add ProcessorMotion processIncomingCapture

Conflicts:
	src/processor_motion.cpp

src/processor_motion.cpp

@@ -67,8 +67,10 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
 //        std::cout << "PM: RUNNING" << std::endl;
     }
 
+    incoming_ptr_ = processIncomingCapture(_incoming_ptr);
 
-    incoming_ptr_ = std::static_pointer_cast<CaptureMotion>(_incoming_ptr);
+    /// @todo Anything else to do ?
+    if (incoming_ptr_ == nullptr) return;
 
     preProcess();
 
@@ -92,7 +94,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
         FeatureBasePtr key_feature_ptr = emplaceFeature(last_ptr_, key_frame_ptr);
 
         // create motion constraint and link it to parent feature and other frame (which is origin's frame)
-        auto ctr_ptr = emplaceConstraint(key_feature_ptr, origin_ptr_->getFramePtr());
+        /*auto ctr_ptr =*/ emplaceConstraint(key_feature_ptr, origin_ptr_->getFramePtr());
 
         // new capture
         CaptureMotionPtr new_capture_ptr = std::make_shared<CaptureMotion>(key_frame_ptr->getTimeStamp(),
@@ -372,6 +374,11 @@ void ProcessorMotion::reintegrateBuffer(CaptureMotionPtr _capture_ptr)
     }
 }
 
+CaptureMotionPtr ProcessorMotion::processIncomingCapture(CaptureBasePtr& _incoming_ptr)
+{
+  return std::static_pointer_cast<CaptureMotion>(_incoming_ptr);
+}
+
 CaptureMotionPtr ProcessorMotion::getCaptureMotionContainingTimeStamp(const TimeStamp& _ts)
 {
     // We need to search in previous keyframes for the capture containing a motion buffer with the queried time stamp

src/processor_motion.h

@@ -269,6 +269,13 @@ class ProcessorMotion : public ProcessorBase
          */
         virtual void postProcess() { };
 
+        /**
+         * @brief Process the incoming CaptureBase an return a CaptureMotion.
+         * If not overloaded, the base class calls static_pointer_cast<CaptureMotion>(incoming)
+         * @return CaptureMotion.
+         */
+        virtual CaptureMotionPtr processIncomingCapture(CaptureBasePtr& _incoming_ptr);
+
 
         // These are the pure virtual functions doing the mathematics
     protected: