Use CV backports for nicer imshow windows
Add variables to store the image in observationData
Remove unused modules from cmake
Use cv_backports:: instead of cv:: for imshow and Add cv_backports to package.xml
Include image size in the script directly
Remove camera instrinsics from optimizable parameters
Add other optimization models for x offset optimization
Use cv_backports, change moving robot routine to a service call on the robot directly, fix the bug in matrix multiplication for coordinate transform estimation.