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 toProcessorBase
-
Follow on IMU -
Follow on GNSS -
Follow on laser -
Follow on bodydynamics
Edited by Joan Solà Ortega