Bug fix and mesh gen

[trentonbrochill]

Hello!

I have been working with the PRSM code base on some projects on an alternate dataset. I wanted to get my changes out to people, if they're interested.

1. Changes to multi-process mode. Some data structures and variables could be written to by simultaneous threads. I added some protection for that.
2. Added option to initialize with some known static and invalid regions. Static regions are rigidly attached to the camera, like a vehicle hood. Invalid regions are usually caused by rectification. See new example images from our NREC dataset.
3. Added some code to convert the proposals and segmentation into a triangle mesh. This mesh can be exported as a .obj file using another library or viewed in matlab (without color)

Trenton
Robotics Engineer
Carnegie Mellon University