Remove frame's time tolerance from all APIs

include/gnss/processor/processor_gnss_fix.h

@@ -153,7 +153,7 @@ class ProcessorGnssFix : public ProcessorBase
          *
          * The ProcessorTracker only processes incoming captures (it is not called).
          */
-        void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override {};
+        void processKeyFrame(FrameBasePtr _keyframe_ptr) override {};
 
         /** \brief trigger in capture
          *
@@ -165,7 +165,7 @@ class ProcessorGnssFix : public ProcessorBase
          *
          * The ProcessorTracker only processes incoming captures, then it returns false.
          */
-        bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override {return false;}
+        bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const override {return false;}
 
         /** \brief store key frame
         *

include/gnss/processor/processor_gnss_tdcp.h

@@ -110,7 +110,7 @@ class ProcessorGnssTdcp : public ProcessorBase
          *
          * The ProcessorTracker only processes incoming captures (it is not called).
          */
-        void processKeyFrame(FrameBasePtr _keyframe, const double& _time_tolerance) override;
+        void processKeyFrame(FrameBasePtr _keyframe) override;
 
         /** \brief store key frame
         *
@@ -134,7 +134,7 @@ class ProcessorGnssTdcp : public ProcessorBase
          *
          * The ProcessorTracker only processes incoming captures, then it returns false.
          */
-        bool triggerInKeyFrame(FrameBasePtr _keyframe, const double& _time_tolerance) const override {return true;};
+        bool triggerInKeyFrame(FrameBasePtr _keyframe) const override {return true;};
 
         bool voteForKeyFrame() const override;
 

src/processor/processor_gnss_fix.cpp

@@ -171,7 +171,7 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture)
 
     // Notify if KF created
     if (KF_created)
-        getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_gnss_->time_tolerance);
+        getProblem()->keyFrameCallback(new_frame, shared_from_this());
 }
 
 FactorBasePtr ProcessorGnssFix::emplaceFactor(FeatureBasePtr _ftr)

src/processor/processor_gnss_tdcp.cpp

@@ -114,7 +114,7 @@ void ProcessorGnssTdcp::processCapture(CaptureBasePtr _capture)
     */
 }
 
-void ProcessorGnssTdcp::processKeyFrame(FrameBasePtr _keyframe, const double& _time_tolerance)
+void ProcessorGnssTdcp::processKeyFrame(FrameBasePtr _keyframe)
 {
     WOLF_INFO("ProcessorGnssTdcp::processKeyFrame()");
 

test/gtest_factor_gnss_fix_2d.cpp

@@ -135,7 +135,7 @@ TEST(FactorGnssFix2dTest, configure_tree)
     // Emplace a frame (FIXED)
     Vector3d frame_pose = (Vector3d() << t_map_base(0), t_map_base(1), o_map_base(0)).finished();
     frame_ptr = problem_ptr->emplaceFrame( TimeStamp(0), frame_pose);
-    problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0);
+    problem_ptr->keyFrameCallback(frame_ptr, nullptr);
 
     // Create & process GNSS Fix capture
     CaptureGnssFixPtr cap_gnss_ptr = std::make_shared<CaptureGnssFix>(TimeStamp(0), gnss_sensor_ptr, t_ecef_antena, 1e-3*Matrix3d::Identity());