[feat] Add criterion to add keyframe
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A frame is now a keyframe if the maps do not contain enough points (a threshold is added)
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This fixes a broken case : if the first key frame added does not contain keypoints.
@nicolas.cadart PTAL
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A frame is now a keyframe if the maps do not contain enough points (a threshold is added)
This fixes a broken case : if the first key frame added does not contain keypoints.
@nicolas.cadart PTAL