tune processor for speed

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: 50
+    min_features_for_keyframe: 25
 
 # Use a robust cost function
 apply_loss_function: true
 
 # Select the best new Keypoints when performing detection
-max_new_features: 100
+max_new_features: 10
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -30,7 +30,7 @@ klt_params:
     klt_max_err:      0.3
 
 # Keep the number of tracks below 
-max_nb_tracks: 100
+max_nb_tracks: 50
 
 # standard deviation of the pixel reprojection factor 
 std_pix: 1