[Ranker] Add sort_by_ranker argument to RaCo#6
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- Updated `max_num_keypoints` from 512 to 2048 in configuration. - Removed unused parameters `H` and `W` from `_compute_subpixel_offsets`. - Simplified keypoint sampling by directly calculating top-k indices and their corresponding pixel coordinates. - Adjusted subpixel refinement to work with new keypoint selection method. - Cleaned up code by removing commented-out sections and unnecessary variables.
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#5 points out that the ranker is unused. Add an explicit argument to allow the user to sort the keypoints, keypoint scores, ranker scores and covariances on the basis of the ranker's output.
Increase the default
max_num_keypointsto 2048, update the demo and refactor the sampling.