Bug fixes and optimizations for sample consensus prerejective (replaces #736)#741

Merged

taketwo merged 7 commits intoPointCloudLibrary:masterfrom andersgb1:sample_consensus_prerejective

Jun 15, 2014

+96-91

Commits on Jun 12, 2014

Use a faster n-point sampler (thanks to Troels Bo Jørgensen for this code)
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Remove a bug in a useless extra rejection step that caused a continue in all main loop iterations but the first (thanks to Jeppe Pedersen and Kent Hansen for catching this)
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Use a cache for already computed feature correspondences (thanks to Jeppe Pedersen and Kent Hansen for the code)
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Avoid duplicate squared Euclidean distance computation
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Remove duplicate archive and use compressed PCDs to save space
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Explicitly specify the required PCL modules in the CMakeLists.txt file
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Update the tutorial code to reflect the optimizations, leading to much faster and more robust pose estimation
andersgb1
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