I had encountered a bug with the "ideal case" for pose-estimation, which I apparently missed while working on random sample cases, and have since fixed it.
Since Integrating the feed to the program I had encountered odd behavior occurring with the normal calculation, and decided to go back to testing smaller cases. Doing so I realized the following problem:
THIS is what all the people have been talking about when they said there are two corresponding planes that could result from coplanar points. I had initially thought they mean their were simply two normals, one going one direction, the other going the other direction.
Also, there are a number of things I've forgotten to do for the transition, particular going from Cartesian Coordinates to Barycentric Coordinate Systems, which would be useful for visual debugging, however I neglected to do because I thought RELATIVELY it'd still calculate the normals correctly.
Fixed some visual issues, and am able to display some MARGINAL success:
blue detection point still looks off. Probably an error in my conversion of coordinate systems.
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