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Device-specific getter returns default object if param does not exist

Nicolas Cadart requested to merge fix/DeviceParamsGetters into master

Prevent std::out_of_range error in case parameter does not exist for requested device ID:

  • GetKeyPointsExtractor(deviceId) returns default null pointer to a keypoint extractor (KE) if no KE exists for this requested deviceId.
  • GetBaseToLidarOffset(deviceId) returns default identity transform if no offset exists for this requested deviceId.

Fix invalid transform use in case offset does not exist for requested device ID:

  • Use GetBaseToLidarOffset(deviceId) instead of directly using BaseToLidarOffsets member.

@julia.sanchez @nick.laurenson PTAL

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