Remove PackKeyFrame

The only thing PackKeyFrame adds to a Frame is a time_tolerance.

Just by this, WOLF now has a complication which is a class PackKeyFrame which is only used to pass information of created keyframe to other processors to join depending on time_tolerance.

By adding time_tolerance to Frame, we can completely eliminate this class and work simply with Frame.

EDIT: Decided to remove time tolerance from frames

TODO:

• Remove BufferPackKeyFrame, substitute by plain BufferFrame
• Remove time_tol from kfCallback() API
• Remove time_tol from setPrior() and similar API
• Move all checkTimeTolerance() methods to ProcessorBase
• Follow on IMU
• Follow on GNSS
• Follow on laser
• Follow on bodydynamics

added Agreement required Code organization Idea Opinions wanted Optimization labels

assigned to @jsola

@joanvallve I need your approval on this issue to start working on it.

While writing the documentation, I find useless complications that it's good to remove. This one seems pretty straightforward.

Ok for me!

By the way, we still have a pending discussion about the time tolerances. Maybe it is the good moment to have it!

Yes, let us have this discussion about time tolerances here.

Can you remind me what was your point? You said we only need to check one tolerance. Which one?

created merge request !431 (merged) to address this issue

mentioned in merge request !431 (merged)

I made almost all changes and it's working.

Need to polish a bit the remaining API to make it nicer and easier.

marked the checklist item Add TT to frame as completed

marked the checklist item Remove BufferPackKeyFrame, substitute by plain BufferFrame as completed

changed the description

changed the description

marked the checklist item Follow on IMU as completed

marked the checklist item Follow on GNSS as completed

marked the checklist item Follow on laser as completed

marked the checklist item Follow on bodydynamics as completed

@joanvallve the key point of discussion now is the following:

• We have KF.ts and KF.tt (timestamp and time tolerance)

• We have C.ts and P.tt (capture timestamp and processor tolerance)

To join a Capture with a Keyframe, the double test now is as follows:

// 1. test for KF.tt and P.tt
double dt = abs(KF.ts - C.ts);
if (dt < KF.tt and dt < P.tt)  join(C, KF);

Now if you only want to make one test, then we have two options:

// 2. test only for KF.tt
double dt = abs(KF.ts - C.ts);
if (dt < KF.tt)  join(C, KF);

// 3. test only for P.tt
double dt = abs(KF.ts - C.ts);
if (dt < P.tt)  join(C, KF);

If we want option 2, then we need KF.tt and so add time_tolerance to class Frame. Work to do:

• Modify constructors of Frame with a time_tolerance
• Fix all calls to frame constructors

If we want option 3, then it's much easier. Work to do:

• Remove time_tolerance from the API of keyframeCallback(KF, tt).