Resolve "New ProcessorLoopClosure"

Closes #398 (closed)

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• b267af5d - new processor_loop_closure working on gtest

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• b0fe5fd1 - gtest working

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• c753b9c4 - removed old files and WOLF_DEBUG

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• ffa7ab6f - simplified a bit

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• 14a2ae91 - doc

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marked this merge request as ready

assigned to @jsola and unassigned @joanvallve

This MR is ready to be merged. This new processor includes the following features:

• Handling arrival of captures after or before corresponding frames.
• Handling arrival of frames unordered in time.
• Pure virtual methods: voteFindLoopClosures(CaptureBasePtr), emplaceFeatures(CaptureBasePtr), findLoopClosures(CaptureBasePtr), validateLoop(CaptureBasePtr, CaptureBasePtr) and emplaceFactors(CaptureBasePtr, CaptureBasePtr).
• Meticulous gtest.

This new ProcessorLoopClosure class will be probably modified while developing a new ProcessorLoopClosureLaser2d with @spujol.

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• f0993e97 - Improvements on processor loop closure

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• f0993e97...681b8305 - 6 commits from branch devel
• 113de502 - Merge branch 'devel' into 398-new-processorloopclosure

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• 57082085 - bug fixed in processor_loop_closure.cpp

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• 57082085...38fe128e - 3 commits from branch devel
• 320df3ab - Merge branch 'devel' into 398-new-processorloopclosure
• 7ef34d03 - new parameter max_loops

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• 5b76a6c4 - hotfix. capture already linked

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approved this merge request

merged

mentioned in commit 3d6a35c3