Add default behaviour for processor pose if time tolerance not set

src/processor/processor_pose.cpp

@@ -29,7 +29,12 @@ void ProcessorPose::createFactorIfNecessary(){
     {
         auto kf_it = buffer_pack_kf_.getContainer().begin();
         TimeStamp t = kf_it->first;
-        auto cap_it = buffer_capture_.selectIterator(t, kf_it->second->time_tolerance);
+        double time_tolerance = std::min(getTimeTolerance(), kf_it->second->time_tolerance);
+        if (getTimeTolerance() == 0.0){
+            WOLF_WARN("Time tolerance set to zero -> value not used");
+            time_tolerance = kf_it->second->time_tolerance;
+        }
+        auto cap_it = buffer_capture_.selectIterator(t, time_tolerance);
 
         // if capture with corresponding timestamp is not found, stop and assume you will get it later
         if (cap_it == buffer_capture_.getContainer().end())

test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp

 /**
  * \file gtest_factor_pose_with_extrinsics.cpp
  *
- *  Created on: Feb a9, 2020
+ *  Created on: Feb 19, 2020
  *      \author: mfourmy
  */
 
@@ -116,6 +116,7 @@ class FactorPose3dWithExtrinsicsBase_Test : public testing::Test
         Vector7d extr; extr << b_p_bm_, b_q_m_.coeffs();
         sensor_pose_ = problem_->installSensor("SensorPose", "pose", extr, intr_sp);
         auto params_proc = std::make_shared<ParamsProcessorPose>();
+        params_proc->time_tolerance = 0.5;
         auto proc_pose = problem_->installProcessor("ProcessorPose", "pose", sensor_pose_, params_proc);
         // somehow by default the sensor extrinsics is fixed
         sensor_pose_->unfixExtrinsics();