Author:hiram zhang Date:2018/02/28 Description： Detect 3D obstacle by sensor fusion of 2D laser and RGB-D camera,then 3D obstacle of not included in 2D gridmap, added into 2D gridmap
############################################################### #map_img_proccess @fuction: this is top model,rectified map by 3D obstacle. @input : map.yaml map.pgm,"/laser_pose","/keypoint_scan" @output : rectified_map.pgm
#laser_rgbd_sonar_fusion @fuction: fuse laser and rgbd,extra keypoint of 3D obstacle. @input : "/scan","/xtion_scan" @output : "/keypoint_scan"
#depthimage_to_laserscan @fuction: get 3D points from asus_xtion,get 2D scan by 3D points project into x-y plan. @input : "depth/image" @output : "/xtion_scan"