Resolve "ProcessorLoopClosureBase class"

Closes #220 (closed)

include/core/processor/processor_loopclosure.h

@@ -42,7 +42,7 @@ struct ProcessorParamsLoopClosure : public ProcessorParamsBase
  * which are called at the beginning and at the end of process() respectively.
  */
 
-class ProcessorLoopClosureBase : public ProcessorBase
+class ProcessorLoopClosure : public ProcessorBase
 {
 protected:
 
@@ -50,9 +50,9 @@ protected:
 
 public:
 
-    ProcessorLoopClosureBase(const std::string& _type, ProcessorParamsLoopClosurePtr _params_loop_closure);
+    ProcessorLoopClosure(const std::string& _type, ProcessorParamsLoopClosurePtr _params_loop_closure);
 
-    virtual ~ProcessorLoopClosureBase() = default;
+    virtual ~ProcessorLoopClosure() = default;
     virtual void configure(SensorBasePtr _sensor) override { };
 
     /** \brief Full processing of an incoming Capture.
@@ -66,13 +66,13 @@ protected:
 
     /** \brief Called by process(). Tells if computeFeatures() will be called
      */
-    virtual bool voteComputeFeatures(CaptureBasePtr _incoming_ptr) = 0;
+    virtual bool voteComputeFeatures() = 0;
 
     /** \brief Called by process(). Tells if findLoopCandidate() and createFactors() will be called
      *
      * WARNING : A LC can be searched only when voteComputeFeatures() return true
      */
-    virtual bool voteSearchLoopClosure(CaptureBasePtr _incoming_ptr) = 0;
+    virtual bool voteSearchLoopClosure() = 0;
 
     /** \brief returns a KeyFrame-Capture pair compatible together (selected from the buffers)
      *
@@ -80,19 +80,18 @@ protected:
      * In the default implementation, we select the KF with the most recent TimeStamp
      * and that is compatible with at least a Capture
      */
-    std::pair<FrameBasePtr,CaptureBasePtr> selectPairKC(void);
+    virtual std::pair<FrameBasePtr,CaptureBasePtr> selectPairKC(void);
 
     /** \brief add the Capture and all features needed to the corresponding KF
      *
      * If the loop closure process requires features associated to each capture,
-     * the computations to create thies featrues must be done here
+     * the computations to create these features must be done here.
      *
-     * In this method you should add the capture to the keyframe if necessary
-     * and add the features to the capture
+     * Important: All detected features should be emplaced to the capture.
      *
      * Returns a bool that tells if features were successfully created
      */
-    virtual bool computeFeatures(std::pair<FrameBasePtr,CaptureBasePtr>) = 0;
+    virtual bool detectFeatures(CaptureBasePtr cap) = 0;
 
     /** \brief Find a KF that would be a good candidate to close a loop
      * if validateLoop is not overwritten, a loop will be closed with the returned candidate
@@ -104,13 +103,12 @@ protected:
      *
      * overwrite it if you want an additional test after findLoopCandidate()
      */
-    bool validateLoop(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) {return true;};
+    virtual bool validateLoop(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) {return true;};
 
-    /** \brief create the factor(s)
+    /** \brief emplace the factor(s)
      *
-     * overwrite it if needed
      */
-    virtual void createFactors(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) = 0;
+    virtual void emplaceFactors(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) = 0;
 
 
     /** Pre-process incoming Capture