- lots of bug fixes , trial and error etc for the image processing part
 * added various 3d point/opencv point conversion utilities, line, and intersection
utilities etc from the original c++ code
 * added retries for line detection
 * laser line detection now converts the output to 3d coordinates as it should
 * various fixes in the putPointsFromFrameToCloud method : now actually outputs points!
 * added sending back final batch of point to client

- added VERY basic support for displaying scan results (just 3d coords for now)
in the viewer