Rename kfCallback() to new version

src/processor_base.cpp

@@ -45,7 +45,7 @@ FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _captur
     return new_frame_ptr;
 }
 
-void ProcessorBase::keyFrameCallbackNew(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
+void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
 {
     if (_keyframe_ptr != nullptr)
         kf_pack_buffer_.add(_keyframe_ptr,_time_tol_other);

src/processor_base.h

@@ -162,9 +162,9 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
          */
         FrameBasePtr emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state);
 
-        virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) = 0;
+//        virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) = 0;
 
-        void keyFrameCallbackNew(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
+        void keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
 
         SensorBasePtr getSensorPtr();
         const SensorBasePtr getSensorPtr() const;

src/processor_tracker.cpp

@@ -346,9 +346,9 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
     //std::cout << "-----End of process():" << std::endl;
 }
 
-bool ProcessorTracker::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
-{
-    WOLF_TRACE("This callback doing nothing!!! ");
+//bool ProcessorTracker::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
+//{
+//    WOLF_TRACE("This callback doing nothing!!! ");
 //    WOLF_DEBUG( "PT: KF" , _keyframe_ptr->id() , " callback received at ts= " , _keyframe_ptr->getTimeStamp().get() );
 //
 //    assert((last_ptr_ == nullptr || last_ptr_->getFramePtr() != nullptr) && "ProcessorTracker::keyFrameCallback: last_ptr_ must have a frame always");

src/processor_tracker.h

@@ -99,7 +99,7 @@ class ProcessorTracker : public ProcessorBase
         void setMaxNewFeatures(const unsigned int& _max_new_features);
         unsigned int getMaxNewFeatures();
 
-        virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
+//        virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
 
         bool checkTimeTolerance(const TimeStamp& _ts1, const TimeStamp& _ts2);
         bool checkTimeTolerance(const CaptureBasePtr _cap, const TimeStamp& _ts);