Shouldn't need ROS for FindPkgConfig.cmake.
Merge remote-tracking branch 'upstream/master'
Merge branch 'master' of https://github.com/mattjr/structured
Added manual_total_ply to replace vrip step with a-priori CAD mesh.  Fixed disagreeing atlas size.
GT: Added hard coded change to increase bbox 10x more in Z-axis than in X and Y.
If desired, bounding box margin can be expanded only in {x,y,z} by passing --bbox-margin-{x,y,z} to threadedStereo.
Added some classes for a imaging sonar projection model, courtesy Michael Kaess.
Added ts-sonar library, instead of dumping them to threadedStereo.  Fixed a compiler warning in ts-sonar.
Added SE2 and SE2 headers from isam, rather than requiring the isam lib to be installed.  Updated ts-sonar lib appropriately.
Filling in non-salient keyframes by computing rough bounding box from camera's altitude and FOV
Significant speedup in undistorting didson images
added some sonar-related stuff.

added calcTexCoordDidson exe, which uses the DIDSON projection model implemented in
TexturingQueryDidson.  Bounding box computed in threadedStereo.cpp.
Fixes for DIDSON images, now 3D mosaicing works
working var calc for mosaic
working floating point var mosaic
Merge pull request #1 from pjozog/master

DIDSON support + variance plots