F#1 adding frontier segmentation #19
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introduced search of two farthest from centroid points in discource of frontier buidling
added function for angular measurement of frontier size
- optimise angular_measurement function call - cleaned comments
removed .size and .points (raw ones) from structure we using
…ave sorted vectors
…ranslating from coord frame and to it
parameters moved to the parameter server prepeared for merging
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Frontier segmentation by view angle added, tested and debugged.
Also lots of code rewritten or marked for the future with 'todo'