only segment planes that are at least 20% of entire point cloud
removes pointless ROS_INFO log
cleans up indentation
Reduces /camera/depth/points/ subscriber queue to 10.
Fixes potential memory leak
Reduces /camera/depth/points/ subscription queue size to 100
This was the cause of our memory explosion.
Include euclidean planes in cluster extracted clusters
visualizes segmented object point clouds in rviz