[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.
Edited by Julia Sanchez