hold)
        {
            // Trace of 2×2 matrix
            float trace = Ixx + Iyy;

            // Calculation of 2×2 matrix determinant
            float det = (Ixx * Iyy) - (Ixy * Ixy);

            float R = det - k * trace * trace;

            return (R >= threshold) ? R : 0.0;
        }

        float ShiTomasi(float Ixx, float Iyy, float Ixy, float k, float threshold)
        {
            // Trace of 2×2 matrix
            float trace = Ixx + Iyy;

            // Calculation of 2×2 matrix d