Added my own object projection model
Modified object camera to be a child of ATANCamera
Cleaning stuff up
Busy cleanin up new object bundle adjustment
Cleaning object bundle a little
Added object projections to keyframe viewer
Tested and verified object bundle
Added object reprojections in keyframe viewer
Busy adding object tracking framework
Added object tracking to tracking thread
Cleaned up the notation with object and detection sizes
Added object lm tracker
Tracker isn't working so well with objects, need to sort out data association to check properly
Ensuring that pose estimation is doing its job properly
Cleaned up output a bit, tracker now doing data association for object map maker
Cleaned code up a bit