Tonci Novkovic issues

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                                            Tonci Novkovic

Add median filtering for the input depth image

Adds option to enable median filter for the input depth image. Merges into #47

Direction aware convexity measure

Implements a direction aware convexity measure. The normals are projected onto planes defined by the kernel points and z direction, afterwards convexity measure is calculated from these. Also adds two...

Mainly remove assumption that Submap needs to contain a TsdfMap

Summary: - Move mapping time methods to base class. - Update all TsdfMap/EsdfMap getters to TsdfLayer/EsdfLayer getters. - Add id_to_submap getter. - Update getNumberOfAllocatedBlocks and getMemorySize virtual methods for TsdfEsdfSubmap....