Summary

Fixes#28089

BRISK'scompute() method was unconditionally recalculating keypoint orientations, ignoring pre-set angles. This fix checks if provided keypoints have valid angles (angle != -1) and only recalculates when needed.

Problem

• BRISK ignored pre-set keypoint angles
• Always recalculated orientation even when valid angles were provided
• Resulted in identical descriptors for keypoints with different orientations

Solution

ModifiedBRISK_Impl::detectAndCompute() to:

• Check if keypoints have valid angles before recalculating
• Only compute orientation when angle == -1
• Matches behavior of SIFT and ORB descriptors

Testing

• Bug reproduced on Google Colab
• Verified the logic follows the same pattern as other feature descriptors