Feature: Implement Keypoint filtering using a cv::Mat

[Soldann]

Description & Motivation

Fixes #9

We are adding orb-filtering from a cv::Mat mask to allow for future refinements such as filtering moving objects out of the SLAM algorithm.

Changes made

Type of Change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• This change requires a documentation update

Changes

This adds a mask argument to the Frame, Tracking, and System classes. It also creates an override in ORBExtractor for both masked and non-masked versions of a frame.

To specify no mask, pass nullptr as the mask argument instead of the address of a cv::Mat.

THIS IS BREAKING: old examples will not run without adding the mask argument (can use nullptr).

Test Plan

Ran a local test on the Jetson Orin and verified ORBS were not obtained outside of the mask.

Test Configuration:

• Hardware: Jetson Orin

Will need to do a second test to verify integrity of the SLAM algorithm

Test Configuration:

• Hardware:

[Ryan-Red]

Marked as duplicate, new and improved PR: #65