Remove frame's time tolerance from all APIs

demos/demo_trifocal_optimization.cpp

@@ -134,7 +134,7 @@ int main(int argc, char** argv)
     Matrix6d    P = Matrix6d::Identity() * 0.000001; // 1mm
 
     // ====== KF1 ======
-    FrameBasePtr kf1 = problem->setPrior(x, P, t, dt/2);
+    FrameBasePtr kf1 = problem->setPrior(x, P, t);
 
     // Process capture
     CaptureImagePtr capture_1 = make_shared<CaptureImage>(t, camera, images.at(0));

test/gtest_processor_tracker_feature_trifocal.cpp

@@ -142,7 +142,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
     TimeStamp   t(0.0);
     VectorComposite x("PO", {Vector3d::Zero(), Quaterniond::Identity().coeffs()});
     VectorComposite s("PO", {1e-3*Vector3d::Ones(), 1e-3*Vector3d::Ones()});
-    auto KF1 = problem->setPriorFactor(x, s, t, dt/2);             // KF1
+    auto KF1 = problem->setPriorFactor(x, s, t);             // KF1
     std::static_pointer_cast<ProcessorOdom3d>(proc_odo)->setOrigin(KF1);
 
     MatrixXd P = (s.vector("PO").array() * s.vector("PO").array()).matrix().asDiagonal();