Wrote some filtering in StartingGateMission

Signed-off-by: Tushar Pankaj <tushar.s.pankaj@gmail.com>
Fixed bugs in StartingGateMission and added kmeans centroid averaging

Signed-off-by: Tushar Pankaj <tushar.s.pankaj@gmail.com>
Wrote method to compute physical angle from pixel count

Signed-off-by: Tushar Pankaj <tushar.s.pankaj@gmail.com>
Remove debugging stuff

Signed-off-by: Tushar Pankaj <tushar.s.pankaj@gmail.com>
Merge branch 'master' into vision