[ROS2][fix][refact][PV] Fix minor issues with kpts extraction

Based on !402 (merged)

Goal

• Fixing some edge cases bugs rising during LV tests about keypoints extraction.
• Uniformizing and fixing some setter/getters
• Improve SSKE keypoints extraction

Changes

Major

Force computation of all edge kpts before downsampling

Minor

• Remove the initialization of CurrentFrame. This was done to make the comparison with previous frames work from frame #0. This was causing a bug with default values in comparison (edge case).
• Add check on timestamp for CurrentWorldKeypoints when checking if it has already been computed to avoid edge case
• Add check on registered frame if SLAM returns before computing one to avoid segfault
• Avoid recomputation of the SLAM filter if the edge/plane angles are modified
• Improve style and format of vtkSpinningSensorKeypointsExtractor.cxx
• Remove already existing macros
• Fix header inclusion macros of KeypointExtractor.h

Results

Reproduce

Launch any pipeline in ROS2

Check there is no frame without geometric edge even with a low "Max points" parameter.