Wrote affordance publisher, which lets us publish only a few affordances at a time. Also wrote a bunch of stuff for boundary estimation. Next, I'll play with some parameters to see if I can get it to produce good borders (currently it's doing way too many).
Wrote basic plane recognition.
Moved stuff into pcl_utils.
Stuff got screwed up somehow.
Worked on reading/writing vectors quickly.
Finally got vector read/write working.
In the midst of working on the PointCloudVoxelGrid class, for 'negating' pointclouds.
Got the voxel grid class working. Made some changes to other files to allow for easier experiments.
merged .gitignore