diff --git a/src/examples/processor_tracker_landmark_apriltag.yaml b/src/examples/processor_tracker_landmark_apriltag.yaml
index 15be7c6e8563beb00d8954ec3b95a5f5c4b23c08..d4c52d7969cd4376de800a1b1118708b17f7efe8 100644
--- a/src/examples/processor_tracker_landmark_apriltag.yaml
+++ b/src/examples/processor_tracker_landmark_apriltag.yaml
@@ -12,15 +12,17 @@ detector parameters:
     ippe_min_ratio:     3.0  	# quite arbitrary, always > 1 (to deactive, set at 0 for example)
     ippe_max_rep_error: 2.0     # to deactivate, set at something big (100)
 
+tag widths:                    
+    0: 0.055
+    1: 0.055
+    2: 0.055
+    3: 0.055
+
 tag parameters:
     tag_family:           "tag36h11" 
     tag_black_border:     1
-    tag_width_default:    0.055   # enter -1 here if you want to provide a map of [ tagid : tag_width ], see lines just below
+    tag_width_default:    0.165   # used if tag width not specified
 
-tag widths:
-    #1 :               0.2
-    #2 :               0.1
-    # etc...
     
 noise:
     std_xy :          0.1 # m 
@@ -30,7 +32,7 @@ noise:
     
 vote:
     voting active:              true
-    min_time_vote:              0.2 # s
+    min_time_vote:              1 # s
     min_features_for_keyframe:  1
 
 
diff --git a/src/processors/processor_tracker_landmark_apriltag.cpp b/src/processors/processor_tracker_landmark_apriltag.cpp
index 100beeaeb722a79934d832402ee9607c89f138a1..ac75903b0e6a066f4e12c45b66d3b7d690c3c929 100644
--- a/src/processors/processor_tracker_landmark_apriltag.cpp
+++ b/src/processors/processor_tracker_landmark_apriltag.cpp
@@ -69,26 +69,6 @@ ProcessorTrackerLandmarkApriltag::ProcessorTrackerLandmarkApriltag( ProcessorPar
     detector_ = *apriltag_detector_create();
     apriltag_detector_add_family(&detector_, &tag_family_);
 
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
-
-
     detector_.quad_decimate     = _params_tracker_landmark_apriltag->quad_decimate_;
     detector_.quad_sigma        = _params_tracker_landmark_apriltag->quad_sigma_;
     detector_.nthreads          = _params_tracker_landmark_apriltag->nthreads_;
@@ -229,7 +209,7 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
         // add to detected features list
         detections_incoming_.push_back(std::make_shared<FeatureApriltag>(pose, info, tag_id, *det, FeatureBase::UncertaintyType::UNCERTAINTY_IS_INFO));
 //        WOLF_TRACE("Meas Covariance tag ", tag_id, "\n", info.inverse());
-        WOLF_TRACE("---------------------\n");
+//        WOLF_TRACE("---------------------\n");
     }
 
     apriltag_detections_destroy(detections);
@@ -454,7 +434,7 @@ bool ProcessorTrackerLandmarkApriltag::voteForKeyFrame()
     if (dt_incoming_origin > min_time_vote_){
         bool more_in_last = getLastPtr()->getFeatureList().size() >= min_features_for_keyframe_;
         bool less_in_incoming = getIncomingPtr()->getFeatureList().size() <  min_features_for_keyframe_;
-        return more_in_last;
+//        return more_in_last;  // Only used for fixed time kf creation
         return more_in_last && less_in_incoming;
 //        return getLastPtr()->getFeatureList().size() >= min_features_for_keyframe_
 //        && getIncomingPtr()->getFeatureList().size() <  min_features_for_keyframe_;