New: trajkovic and hedley detector 2D
New: port of Trajkovic and Hedley detector to pure geometry
Fix: a silly bug in normals diff computation
Add: pcl_ni_trajkovic application to detect Trajkovic 2D/3D points from OpenNi device
Fix: removal of unused argument and normals_->resize statement
Add savePNGFile function for histograms.

Render the histogram using vtk offline and then save the image to png
file.
Add: pcl::BadArgumentsException class to be thrown from namespace

For void free functions when arguments are wrong throw this exception
Add function to compute interpolated index from current index, length and border type
Move sample consensus tests into their own directory
Reformat initialization of data sets
Swap expected and actual values in test macros

Google test macros a supposed to have expected value as the first
parameter and actual value as the second.
Remove useless explicit int casts
Add/remove spaces
Use new EXPECT_XYZ_NEAR test macro where applicable
Split sample consensus test in four pieces
Fix PLY save bug: vertex_index -> vertex_indices.
Add test for pcl ply parser.
Hausdorff tool fixed to report actual distance rather than squared distance
Store estimated normals in 'sac_plane_test.pcd'

Avoid re-computation of normals every time the test is run and remove
dependency on features and kdtree modules.
Merge pull request #580 from chambbj/fix-hausdorff

Hausdorff tool fixed to report actual distance rather than squared distance