implement connectiong of the planes segmented by organized multi plane segmentation

Implementing connection of the planese segmented by OrganizedMultiPlaneSegmentation.

We run 3 tests to check if two planes can be connected or not.
1. compute the angle of the normals of the planes
2. compute the distance of the planes along to the normal direction.
3. compute the distance of the boundaries of the planes.

The left image is the result of the original segmentation.
The right image shows the effect of the connection.

http://youtu.be/aqdJrHwmu3E
![screenshot from 2014-05-16 20 45 27](https://cloud.githubusercontent.com/assets/40454/2996480/c409cc2c-dcef-11e3-86ad-65be586b5de7.png)