modified:   cob_3d_mapping_features/ros/launch/extract_planes.launch
	modified:   cob_3d_mapping_pipeline/launch/mapping.launch
	modified:   cob_3d_mapping_pipeline/scripts/generic_mapping_states.py
	modified:   cob_3d_mapping_pipeline/scripts/test_mapping_states.py
Merge pull request #3 from ipa-goa-sf/master

Kommentare
added todos
Merge branch 'master' of github.com:ipa-goa/cob_environment_perception_intern
	modified:   cob_3d_mapping_geometry_map/common/src/geometry_map.cpp
	modified:   cob_3d_mapping_pipeline/scripts/generic_mapping_states.py
various changes for the map services and difference segmentation
difference segmentation
new algorithms and speed performance modifications

- created a base class for feature estimation algorthims using
  organized point clouds
- created a normal estimation and principal curvature
  estimation on organized point clouds being more robust on
  kinect data (TODO: speed optimization and adding point
  density invariance)
- both support optional multi-threading
- created FastEdgeEstimation3D as a speed optimized version of
  the EdgeEstimation3D class, without changes of neighborhood
  size. (TODO: reduce number of neighboring points)
new algorithms and speed performance modifications

for details see last commit
added openMP version of FastEdgeEstimation3D

tested some radii, good results provided:

  radius = 16 pixel
  pixel_steps = 2
  circle_steps = 4
merged with ipa-goa
Merge pull request #4 from ipa-goa-sf/master

added FastEdgeEstimation and some other classes
switched back to ros pcl depend
added comments, improved sobel extraction
partial TO DO's done
improved sobel edge extraction
centroid calculation tested and corrected
added service
merge
test app for classification of segments