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Removing outliers from goodFeaturesToTrack using the x84 method

Hi, I found this paper that describes what looks to be a pretty great outlier removal method. Unfortunately the formulas are a bit over my head.

Does know if this x84 method is implemented in OpenCV? I have some occluded keypoints due to "foreground" motion (similar to how the road sign is occluded by the teddy bear in that PDF) and I need to discard them.

Any help would be much appreciated!