Add an optional image mask for feature detections #206
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In case you forget to mount your camera so that it doesn't look at your propellers or your frame. ;)
Simply prunes new feature detections before selecting best features to track based on whether their coordinates fall into the mask or not.
Before:
After:
Mask applied: (black = filter, white = don't filter)
Controlled by an optional ros param called "image_mask_path". If set to a path (here a png image), will automatically filter. Otherwise won't do anything.