Added default implementations for loopclosure & tracker

include/core/processor/processor_loopclosure.h

@@ -81,6 +81,18 @@ protected:
      */
     virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other) const override;
 
+    /** \brief store key frame
+    *
+    * Returns true if the key frame should be stored
+    */
+    virtual bool storeKeyFrame(FrameBasePtr) override;
+
+    /** \brief store capture
+    *
+    * Returns true if the capture should be stored
+    */
+    virtual bool storeCapture(CaptureBasePtr) override;
+
     /** \brief Called by process(). Tells if computeFeatures() will be called
      */
     virtual bool voteComputeFeatures() = 0;

include/core/processor/processor_tracker.h

@@ -147,6 +147,18 @@ class ProcessorTracker : public ProcessorBase
          */
         virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) const override {return false;}
 
+        /** \brief store key frame
+        *
+        * Returns true if the key frame should be stored
+        */
+        virtual bool storeKeyFrame(FrameBasePtr) override;
+
+        /** \brief store capture
+        *
+        * Returns true if the capture should be stored
+        */
+        virtual bool storeCapture(CaptureBasePtr) override;
+
         /** Pre-process incoming Capture
          *
          * This is called by process() just after assigning incoming_ptr_ to a valid Capture.

src/processor/processor_loopclosure.cpp

@@ -75,6 +75,14 @@ bool ProcessorLoopClosure::triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const S
 {
     return true;
 }
+bool ProcessorLoopClosure::storeKeyFrame(FrameBasePtr _frame_ptr)
+{
+  return true;
+}
+bool ProcessorLoopClosure::storeCapture(CaptureBasePtr _cap_ptr)
+{
+  return true;
+}
 
 /**
  * In the default implementation, we select the KF with the most recent TimeStamp

src/processor/processor_tracker.cpp

@@ -302,10 +302,18 @@ void ProcessorTracker::computeProcessingStep()
     }
 }
 
-bool ProcessorTracker::triggerInCapture(CaptureBasePtr) const
+bool ProcessorTracker::triggerInCapture(CaptureBasePtr _cap_ptr) const
 {
     return true;
 }
+bool ProcessorTracker::storeKeyFrame(FrameBasePtr _frame_ptr)
+{
+  return true;
+}
+bool ProcessorTracker::storeCapture(CaptureBasePtr _cap_ptr)
+{
+  return false;
+}
 
 } // namespace wolf