Merge pull request #27 from mlosch/master

Fix object position calculation. Only update logic when a roi message was received.
Merge pull request #28 from mlosch/master

increase/decrease pcl density when switching phases
Merge pull request #30 from mlosch/master

use 1d segmentation to find largest plane cluster
Merge pull request #31 from mlosch/master

wait for recognize message to start recognition
Merge remote-tracking branch 'upstream/master'
convert orange sphere to red sphere
parameter adjustments
Shape recognition improvements. E.g.: Also take a single plane into account and use normals for fitting planes