restarting refactor
fixing ar_marker_frame naming
cleaning up PlaneFitPoseImprovement
cleaning up GetMultiMarkerPoses
removing unused methods, adding inferCorners
adding in broadcast transform, getTrasformFromPose
cleaning up image callbacks and adding in calls to broadcast and getTransform
pointcloud callback
calibration working without averaging, needs smoothing
calibration working with averaging, but a bug with the size of filter exists
made backwards progress
what did I break