votefor KF slightly modified + install error fixed

.gitignore

@@ -34,6 +34,5 @@ test/map_apriltag_save.yaml
 build_release/
 
 apriltag.found
-apriltagw.found
 Testing/Temporary/LastTest.log
 Testing/Temporary/CTestCostData.txt

CMakeLists.txt

@@ -141,7 +141,6 @@ SET(HDRS_CAPTURE
 SET(HDRS_COMMON
   )
 SET(HDRS_FACTOR
-include/core/factor/factor_kf_lmk_pose_3d_with_extrinsics.h
   )
 SET(HDRS_FEATURE
 include/apriltag/feature/feature_apriltag.h

demos/processor_tracker_landmark_apriltag.yaml

@@ -28,10 +28,10 @@ noise:
     std_pix:          20    # pixel error
     
 vote:
-    voting active:              true
+    voting_active:              true
     min_time_vote:              0 # s
     max_time_vote:              0 # s
-    min_features_for_keyframe:  12
+    min_features_for_keyframe:  12  # does not make sense
     nb_vote_for_every_first:    50
 
 reestimate_last_frame: true   # for a better prior on the new keyframe: use only if no motion processor

src/processor/processor_tracker_landmark_apriltag.cpp

@@ -335,13 +335,18 @@ bool ProcessorTrackerLandmarkApriltag::voteForKeyFrame() const
     double dt_incoming_origin = getIncoming()->getTimeStamp().get() - getOrigin()->getTimeStamp().get();
     bool more_than_min_time_vote = dt_incoming_origin > min_time_vote_; 
     bool too_long_since_last_KF = dt_incoming_origin > max_time_vote_;
+
+    bool enough_features_in_last = detections_last_.size() >= min_features_for_keyframe_;
+    bool enough_features_in_incoming = detections_incoming_.size() >= min_features_for_keyframe_;
+    
+    // no detection in incoming capture and a minimum time since last KF has past
+    if (enough_features_in_last and !enough_features_in_incoming and more_than_min_time_vote)
+        return true;
+
     // the elapsed time since last KF is too long 
-    if (too_long_since_last_KF){
+    if (enough_features_in_last and too_long_since_last_KF){
         return true;
     }
-    // no detection in incoming capture and a minimum time since last KF has past
-    if ((detections_incoming_.size() < min_features_for_keyframe_) and more_than_min_time_vote)
-        return true;
 
     // Vote for every image processed at the beginning if possible
     if (nb_vote_ < nb_vote_for_every_first_){

src/yaml/processor_tracker_landmark_apriltag_yaml.cpp

@@ -62,7 +62,7 @@ static ParamsProcessorBasePtr createParamsProcessorLandmarkApriltag(const std::s
         params->std_pix_                    = noise["std_pix"]                      .as<double>();
 
         YAML::Node vote                     = config["vote"];
-        params->voting_active               = vote["voting active"]                  .as<bool>();
+        params->voting_active               = vote["voting_active"]                  .as<bool>();
         params->min_time_vote_              = vote["min_time_vote"]                  .as<double>();
         params->max_time_vote_              = vote["max_time_vote"]                  .as<double>();
         params->min_features_for_keyframe   = vote["min_features_for_keyframe"]      .as<unsigned int>();

test/processor_tracker_landmark_apriltag.yaml

@@ -28,10 +28,10 @@ noise:
     std_pix:          20    # pixel error
     
 vote:
-    voting active:              true
+    voting_active:              true
     min_time_vote:              0 # s
     max_time_vote:              0 # s
-    min_features_for_keyframe:  12
+    min_features_for_keyframe:  12  # no sense
     nb_vote_for_every_first:    50
 
 reestimate_last_frame: true   # for a better prior on the new keyframe: use only if no motion processor