From 31c59d09777c067b6e758c9f01b9c56ada9e6405 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 22 Sep 2026 09:48:45 -0700
Subject: [PATCH] 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.

---
 corelib/src/Features2d.cpp | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/corelib/src/Features2d.cpp b/corelib/src/Features2d.cpp
index ecb637ee..8de873d9 100644
--- a/corelib/src/Features2d.cpp
+++ b/corelib/src/Features2d.cpp
@@ -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;
 }