Feature: Implement Keypoint filtering using a cv::Mat #46
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move mask out to top level System call
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Marked as duplicate, new and improved PR: #65 |
Veng97
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Oct 4, 2025
* Format all .cc/.ccp files, excluding the ones in Optimizer/ * Format all .h/.hpp files * Remove Unused Member Variables and Functions (Soldann#43) * pushing changes here because it segfaults if it goes LoopClose->Lost->MapMerge->LoopClose * Move the KF merge proccess from the locations that SetBadFlag() is called to the actual function (Soldann#42) * remove print * formatting for Optimizer, CameraModels, DBoW2, and parts of g2o * spacing * removed the unused ProjectPointDistort() from Frame/KeyFrame * re-add GetTrackingState() because it shouldn't've been deleted * mb * remove unused state OK_KLT * formatting * I pushed changes before compiling again
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Description & Motivation
Fixes #9
We are adding orb-filtering from a cv::Mat mask to allow for future refinements such as filtering moving objects out of the SLAM algorithm.
Changes made
Type of Change
Changes
This adds a
maskargument to theFrame,Tracking, andSystemclasses. It also creates an override inORBExtractorfor both masked and non-masked versions of a frame.To specify no mask, pass
nullptras themaskargument instead of the address of a cv::Mat.THIS IS BREAKING: old examples will not run without adding the
maskargument (can use nullptr).Test Plan
Ran a local test on the Jetson Orin and verified ORBS were not obtained outside of the mask.
Test Configuration:
Will need to do a second test to verify integrity of the SLAM algorithm
Test Configuration: