Filtering Pose in GatePnP causes bad estimates

[DrYerzinia]

Pose filtering needs to be moved from GatePnP to Mapper. We are filtering the pose estimates when they are relative poses in the camera frame so as we move forward that relative pose is changing and your moving average filter is actually lagging the results and introducing error. Moving it to the mapper after its been transformed to odom we get the data that is consistent as we move so filtering increases accuracy.

[flamma7]

Right this makes sense

[flamma7]

Same as #75

[skhadem]

Duplicates #75

[skhadem]

75