Segments, Blobs

Two methods exists to extract blobs or segment associated with the current rangefinder readings.

(extract-rangefinder-blobs (self <wheelchair-client>)
       min-inter-blob-distance  max-intra-blob-distance
       max-blob-distance min-blob-size  max-blob-size)

(extract-min-max-segments (self <wheelchair-client>)
    min-theta max-theta k_max_distance
    k-discontinuity-thresh
    k-squid-window-size       k-squid-window-std-dev
    k-colinear-range-thresh   k-colinear-theta-thresh
    k-colinear-contig-thresh  k-min-segment-length
    k-use-filter              k-filter-window-size)

(*** more on this later ***)