removed resizing not correcting for photometric info, added N as global variable

include/msckf_vio/feature.hpp

@@ -126,7 +126,7 @@ struct Feature {
    */
 
   bool initializeAnchor(
-   const CameraCalibration& cam);
+   const CameraCalibration& cam, int N);
 
 
   /*
@@ -491,12 +491,10 @@ Eigen::Vector3d Feature::projectPixelToPosition(cv::Point2f in_p,
 
 //@test center projection must always be initial feature projection
 bool Feature::initializeAnchor(
-   const CameraCalibration& cam)
+   const CameraCalibration& cam, int N)
 {
 
   //initialize patch Size
-  //TODO make N size a ros parameter
-  int N = 3;
   int n = (int)(N-1)/2;
 
   auto anchor = observations.begin();

include/msckf_vio/msckf_vio.h

@@ -206,6 +206,9 @@ class MsckfVio {
 
     bool nan_flag;
 
+    // Patch size for Photometry
+    int N;
+
     // Chi squared test table.
     static std::map<int, double> chi_squared_test_table;