Resolve "ProcessorLoopClosureBase class"

Closes #220 (closed)

include/core/processor/processor_loopclosure_base.h

@@ -96,19 +96,19 @@ protected:
      * if validateLoop is not overwritten, a loop will be closed with the returned candidate
      * if no good candidate is found, return nullptr
      */
-    virtual FrameBasePtr findLoopCandidate(FrameBasePtr _key_frame) = 0;
+    virtual CaptureBasePtr findLoopCandidate(CaptureBasePtr _capture) = 0;
 
     /** \brief validate/discard a loop closure
      *
      * overwrite it if you want an additional test after findLoopCandidate()
      */
-    bool validateLoop(FrameBasePtr _key_frame_1, FrameBasePtr _key_frame_2) {return true;};
+    bool validateLoop(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) {return true;};
 
     /** \brief create the factor(s)
      *
      * overwrite it if needed
      */
-    virtual void createFactors(FrameBasePtr _key_frame_1, FrameBasePtr _key_frame_2) = 0;
+    virtual void createFactors(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) = 0;
 
 
     /** Pre-process incoming Capture