added flag to switch to original, using right null space matrix for calculation now and existing eigen function, gating restult still way to high

launch/msckf_vio_debug_tum.launch

@@ -18,6 +18,9 @@
       output="screen"
       launch-prefix="xterm -e gdb --args">
 
+      <!-- Photometry Flag-->
+      <param name="PHOTOMETRIC" value="true"/>
+
       <!-- Calibration parameters -->
       <rosparam command="load" file="$(arg calibration_file)"/>
 

launch/msckf_vio_tum.launch

@@ -17,6 +17,9 @@
       args='standalone msckf_vio/MsckfVioNodelet'
       output="screen">
 
+      <!-- Photometry Flag-->
+      <param name="PHOTOMETRIC" value="true"/>
+
       <!-- Calibration parameters -->
       <rosparam command="load" file="$(arg calibration_file)"/>