Method SelectFeaturesForTracking

src/database/Frame.cpp:204–233

}

std::vector<int> Frame::SelectFeaturesForTracking() const {
    std::vector<int> selected_indices;
    
    // Select best feature from each grid cell
    for (const auto& row : m_feature_grid) {
        for (const auto& cell : row) {
            if (cell.empty()) continue;
            
            // Find feature with highest track count
            int best_idx = -1;
            int max_track_count = -1;
            
            for (int idx : cell) {
                if (idx >= 0 && idx < static_cast<int>(m_features.size()) && m_features[idx]) {
                    int track_count = m_features[idx]->GetTrackCount();
                    if (track_count > max_track_count) {
                        max_track_count = track_count;
                        best_idx = idx;
                    }
                }
            }
            
            if (best_idx >= 0) {
                selected_indices.push_back(best_idx);
            }
        }
    }
    
    return selected_indices;
}

// ============ MapPoint Management ============