Tune for more KFs (20) and control the nbr of tracks (30) for good 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: 25
+    min_features_for_keyframe: 30
 
 # Use a robust cost function
 apply_loss_function: true
 
 # Select the best new Keypoints when performing detection
-max_new_features: 10
+max_new_features: 5
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -24,16 +24,16 @@ fast_params:
     
 # Lucas Kanade tracking parameters
 klt_params:
-    patch_width:      11
-    patch_height:     11
+    patch_width:      17
+    patch_height:     17
     nlevels_pyramids: 3
-    klt_max_err:      0.3
+    klt_max_err:      0.2
 
 # tesselation grid    
 grid_params:
     # number of cells used by the active search grid data structure
-    nbr_cells_h: 12  # horizontal
-    nbr_cells_v: 10  # vertical
+    nbr_cells_h: 6  # horizontal
+    nbr_cells_v: 5  # vertical
     # minimum margin of the region of interest from the edges of the image 
     margin: 6
     # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
@@ -46,4 +46,4 @@ max_nb_tracks: 30
 std_pix: 1
 
 # before creating a landmark, wait until the track is old enough
-min_track_length_for_landmark: 5
+min_track_length_for_landmark: 20

yaml/tree_manager_sliding.yaml

 tree_manager:
   type: TreeManagerSlidingWindow
   n_fix_first_frames: 1
-  n_frames: 10
+  n_frames: 20
   viral_remove_empty_parent: true
-#  type: "none"
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