[2d] Remove variable assignments that are never used

[diivm]

• Fixes a part of Variable assigned a value which is never used #3609
• Solves the issue for files in 2d directory (only)

[SunBlack]

As far as I can see in hessianBlob:

• Scope of local_max could reduced to const float local_max = cornerness[k][i][j];
• Value of scale_max is not used anywhere, so it can be reduced and if (cornerness[k][i][j] > scale_max) can be changed to if (cornerness[k][i][j] > std::numeric_limits<float>::min())

[SunBlack]

Can it be that hessianBlob is broken?
Shouldn't this

pcl/2d/include/pcl/2d/impl/keypoint.hpp

Line 233 in 9541a6f

output[i][i] = start_scale * pow(scaling_factor, k);

be output[i][j] instead of output[i][i]

[kunaltyagi]

LGTM apart from the comment

[diivm]

@SunBlack

• Scope of local_max could reduced to const float local_max = cornerness[k][i][j];

Agree.

• Value of scale_max is not used anywhere, so it can be reduced and if (cornerness[k][i][j] > scale_max) can be changed to if (cornerness[k][i][j] > std::numeric_limits<float>::min())

Why should we check every time with std::numeric_limits<float>::min()?
It stores the previous value of cornerness[k][i][j] for comparison with the updated value after the loop rerun. It's value is not reset to std::numeric_limits<float>::min() in the loop, that initialisation is outside the loop (the 'k' loop).

Correct me if I'm wrong.

[SunBlack]

You are right, I missed the loop for (int k = 0; k < num_scales; k++) { nevertheless: The scope of scale_max can be reduced ;-)

[taketwo]

🤦‍♂️ should have squashed

[SunBlack]

Force push to master :-P

[taketwo]

I realized I made a mistake the same moment I pressed "merge", so I guess it would have been kinda okayish to force push immediately after... But our master branch is protected anyway 🤷‍♂️

[SunBlack]

Isn't it just a setting, which you can turn off shortly?