Newest kinfu with better occlusion finding in progress.
Merge branch 'peter'
Merge branch 'master' of https://github.com/gkahn13/pr2_eih_ros
Updated method of finding occluded points - now doesn't use image plane projection. Still need to eliminate points in front of occlusion.
Merge branch 'peter'
pull peter's stuff
Merge branch 'master' of https://github.com/gkahn13/pr2_eih_ros