Fixed the main issue, especially KeyFrame creation, the logic seems to work

demos/demo_visual_odometry.cpp

@@ -75,7 +75,7 @@ int main(int argc, char** argv)
 
 
     // for (size_t k=0; k < fn.size(); ++k)
-    for (size_t k=0; k < 100; ++k)
+    for (size_t k=0; k < 20; ++k)
     {
         cv::Mat img = cv::imread(fn[k], cv::IMREAD_GRAYSCALE);
 

demos/processor_visual_odometry.yaml

@@ -21,8 +21,8 @@ fast_params:
     threshold_fast: 50
     non_max_suppresion: true
 
-min_nb_tracks: 100
-max_nb_tracks: 200
+min_nb_tracks: 10
+max_nb_tracks: 20
 
 std_pix: 1
 

src/processor/processor_visual_odometry.cpp

@@ -158,6 +158,7 @@ void ProcessorVisualOdometry::preProcess()
     ////////////////////////////////
     size_t n_tracks_origin = tracks_origin_incoming.size();
     if (n_tracks_origin < params_visual_odometry_->min_nb_tracks_){
+        std::cout << "  Too Few Tracks" << std::endl;
 
         // Detect new KeyPoints 
         std::vector<cv::KeyPoint> kps_last_new;
@@ -388,7 +389,8 @@ bool ProcessorVisualOdometry::voteForKeyFrame() const
     bool vote = capture_image_incoming->getLastWasRepopulated();
 
     // simple vote based on frame count, should be changed to something that takes into account number of tracks alive, parallax, etc.
-    vote = vote || ((frame_count_ % 5) == 0);
+    // vote = vote || ((frame_count_ % 5) == 0);
+    std::cout << "vote " << vote << std::endl;
     return vote;
 }