is_motion::keyFrameCallback() not storing but processing
Whenever a KF is created by a non-is_motion
processor or by another is_motion
processor, the other(s) is_motion
processor(s) will establish the corresponding factors that link this KF in the trajectory whenever a new capture of the corresponding sensor(s) arrive. This produces a KF temporary not attached to the trajectory regarding the "motion".
I think we should separate the treatment of KF and the processing of captures in different functions and allowing the first one to be called directly in keyFrameCallback()
instead of storing it. This is directly related with #305 which includes much more, it could be a first step.
Also, partially related with #307.