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Resolve "Emplace API inconsistent with ProcessorTrackerFeature/Landmark functions"

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@@ -291,7 +291,11 @@ void CaptureBase::setCalibration(const VectorXs& _calib)
void CaptureBase::link(FrameBasePtr _frm_ptr)
{
assert(this->getFrame() == nullptr && "linking an already linked capture");
assert((this->getFrame() == nullptr || !this->getFrame()->isKey()) && "linking a capture already linked to a KF");
// unlink from previous non-key frame
if (this->getFrame())
this->getFrame()->removeCapture(shared_from_this());
if(_frm_ptr)
{
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