Perform laser ID correction in wrappings rather than in
- This eases code organization.
- These corrections are not needed depending on which wrapping or LiDAR sensor is used. For example, the ROS Velodyne driver already corrects this laser ring id, and Ouster data ring id is already sorted.
- This parameter is completely useless with current keypoints extraction (the extraction is done independently in each scan line, no matter the others).
Actually, this parameter was only useful if using Velodyne data in VeloView with
Ego-Motion Mode using
Registration on previous frame.
No need to burden ourselves with some parameters that are most of the time not required.
From now on, SLAM expects that the lowest/bottom laser ring is 0, and is increasing upward.