[WIP] enforce passing Capture by their Sensor

As discuss (and agreed) during our last meeting, captures should be added to the problem through their sensor as it makes more sense than having them free-floating and calling the ->process() function themselves.

Processing a capture is now done within the call of my_sensor->addCapture(my_capture) rather than calling it directly (my_capture->process()).

This PR is WIP as I would like to propose to remove the SensorBasePtr from the CaptureBase constructor. :

from

CaptureBase(const std::string& _type, const TimeStamp& _ts, SensorBasePtr _sensor_ptr = nullptr);

to

CaptureBase(const std::string& _type, const TimeStamp& _ts);

as it is also set in SensorBase::addCapture(...).

src/examples/test_image.cpp

@@ -151,7 +151,8 @@ int main(int argc, char** argv)
 
         // Preferred method with factory objects:
         image_ptr = new CaptureImage(t, camera_ptr, frame[f % buffer_size]);
-        image_ptr->process();
+        //image_ptr->process();
+        camera_ptr->addCapture(image_ptr);
         //cv::imshow("test",frame[f % buffer_size]);
         std::cout << "Time: " << ((double) clock() - t1) / CLOCKS_PER_SEC << "s" << std::endl;
         cv::waitKey(5);