Resolve "Implement a Pose sensor"

Closes #395 (closed)

src/processor/processor_pose.cpp

@@ -29,7 +29,12 @@ void ProcessorPose::createFactorIfNecessary(){
     {
         auto kf_it = buffer_pack_kf_.getContainer().begin();
         TimeStamp t = kf_it->first;
-        auto cap_it = buffer_capture_.selectIterator(t, kf_it->second->time_tolerance);
+        double time_tolerance = std::min(getTimeTolerance(), kf_it->second->time_tolerance);
+        if (getTimeTolerance() == 0.0){
+            WOLF_WARN("Time tolerance set to zero -> value not used");
+            time_tolerance = kf_it->second->time_tolerance;
+        }
+        auto cap_it = buffer_capture_.selectIterator(t, time_tolerance);
 
         // if capture with corresponding timestamp is not found, stop and assume you will get it later
         if (cap_it == buffer_capture_.getContainer().end())