Added launch files to be able to launch two asus cameras from one machine.
Added topic to template camera yaml file
Deleted references/dependencies on image_transport
Changed projectPoint based on Observation type defined in observation_scene.h.
Added includes for basic_types and observation_scene.
This is a source file which is not currently in CMakeLists to add as library -
it should be updated later to contain some of the info in ceres_costs_utils.h, but those will be separate changes/commit
Changed caljob yaml reference frame to match the one being published by world_tf_publisher.launch
Added reference_frame_ as private param. Added proper loading of said reference frame.
Added functionality to store() - now saves information as launch file.
Made sure to loop through cameras during optimization, and moved problem definition outside observation loop.
Added transform broadcasters and inverse calculation.
Inverse necessary for camera to world transformation instead of world to camera.