Thread issue fixes, reset vins fixes #30
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…need to still keep the tracked feature running so cerebro node can signal this thread when it is appropriate to begin
…ect kidnap-->unkidnapped based on stddev and mean of image rather than more complex number of tracked features.
…n computation time
…ly set to use 1/3 nuber of images
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Summary of my changes which don't affect the core functionality :
a. The current implementation doesn't join the threads which potentially creates orphan threads. I have fixed this, see changes in rosTest.cpp
b. Implemented and verified vins reset mechanism. vins_estimator subscribes to Bool message and if that bool is false vins_estimator is switched off. Look at the comments in rosTest.cpp/rcvd_inputs_callback(). Also look at comments in other callbacks.
Changes that affect core functionality
c. image equalization see vins_estimator/src/featureTracker/feature_tracker.cpp