tilt functions should both wait for motor to stop before returning.
comments and reordering the shutdown code.
cleanup routine to detect contours. need to store the found contours,
using points for now, contour would be better though.
remove stats keeping.
remove stats parameter.
store the first 4 potential ceiling lights in a struct, one for the
depth data and one from the rgb data.
find centroid of potential landmarks
Starting to match ceiling lights from RGB or Depth data. When found, the
depth to each vertice is estimated (if one does not have a valid depth
the quad is dialated).