Move selectPack() to ProcessorBase

src/processor_base.cpp

@@ -74,6 +74,16 @@ void ProcessorBase::remove()
     }
 }
 
+KFPackPtr ProcessorBase::selectPack(const CaptureBasePtr & _cap)
+{
+    if (_cap)
+        return kf_pack_buffer_.selectPack(_cap->getTimeStamp(), time_tolerance_);
+
+    return nullptr;
+}
+
+
+
 /////////////////////////////////////////////////////////////////////////////////////////
 
 void KFPackBuffer::removeUpTo(const TimeStamp& _time_stamp)
@@ -147,4 +157,6 @@ bool KFPackBuffer::checkTimeTolerance(const TimeStamp& _time_stamp1, const Scala
     return (std::fabs(_time_stamp1 - _time_stamp2) <= std::min(_time_tolerance1, _time_tolerance2));
 }
 
+
+
 } // namespace wolf

src/processor_base.h

@@ -174,6 +174,10 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
 
         void setTimeTolerance(Scalar _time_tolerance);
 
+    protected:
+        KFPackPtr selectPack(const CaptureBasePtr & _cap);
+
+
 };
 
 }

src/processor_tracker.cpp

@@ -203,14 +203,6 @@ void ProcessorTracker::setKeyFrame(CaptureBasePtr _capture_ptr)
     }
 }
 
-KFPackPtr ProcessorTracker::selectPack(const CaptureBasePtr & _cap)
-{
-    if (_cap)
-        return kf_pack_buffer_.selectPack(_cap->getTimeStamp(), time_tolerance_);
-
-    return nullptr;
-}
-
 void ProcessorTracker::computeProcessingStep()
 {
     // First determine the processing phase by checking the status of the tracker pointers

src/processor_tracker.h

@@ -209,8 +209,6 @@ class ProcessorTracker : public ProcessorBase
 
         void addNewFeatureIncoming(FeatureBasePtr _feature_ptr);
 
-    private:
-        KFPackPtr selectPack(const CaptureBasePtr & _cap);
 };
 
 inline void ProcessorTracker::setMaxNewFeatures(const unsigned int& _max_new_features)