added 3d visualization and stepping through bag file - minor edits in jakobi

launch/msckf_vio_debug_tum.launch

@@ -21,6 +21,12 @@
       <!-- Photometry Flag-->
       <param name="PHOTOMETRIC" value="true"/>
 
+      <!-- Debugging Flaggs -->
+      <param name="PrintImages" value="true"/>
+      <param name="GroundTruth" value="true"/>
+
+      <param name="patch_size_n" value="7"/>
+
       <!-- Calibration parameters -->
       <rosparam command="load" file="$(arg calibration_file)"/>