Took trackers draw routine out, it draws as part of other functions
Cleaned up odometry routine a bit
Cleaned up viso class. No can input scale at each processing step
Viso is converting to its own data structure within its processing function
Motion output is converted to TooN SE3 in viso
Cleaned up the tracker a little bit
Seem to have odometry working well as an initialiser to tracking
Tracking seems to be working very well with odometry
Commit before merge