Merge pull request #21 from mlosch/master

Add camera offset and remove unused variables from Object msg
Merge pull request #22 from mlosch/master

Embed a second phase of recognition with more given time to recognize
Merge pull request #23 from mlosch/master

remove nasty redundant error messages
Merge branch 'master' of https://github.com/mlosch/vision
Merge remote-tracking branch 'upstream/master'
remove printout No ground to see
remove print out spam from color detection
m3 recognition
compute centroid even if no shape was classified