bool computeMatchesDistanceStatistics(const Matches& matches, float& meanDistance, float& stdDev)
{
  if (matches.empty())
    return false;

  std::vector<float> distances(matches.size());
  for (size_t i=0; i<matches.size(); i++)
    distances[i] = matches[i].distance;

  cv::Scalar mean, dev;
  cv::meanStdDev(distances, mean, dev);

  meanDistance = static_cast<float>(mean.val[0]);
  stdDev       = static_cast<float>(dev.val[0]);

  return false;
}