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Retain additional detected salient features for loop closure - #53
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Motivation
Detected salient features unused by temporal tracking are currently discarded. Features constructed through track propagation do not specifically target salient regions and can be less repeatable, leaving loop closures with few matches. This PR preserves detected salient features that were not selected for track propagation and uses them for loop closure.
Changes
Retain unused detected salient features outside the suppression radius of existing points.
Combined retention and deduplication results are reported in #54.