Remove frame atributes w/o breaking tests

Remove as many XXX_frame_ptr_ as possible without
breaking the gtests

include/core/processor/processor_motion.h

@@ -485,9 +485,8 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
         CaptureMotionPtr last_ptr_;
         CaptureMotionPtr incoming_ptr_;
 
-        FrameBasePtr origin_frame_ptr_;
         FrameBasePtr last_frame_ptr_;
-        FrameBasePtr incoming_frame_ptr_;
+        FrameBasePtr origin_frame_ptr_;
 
     protected:
         // helpers to avoid allocation

include/core/processor/processor_tracker.h

@@ -101,9 +101,7 @@ class ProcessorTracker : public ProcessorBase
         CaptureBasePtr origin_ptr_;             ///< Pointer to the origin of the tracker.
         CaptureBasePtr last_ptr_;               ///< Pointer to the last tracked capture.
         CaptureBasePtr incoming_ptr_;           ///< Pointer to the incoming capture being processed.
-        FrameBasePtr origin_frame_ptr_;
         FrameBasePtr last_frame_ptr_;
-        FrameBasePtr incoming_frame_ptr_;
         FeatureBasePtrList new_features_last_;     ///< List of new features in \b last for landmark initialization and new key-frame creation.
         FeatureBasePtrList new_features_incoming_; ///< list of the new features of \b last successfully tracked in \b incoming
         FeatureBasePtrList known_features_last_; ///< list of the known features in previous captures successfully tracked in \b last

src/processor/processor_motion.cpp

@@ -33,10 +33,9 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
         origin_ptr_(),
         last_ptr_(),
         incoming_ptr_(),
-        origin_frame_ptr_(),
         last_frame_ptr_(),
-        incoming_frame_ptr_(),
-        dt_(0.0), 
+        origin_frame_ptr_(),
+        dt_(0.0),
         x_(_state_size),
         delta_(_delta_size),
         delta_cov_(_delta_cov_size, _delta_cov_size),
@@ -390,7 +389,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
 
     // clear incoming just in case
     incoming_ptr_ = nullptr; // This line is not really needed, but it makes things clearer.
-    incoming_frame_ptr_ = nullptr;
 
     postProcess();
 }

src/processor/processor_tracker.cpp

@@ -24,9 +24,7 @@ ProcessorTracker::ProcessorTracker(const std::string& _type,
         origin_ptr_(nullptr),
         last_ptr_(nullptr),
         incoming_ptr_(nullptr),
-        origin_frame_ptr_(nullptr),
         last_frame_ptr_(nullptr),
-        incoming_frame_ptr_(nullptr),
         state_structure_(_structure)
 {
     //
@@ -120,7 +118,6 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
                                                                        getProblem()->getFrameStructure(),
                                                                        getProblem()->getState());
             incoming_ptr_->link(frm);
-            incoming_frame_ptr_ = frm;
             // We have a last_ Capture with no features, so we do not process known features, and we do not vote for KF.
 
             // Process info
@@ -133,11 +130,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
             // Update pointers
             resetDerived();
             origin_ptr_ = last_ptr_;
-            origin_frame_ptr_ = last_frame_ptr_;
             last_ptr_   = incoming_ptr_;
-            last_frame_ptr_ = incoming_frame_ptr_;
+            last_frame_ptr_ = frm;
             incoming_ptr_ = nullptr;
-            incoming_frame_ptr_ = nullptr;
 
             break;
         }
@@ -160,7 +155,6 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
                                                                        getProblem()->getFrameStructure(),
                                                                        getProblem()->getState());
             incoming_ptr_->link(frm);
-            incoming_frame_ptr_ = frm;
 
             // Detect new Features, initialize Landmarks, create Factors, ...
             processNew(params_tracker_->max_new_features);
@@ -171,11 +165,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
             // Update pointers
             resetDerived();
             origin_ptr_ = last_ptr_;
-            origin_frame_ptr_ = last_frame_ptr_;
             last_ptr_   = incoming_ptr_;
-            last_frame_ptr_ = incoming_frame_ptr_;
+            last_frame_ptr_ = frm;
             incoming_ptr_ = nullptr;
-            incoming_frame_ptr_ = nullptr;
 
             break;
         }
@@ -216,14 +208,10 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
                                                                            getProblem()->getDim(),
                                                                            last_ptr_->getFrame()->getStateVector());
                 incoming_ptr_->link(frm);
-                incoming_frame_ptr_ = frm;
-
                 origin_ptr_ = last_ptr_;
-                origin_frame_ptr_ = last_frame_ptr_;
                 last_ptr_   = incoming_ptr_;
-                last_frame_ptr_ = incoming_frame_ptr_;
+                last_frame_ptr_ = frm;
                 incoming_ptr_ = nullptr;
-                incoming_frame_ptr_ = nullptr;
 
             }
             /* TODO: create an auxiliary frame
@@ -270,14 +258,12 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
                                                                            getProblem()->getDim(),
                                                                            last_ptr_->getFrame()->getStateVector());
                 incoming_ptr_->link(frm);
-                incoming_frame_ptr_ = frm;
                 last_ptr_->getFrame()->remove(); // implicitly calling last_ptr_->remove();
 
                 // Update pointers
                 last_ptr_       = incoming_ptr_;
-                last_frame_ptr_ = incoming_frame_ptr_;
+                last_frame_ptr_ = frm;
                 incoming_ptr_   = nullptr;
-                incoming_frame_ptr_ = nullptr;
             }
             break;
         }