1f05774a84181c12947783d15c38b32932e7e4.
Reworking Curb Detection

Curb detection is still broken, the rest is fixed.
Curb Detection Fixed

Applied all of the fixes from havens and reworked the coodinate systems
for the entire code base.
Merge branch 'Havens' with lots of fixes

Conflicts:
	.gitignore