created rosnode to render images

ov_msckf/launch/display.rviz

@@ -52,6 +52,22 @@ Visualization Manager:
       Plane Cell Count: 80
       Reference Frame: <Fixed Frame>
       Value: true
+    - Class: rviz_camera_stream/CameraPub
+      Enabled: true
+      Frame Rate: 10
+      Image Topic: /ov_msckf/rendered
+      Camera Info Topic: /ov_msckf/camera0_info
+      Name: CameraPub1
+      Queue Size: 2
+      Value: true
+      Visibility:
+        Axes: true
+        CameraPub2: true
+        Grid: true
+        Image1: true
+        Image2: true
+        TF: true
+        Value: true
     - Class: rviz/Image
       Enabled: true
       Image Topic: /ov_msckf/trackhist
@@ -61,10 +77,9 @@ Visualization Manager:
       Name: Image Tracks
       Normalize Range: true
       Queue Size: 2
-      Transport Hint: compressed
+      Transport Hint: raw
       Unreliable: false
       Value: true
-      Camera Info Topic: /ov_msckf/camera_info
     - Class: rviz/Image
       Enabled: true
       Image Topic: /ov_msckf/loop_depth_colored
@@ -77,7 +92,6 @@ Visualization Manager:
       Transport Hint: compressed
       Unreliable: false
       Value: true
-    - Camera Info Topic: /ov_msckf/camera_info
     - Alpha: 1
       Buffer Length: 1
       Class: rviz/Path
@@ -291,6 +305,14 @@ Visualization Manager:
         TF: true
         Value: true
       Zoom Factor: 1
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /ov_msckf/vis_markers
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 44; 44; 44

ov_msckf/launch/subscribe.launch

@@ -16,8 +16,8 @@
 <!--    <arg name="bag"         default="/datasets/$(arg config)/$(arg dataset).bag" />-->
 
     <!-- saving trajectory path and timing information -->
-    <arg name="dosave"      default="false" />
-    <arg name="dotime"      default="false" />
+    <arg name="dosave"      default="true" />
+    <arg name="dotime"      default="true" />
     <arg name="path_est"    default="/tmp/traj_estimate.txt" />
     <arg name="path_time"   default="/tmp/traj_timing.txt" />
 
@@ -28,6 +28,7 @@
 
     <!-- MASTER NODE! -->
 <!--    <node name="run_subscribe_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true" launch-prefix="gdb -ex run &#45;&#45;args">-->
+	<node name="image_render_combine" pkg="ov_msckf" type="image_render_combine" output="screen" clear_params="true" required="true"> </node>
     <node name="run_subscribe_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true">
 
         <!-- master configuration object -->
@@ -65,6 +66,23 @@
             <param name="path_gt"        type="str" value="$(arg path_gt)" />
         </node>
     </group>
+    
+    <group ns="camera1">
+  <!-- <node pkg="tf" type="static_transform_publisher" name="camera_broadcaster"
+      args="0.1 0.1 -0.5 0 0 0 1 map camera1 10" /> -->
+  <node name="camera_info" pkg="rostopic" type="rostopic"
+      args="pub camera_info sensor_msgs/CameraInfo
+     '{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: 'cam0'},
+      height: 480, width: 640, distortion_model: 'plumb_bob',
+      D: [-5.6143027800000002e-02, 1.3952563200000001e-01, -1.2155906999999999e-03],
+      K: [500.0, 0.0, 320, 0.0, 500.0, 240.0, 0.0, 0.0, 1.0],
+      R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
+      P: [500.0, 0.0, 320, 0.0, 0.0, 500, 240, 0.0, 0.0, 0.0, 1.0, 0.0],
+      binning_x: 0, binning_y: 0,
+      roi: {x_offset: 0, y_offset: 0, height: 480, width: 640, do_rectify: false}}' -r 2"
+      output="screen"/>
+  </group>
 
 
 </launch>
+