Added option to read data association from file in object detector class
Have things working with the labelled data association
Messing about with different object measurement covariances
Added scale estimation class
Finished prototype of sim class
Prototype definitely does something, as expected scaling happens relative to world coords
Have pose being changed relative to last keyframe
It works! Not amazing, but it does something
Added tukey estimator to scale estimation
Fixed bug that came from not clearing object iteration set
Seems to be working well
Things aren't quite right, going to try sorting out object bundle adjustment