ensure naming of variables is consistent

some `o_variable` names are not consistent with the `i_variable` they are supposed to go in. We should make it consistent

For example: change o_planes to o_measured_poses

<img width="677" height="313" alt="Image" src="https://github.com/user-attachments/assets/ebdfdf9f-f000-4330-bfe3-9511b718f1f4" />