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