- add function getBestPoseCandidates to have access to all pose candidates, not just the one with the most votes
- use ceil instead of floor, otherwise the accumulator_array can be too small in some cases
- do not only use the single highest peak from accumulator array, but use more peaks if they have similarly many votes as the maximum
- while pose clustering, make sure that a pose is added to the closest cluster, not simply to the first cluster below the clustering threshold (if more than one clusters are possible)
- use a better threshold-based filtering of candidate poses, instead of always using the 3 poses with the most votes
- re-activate and improve test for PPFRegistration