simplified a bit

include/core/processor/processor_loop_closure.h

@@ -27,7 +27,7 @@ struct ParamsProcessorLoopClosure : public ParamsProcessorBase
  *   - validateLoop(CaptureBasePtr, CaptureBasePtr)
  *   - emplaceFactors(CaptureBasePtr, CaptureBasePtr)
  * + You can override the following classes :
- *   - process()
+ *   - process(CaptureBasePtr)
  */
 
 class ProcessorLoopClosure : public ProcessorBase
@@ -45,11 +45,11 @@ public:
 
 protected:
 
-    /** \brief Process a frame containing a capture.
+    /** \brief Process a capture (IMPORTANT: capture is linked to a frame).
      * If voteFindLoopClosures() returns true, findLoopClosures() is called.
      * emplaceFactors() is called for pairs of current capture and each capture returned by findLoopClosures()
      */
-    virtual void process(FrameBasePtr, CaptureBasePtr);
+    virtual void process(CaptureBasePtr);
 
     /** \brief Returns if findLoopClosures() has to be called for the given capture
      */

src/processor/processor_loop_closure.cpp

@@ -27,7 +27,7 @@ void ProcessorLoopClosure::processCapture(CaptureBasePtr _capture)
     {
         WOLF_DEBUG("CASE 1");
 
-        process(_capture->getFrame(), _capture);
+        process(_capture);
 
         // remove the frame and older frames
         buffer_pack_kf_.removeUpTo(_capture->getFrame()->getTimeStamp());
@@ -45,7 +45,7 @@ void ProcessorLoopClosure::processCapture(CaptureBasePtr _capture)
 
         _capture->link(frame_pack->key_frame);
 
-        process(frame_pack->key_frame, _capture);
+        process(_capture);
 
         // remove the frame and older frames
         buffer_pack_kf_.removeUpTo(frame_pack->key_frame->getTimeStamp());
@@ -74,7 +74,7 @@ void ProcessorLoopClosure::processKeyFrame(FrameBasePtr _frame, const double& _t
     {
         WOLF_DEBUG("CASE 1");
 
-        process(_frame, cap);
+        process(cap);
 
         // remove the capture (if stored)
         buffer_capture_.getContainer().erase(cap->getTimeStamp());
@@ -92,7 +92,7 @@ void ProcessorLoopClosure::processKeyFrame(FrameBasePtr _frame, const double& _t
 
         capture->link(_frame);
 
-        process(_frame, capture);
+        process(capture);
 
         // remove the capture (if stored)
         buffer_capture_.getContainer().erase(capture->getTimeStamp());
@@ -117,10 +117,10 @@ void ProcessorLoopClosure::processKeyFrame(FrameBasePtr _frame, const double& _t
     // nothing (discard frame)
 }
 
-void ProcessorLoopClosure::process(FrameBasePtr _frame, CaptureBasePtr _capture)
+void ProcessorLoopClosure::process(CaptureBasePtr _capture)
 {
-    WOLF_DEBUG("ProcessorLoopClosure::process frame ", _frame->id(), " capture ", _capture->id());
-    assert(_capture->getFrame() == _frame && "ProcessorLoopClosure::process _capture not linked to _frame");
+    assert(_capture->getFrame() != nullptr && "ProcessorLoopClosure::process _capture not linked to _frame");
+    WOLF_DEBUG("ProcessorLoopClosure::process frame ", _capture->getFrame()->id(), " capture ", _capture->id());
 
     // Detect and emplace features
     WOLF_DEBUG("emplacing features...");