move publisher vision debug params in a separate yaml

yaml/processor_visual_odometry.yaml

@@ -4,13 +4,13 @@ keyframe_vote:
     voting_active: true
     # Trigger a new keyframe creation as well as detection of new keypoints in last frame
     # when the track number goes below min_features_for_keyframe in incoming
-    min_features_for_keyframe: 30
+    min_features_for_keyframe: 50
 
 # Use a robust cost function
 apply_loss_function: true
 
 # Select the best new Keypoints when performing detection
-max_new_features: 30
+max_new_features: 100
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -30,10 +30,10 @@ klt_params:
     klt_max_err:      0.3
 
 # Keep the number of tracks below 
-max_nb_tracks: 60
+max_nb_tracks: 100
 
 # standard deviation of the pixel reprojection factor 
 std_pix: 1
 
 # before creating a landmark, wait until the track is old enough
-min_track_length_for_landmark: 3
+min_track_length_for_landmark: 5

yaml/publisher_vision_debug.yaml

@@ -9,9 +9,9 @@ tracks:
         thickness: -1
         size_pix: 2
         color: "RED"
-feature_kfs:
-    thickness: 0.1
-    size_pix: 1
+    feature_kfs:
+        thickness: 0.1
+        size_pix: 1
 
 tracks_preprocess:
     show: false
@@ -23,4 +23,4 @@ landmarks:
     show_id: false
     size_id: 0.5
     size_pix: 5
-    color: "GREY"
\ No newline at end of file
+    color: "GREY"