void GetAlignedPointsFromMatch(const Features& leftFeatures,
const Features& rightFeatures,
const Matching& matches,
Features& alignedLeft,
Features& alignedRight,
vector<int>& leftBackReference,
vector<int>& rightBackReference)
{
alignedLeft .keyPoints.clear();
alignedRight.keyPoints.clear();
alignedLeft .descriptors = cv::Mat();
alignedRight.descriptors = cv::Mat();
for (unsigned int i=0; i<matches.size(); i++) {
alignedLeft .keyPoints .push_back(leftFeatures.keyPoints [matches[i].queryIdx]);
alignedLeft .descriptors.push_back(leftFeatures.descriptors.row (matches[i].queryIdx));
alignedRight.keyPoints .push_back(rightFeatures.keyPoints [matches[i].trainIdx]);
alignedRight.descriptors.push_back(rightFeatures.descriptors.row(matches[i].trainIdx));
leftBackReference .push_back(matches[i].queryIdx);
rightBackReference.push_back(matches[i].trainIdx);
}
KeyPointsToPoints(alignedLeft.keyPoints, alignedLeft.points);
KeyPointsToPoints(alignedRight.keyPoints, alignedRight.points);
}
void Features::extract(const cv::DescriptorExtractor& extract, const cv::Mat& img)
{
extract.compute(img, kpts_, descriptors_);
KeyPointsToPoints(kpts_, pts_);
// matcher_->add(vector<Mat>(1,descriptors_));
// matcher_->train();
}
