Thread issue fixes, reset vins fixes#30

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mpkuse wants to merge 8 commits intoHKUST-Aerial-Robotics:masterfrom

Commits on Mar 20, 2019

fixed threading issues and got the reset bit correctly working. TODO need to still keep the tracked feature running so cerebro node can signal this thread when it is appropriate to begin
mpkuse
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minor fix in thread
mpkuse
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added a publish function fake_publish. Implemented a hacky way to detect kidnap-->unkidnapped based on stddev and mean of image rather than more complex number of tracked features.
mpkuse
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Commits on Mar 21, 2019

fix the image equalize for dealing correctly with dark images
mpkuse
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Commits on Mar 26, 2019

fixed the rosTest for recovering for failures, aka restart mechanism
mpkuse
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Commits on Jun 5, 2019

release flag
mpkuse
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Commits on Jun 6, 2019

feature tracking window size reduced slightly for performance boost in computation time
mpkuse
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Commits on Jul 29, 2019

i have noticed tat freq config file argument is not used, so i manually set to use 1/3 nuber of images
mpkuse
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