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No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0.

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matlabbe
2026-09-22 09:48:45 -07:00
parent aa9cc2f3d7
commit 31c59d0977
1 changed files with 0 additions and 14 deletions
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corelib/src/Features2d.cpp
-14
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@@ -2282,20 +2282,6 @@ std::vector<cv::KeyPoint> GFTT::generateKeypointsImpl(const cv::Mat & image, con
_gftt->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
}
if(!_useHarrisDetector && _qualityLevel>0.0)
{
std::vector<cv::KeyPoint> bestKeypoints;
bestKeypoints.reserve(keypoints.size());
for(size_t i=0; i<keypoints.size(); ++i)
{
if(keypoints[i].response > _qualityLevel)
{
bestKeypoints.push_back(keypoints[i]);
}
}
return bestKeypoints;
}
return keypoints;
}