Fix SpinningSensorKeypointsExtractor
As presented in this commit on branch fix/keypointsExtractionImprovement
, SpinningSensorKeypointExtractor has 2 major bugs in its keypoints extraction mechanism :
- Do not select planar keypoints if angle has not been computed (and is therefore equal to zero) : they are invalid!
- If there is a depth gap with previous part occluded, discard points from current central point to left instead of contrary.
With the proposed patch, the resulting planar keypoints look much cleaner, being more reliably distributed on planes, and not everywhere.
However, fixing 1st issue leads to much less extracted planar keypoints (~4x less), so current keypoints may not be enough for LM optimization to converge.
This keypoints extractor needs to be improved to produce more robust keypoints that can be more efficiently used during optimization process to guarantee convergence.