Misc changes
Misc changes

Making it so that it doesn't having missing variables, defined more to be global. Still not sure how to break each of the chunks into small, seelf-contained pieces without so much dependency between them, so slowly working on that.

jacobbieker/GCP-perpendicular-least-squares,jacobbieker/GCP-perpendicular-least-squares,jacobbieker/GCP-perpendicular-least-squares