Request KeyFrame
After #420 (closed), a new functionality was agreed in the scope of voting for keyframes.
A processor (for instance an IMU), may want to create a KF but other slower sensor (for instance a camera) may append its capture to this KF. But there is another IMU capture that would fit better with the timestamp of the camera capture.
The solution should be changing a little bit the current implementation. Moving from voting_active: true/false
to something like: frame_creation: NONE/REQUEST/CREATE
.
That would be simple if we create a new method: ProcessorBase::evaluateEmplaceFrame()
and ProcessorBase::requestEmplaceFrame()
along with a flag in Problem::new_frame_requested_
with its getters and setters.
Edited by Joan Vallvé Navarro