C++ FlannBasedMatcher类代码示例

void detectSiftMatchWithOpenCV(const char* img1_path, const char* img2_path, MatrixXf &match) {
  Mat img1 = imread(img1_path);   
  Mat img2 = imread(img2_path);   

  SiftFeatureDetector detector;
  SiftDescriptorExtractor extractor;
  vector<KeyPoint> key1;
  vector<KeyPoint> key2;
  Mat desc1, desc2;
  detector.detect(img1, key1);
  detector.detect(img2, key2);
  extractor.compute(img1, key1, desc1);
  extractor.compute(img2, key2, desc2);

  FlannBasedMatcher matcher;
  vector<DMatch> matches;
  matcher.match(desc1, desc2, matches);

  match.resize(matches.size(), 6);
  cout << "match count: " << matches.size() << endl;
  for (int i = 0; i < matches.size(); i++) {
    match(i, 0) = key1[matches[i].queryIdx].pt.x;
    match(i, 1) = key1[matches[i].queryIdx].pt.y;
    match(i, 2) = 1;
    match(i, 3) = key2[matches[i].trainIdx].pt.x;
    match(i, 4) = key2[matches[i].trainIdx].pt.y;
    match(i, 5) = 1;
  }
  
}

int match(vector<DMatch> &match, frame &f1, frame &f2)
{
	vector<DMatch> matches;
  FlannBasedMatcher matcher;
  matcher.match(f1.desp, f2.desp, matches);
  
  static reader pd("../config/config.ini");
  
  double min_distance = 9999;
  double match_threshold = atof(pd.get("match_threshold").c_str());
  
  for (int i = 0; i < matches.size(); ++i)
  {
    if (matches[i].distance < min_distance)
    {
      min_distance = matches[i].distance;
    }
  }
  
  for (int i = 0; i < matches.size(); ++i)
  {
    if (matches[i].distance < (min_distance * match_threshold))
    {
      match.push_back(matches[i]);
    }
  }
  
  return match.size();
}

vector<DMatch> GraphicEnd::match( Mat desp1, Mat desp2 )
{
    cout<<"GraphicEnd::match two desp"<<endl;
    FlannBasedMatcher matcher;
    vector<DMatch> matches;

    if (desp1.empty() || desp2.empty())
    {
        return matches;
    }
    double max_dist = 0, min_dist = 100;
    matcher.match( desp1, desp2, matches);

    for (int i=0; i<desp1.rows; i++)
    {
        double dist = matches[ i ].distance;
        if (dist < min_dist)
            min_dist = dist;
        if (dist > max_dist)
            max_dist = dist;
    }

    //return matches;

    vector<DMatch> good_matches;
    for (size_t i=0; i<matches.size(); i++)
    {
        if (matches[ i ].distance <= max(4*min_dist, _match_min_dist))
        {
            good_matches.push_back(matches[ i ]);
        }
    }
    return good_matches;
}

void main()
{
	//Give the names of the images to be registered
	const char* imRef_name = "834-r1.png";
	const char* imNxt_name = "835-r1.png";
	int hessianThresh = 100, ransacThresh = 3;;
	Mat mask, H12;
	// Read images
	Mat img1 = imread(imRef_name, CV_LOAD_IMAGE_GRAYSCALE);
	Mat img2 = imread(imNxt_name, CV_LOAD_IMAGE_GRAYSCALE);
	Mat img2Out;	// Registered image2 wrt image1

	// Check to see if images exist
	if(img1.empty() || img2.empty())
	{
		printf("Can’t read one of the images\n");
		exit(0);
	}

	// detecting keypoints
	printf("Finding keypoints ... ");
	SURF ImgSurf(hessianThresh);
	vector<KeyPoint> keypoints1, keypoints2;
	ImgSurf(img1, mask, keypoints1);
	ImgSurf(img2, mask, keypoints2);
	// computing descriptors
	SurfDescriptorExtractor extractor;
	Mat descriptors1, descriptors2;
	extractor(img1,mask,keypoints1,descriptors1,TRUE);
	extractor(img2, mask, keypoints2, descriptors2, TRUE);

	// Match the points
	printf("\nMatching keypoints ... ");
	FlannBasedMatcher matcher;
	std::vector< DMatch > matches;
	matcher.match( descriptors1, descriptors2, matches );

	// Extract indices of matched points
    vector<int> queryIdxs( matches.size() ), trainIdxs( matches.size() );
    for( size_t i = 0; i < matches.size(); i++ )
    {
        queryIdxs[i] = matches[i].queryIdx;
        trainIdxs[i] = matches[i].trainIdx;
    }

	// Extract matched points from indices
    vector<Point2f> points1; KeyPoint::convert(keypoints1, points1, queryIdxs);
    vector<Point2f> points2; KeyPoint::convert(keypoints2, points2, trainIdxs);

	// Use RANSAC to find the homography
	printf("\nComputing homography ... ");
    H12 = findHomography( Mat(points2), Mat(points1), CV_RANSAC, ransacThresh );
	
	// Warp the second image according to the homography
	warpPerspective(img2, img2Out, H12, cvSize(img2.cols, img2.rows), INTER_LINEAR);

	// Write result to file
	imwrite("im2reg.png",img2Out);
	printf("\nDone!!!.... ");
}

int getFeatures(Mat &object, Mat &frame, Mat &homography, vector<KeyPoint> &keypoints_object,
    vector<KeyPoint> &keypoints_scene, vector<DMatch> &good_matches) {

    Ptr<SIFT> detector = SIFT::create();

    // Detect features and compute descriptors
    Mat descriptors_object, descriptors_scene;
    detector->detectAndCompute(object, noArray(), keypoints_object, descriptors_object);
    detector->detectAndCompute(frame, noArray(), keypoints_scene, descriptors_scene);

    // Match descriptors using FLANN
    FlannBasedMatcher matcher;
    vector<DMatch> matches;
    matcher.match(descriptors_object, descriptors_scene, matches);

    // Check if too few matches are found
    if (matches.size() <= 4) {
        cout << "Error: too few matches were found" << endl;
        return -1;
    }

    // Find minimum and maximum distances between descriptors
    double max_dist = 0;
    double min_dist = 100;
    for (int i = 0; i < descriptors_object.rows; i++) {
        double dist = matches[i].distance;
        if (dist < min_dist) min_dist = dist;
        if (dist > max_dist) max_dist = dist;
    }

    // If there are sufficient matches, filter to find higher-quality subset
    int minMatches = 8;
    for (int i = 0; i < descriptors_object.rows; i++) {
        if (matches[i].distance < 3*min_dist && matches.size() > minMatches) {
            good_matches.push_back(matches[i]);
        }
    }
    // If there are too few good matches, use all matches
    if (good_matches.size() <= minMatches) {
        for (int i = 0; i < matches.size(); i++) {
            if (i < good_matches.size()) {
                good_matches[i] = matches[i];
            } else {
                good_matches.push_back(matches[i]);
            }
        }
    }

    vector<Point2f> obj, scene;
    for (int i = 0; i < good_matches.size(); i++) {
        // Determine keypoints from the matches
        obj.push_back(keypoints_object[ good_matches[i].queryIdx ].pt);
        scene.push_back(keypoints_scene[ good_matches[i].trainIdx ].pt);
    }

    // Transform pixel coordinates between images
    homography = findHomography(obj, scene, CV_RANSAC);
    return good_matches.size();
}

int compare(Mat img_1, Mat img_2) {
  //-- Step 1: Detect the keypoints using SURF Detector
  int minHessian = 400;

  SurfFeatureDetector detector( minHessian );

  std::vector<KeyPoint> keypoints_1, keypoints_2;

  detector.detect( img_1, keypoints_1 );
  detector.detect( img_2, keypoints_2 );

  //-- Step 2: Calculate descriptors (feature vectors)
  SurfDescriptorExtractor extractor;

  Mat descriptors_1, descriptors_2;

  extractor.compute( img_1, keypoints_1, descriptors_1 );
  extractor.compute( img_2, keypoints_2, descriptors_2 );

  //-- Step 3: Matching descriptor vectors using FLANN matcher
  FlannBasedMatcher matcher;
  std::vector< DMatch > matches;
  matcher.match( descriptors_1, descriptors_2, matches );

  double max_dist = 0; double min_dist = 100;

  //-- Quick calculation of max and min distances between keypoints
  for( int i = 0; i < descriptors_1.rows; i++ ) { 
    double dist = matches[i].distance;
    if( dist < min_dist ) min_dist = dist;
    if( dist > max_dist ) max_dist = dist;
  }

  //-- Draw only "good" matches (i.e. whose distance is less than 2*min_dist,
  //-- or a small arbitary value ( 0.02 ) in the event that min_dist is very
  //-- small)
  //-- PS.- radiusMatch can also be used here.
  std::vector< DMatch > good_matches;

  for( int i = 0; i < descriptors_1.rows; i++ ) { 
    if( matches[i].distance <= max(2 * min_dist, 0.02) ) { 
      good_matches.push_back( matches[i]); 
    }
  }

  // Mat img_matches;
  // drawMatches( img_1, keypoints_1, img_2, keypoints_2,
  //              good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
  //              vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );

  // //-- Show detected matches
  // imshow( "Good Matches", img_matches );

  waitKey(0);

  return good_matches.size();
}

bool RelicScn::Match_an_Obj(RelicObj obj)
{
	string message;

	FlannBasedMatcher matcher;
	vector<DMatch> matches;

	matcher.match(obj.descriptors, this->descriptors, matches);
	vector<DMatch> good_matches = Get_Good_Matches(matches);

	//-- Localize the object
	std::vector<Point2f> obj_points;
	std::vector<Point2f> scn_points;
	for (size_t i = 0; i < good_matches.size(); i++)
	{
		//-- Get the keypoints from the good matches
		obj_points.push_back(obj.keypoints[good_matches[i].queryIdx].pt);
		scn_points.push_back(this->keypoints[good_matches[i].trainIdx].pt);
	}
	Mat H = cv::findHomography(obj_points, scn_points, RANSAC);

	std::vector<Point2f> obj_corners(4);
	
	obj_corners[0] = cvPoint(0, 0);
	obj_corners[1] = cvPoint(obj.img_width-1, 0);
	obj_corners[2] = cvPoint(obj.img_width-1, obj.img_height-1);
	obj_corners[3] = cvPoint(0, obj.img_height-1);

	std::vector<Point2f> possible_obj_corners(4);
	perspectiveTransform(obj_corners, possible_obj_corners, H);
	BOOST_LOG_TRIVIAL(info) << "原始目标物体大小（像素）： " << contourArea(obj_corners);
	BOOST_LOG_TRIVIAL(info) << "检测到的物体大小（像素）： " << contourArea(possible_obj_corners);
	this->corners = possible_obj_corners;
	double possible_target_area = contourArea(possible_obj_corners);
	double whole_scene_area = this->img_gray.rows*this->img_gray.cols;
	BOOST_LOG_TRIVIAL(info) << "环境图像大小（像素）： " << whole_scene_area;
	double ratio = possible_target_area / whole_scene_area;
	BOOST_LOG_TRIVIAL(info) << "检测到的目标占全图比例： " << ratio;
	if (ratio>0.03 && ratio<1)
	{
		for (int i;i < possible_obj_corners.size();i++)
		{
			if (possible_obj_corners[i].x < 0 || possible_obj_corners[i].y < 0)
			{
				BOOST_LOG_TRIVIAL(info) << "未能检测到目标物体！";
				return false;
			}
		}
		BOOST_LOG_TRIVIAL(info) << "成功检测到目标物体！";
		return true;
	} 
	else
	{
		BOOST_LOG_TRIVIAL(info) << "未能检测到目标物体！";
		return false;
	}
}

int PlayedCard::computeSurfGoodMatches(vector<KeyPoint> keypoints_1, vector<KeyPoint> keypoints_2, Mat descriptors_1, Mat descriptors_2) {

	//-- Step 3: Matching descriptor vectors using FLANN matcher
	FlannBasedMatcher matcher;
	vector< DMatch > matches;
	matcher.match(descriptors_1, descriptors_2, matches);

	filterMatchesByAbsoluteValue(matches, 0.125);
	filterMatchesRANSAC(matches, keypoints_1, keypoints_2);

	return (int)matches.size();
}

int main(int argc, char* argv[])
{
	VideoCapture camera;
	camera.set(CV_CAP_PROP_FRAME_WIDTH, WIDTH);
	camera.set(CV_CAP_PROP_FRAME_HEIGHT, HEIGHT);
	camera.open(0);
	
	//checkOpenCL();
	Ptr<FeatureDetector> detector = FeatureDetector::create("STAR");
	//Ptr<DescriptorExtractor> extractor = DescriptorExtractor::create("FREAK");
	BriefDescriptorExtractor extractor;
	FlannBasedMatcher matcher;
	std::vector< DMatch > matches;
	Mat descriptor[2];

	int k = 0;
	camera >> image;
	detector->detect(image, keypoint[1]);
	extractor.compute(image, keypoint[1], descriptor[1]);
	for (bool loop = true; loop; )
	{
		switch (waitKey(10))
		{
		case 'q':
			loop = false;
			break;
		}
		camera >> image;
		if (image.empty())
			break;

		// detect features
		detector->detect(image, keypoint[k % 2]);
		extractor.compute(image, keypoint[k % 2], descriptor[k % 2]);
		try {
			matcher.match(descriptor[0], descriptor[1], matches);
		}
		catch (Exception ex)
		{
			printf("%s", ex.msg);
		}
		printf("%d\n", keypoint[k % 2].size());
		for (int i = 0; i < keypoint[k % 2].size(); i++)
		{
			Point2f pt = keypoint[k % 2][i].pt;
			circle(image, Point(pt.x, pt.y), 3, Scalar(0, 0, 255));
		}
		k++;
		imshow("image", image);
	}
	return 0;
}

/**
 * @brief featuredetector::testFeatures
 * FLANN based matching.
 * Algorithm is taken from
 * http://docs.opencv.org/doc/tutorials/features2d/feature_flann_matcher/feature_flann_matcher.html
 * @return Matched points image.
 */
Mat featuredetector::testFeatures(){
    cv::Mat im1, im2;

    //Grayscale the images.
    if(_image1.channels() == 3)
        cv::cvtColor(_image1,im1, CV_BGR2GRAY);
    else _image1.copyTo(im1);
    if(_image2.channels() == 3)
        cv::cvtColor(_image2,im2, CV_BGR2GRAY);
    else _image2.copyTo(im2);


    int minH = 100; // (should be around ~100)
    Ptr<xfeatures2d::SURF> detector =  xfeatures2d::SURF::create(minH);
    detector->setHessianThreshold(minH);

    std::vector<KeyPoint> keypoints1, keypoints2;
    Mat descriptors1, descriptors2;
    detector->detectAndCompute( im1, Mat(), keypoints1, descriptors1 );
    detector->detectAndCompute( im2, Mat(), keypoints2, descriptors2 );

    FlannBasedMatcher matcher;

    std::vector<DMatch> matches;
    matcher.match( descriptors1, descriptors2, matches );
    double maxDist = 0; double minDist = 80;



    for( int i = 0; i < descriptors1.rows; i++ )
    { double dist = matches[i].distance;
        if( dist < minDist ) minDist = dist;
        if( dist > maxDist ) maxDist = dist;
    }
    std::vector< DMatch > goodMatches;

    for( int i = 0; i < descriptors1.rows; i++ )
    { if( matches[i].distance <= max(2*minDist, 0.02) )
        { goodMatches.push_back( matches[i]); }
    }



    Mat matchMat;
    drawMatches( im1, keypoints1, im2, keypoints2,
                 goodMatches, matchMat, Scalar::all(-1), Scalar::all(-1),
                 vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );

    imshow( "Matches", matchMat );
    return matchMat;
}

/*
 * @function main
 * @brief Main function
 */
int flann( int argc, char** argv )
{
  if( argc != 3 )
  { readme(); return -1; }
  Mat img_1 = imread( argv[1], IMREAD_GRAYSCALE );
  Mat img_2 = imread( argv[2], IMREAD_GRAYSCALE );
  if( !img_1.data || !img_2.data )
  { std::cout<< " --(!) Error reading images " << std::endl; return -1; }
  //-- Step 1: Detect the keypoints using SURF Detector, compute the descriptors
  int minHessian = 400;
  Ptr<SURF> detector = SURF::create();
  detector->setHessianThreshold(minHessian);
  std::vector<KeyPoint> keypoints_1, keypoints_2;
  Mat descriptors_1, descriptors_2;
  detector->detectAndCompute( img_1, Mat(), keypoints_1, descriptors_1 );
  detector->detectAndCompute( img_2, Mat(), keypoints_2, descriptors_2 );
  //-- Step 2: Matching descriptor vectors using FLANN matcher
  FlannBasedMatcher matcher;
  std::vector< DMatch > matches;
  matcher.match( descriptors_1, descriptors_2, matches );
  double max_dist = 0; double min_dist = 100;
  //-- Quick calculation of max and min distances between keypoints
  for( int i = 0; i < descriptors_1.rows; i++ )
  { double dist = matches[i].distance;
    if( dist < min_dist ) min_dist = dist;
    if( dist > max_dist ) max_dist = dist;
  }
  printf("-- Max dist : %f \n", max_dist );
  printf("-- Min dist : %f \n", min_dist );
  //-- Draw only "good" matches (i.e. whose distance is less than 2*min_dist,
  //-- or a small arbitary value ( 0.02 ) in the event that min_dist is very
  //-- small)
  //-- PS.- radiusMatch can also be used here.
  std::vector< DMatch > good_matches;
  for( int i = 0; i < descriptors_1.rows; i++ )
  { if( matches[i].distance <= max(2*min_dist, 0.02) )
    { good_matches.push_back( matches[i]); }
  }
  //-- Draw only "good" matches
  Mat img_matches;
  drawMatches( img_1, keypoints_1, img_2, keypoints_2,
               good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
               vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
  //-- Show detected matches
  imshow( "Good Matches", img_matches );
  for( int i = 0; i < (int)good_matches.size(); i++ )
  { printf( "-- Good Match [%d] Keypoint 1: %d  -- Keypoint 2: %d  \n", i, good_matches[i].queryIdx, good_matches[i].trainIdx ); }
  waitKey(0);
  return 0;
}

vector<DMatch> GraphicEnd::match( vector<PLANE>& p1, vector<PLANE>& p2 )
{
    cout<<"GraphicEnd::match two planes"<<endl;
    FlannBasedMatcher matcher;
    vector<DMatch> matches;
    cv::Mat des1(p1.size(), 4, CV_32F), des2(p2.size(), 4, CV_32F);
    for (size_t i=0; i<p1.size(); i++)
    {
        pcl::ModelCoefficients c = p1[i].coff;
        float m[1][4] = { c.values[0], c.values[1], c.values[2], c.values[3] };
        Mat mat = Mat(1,4, CV_32F, m);
        mat.row(0).copyTo( des1.row(i) );
    }

    for (size_t i=0; i<p2.size(); i++)
    {
        pcl::ModelCoefficients c = p2[i].coff;
        float m[1][4] = { c.values[0], c.values[1], c.values[2], c.values[3] };
        Mat mat = Mat(1,4, CV_32F, m);
        mat.row(0).copyTo( des2.row(i) );
    }

    matcher.match( des1, des2, matches);

    return matches;
    double max_dist = 0, min_dist = 100;

    for (int i=0; i<des1.rows; i++)
    {
        double dist = matches[ i ].distance;
        if (dist < min_dist)
            min_dist = dist;
        if (dist > max_dist)
            max_dist = dist;
    }

    vector<DMatch> good_matches;
    for (size_t i=0; i<matches.size(); i++)
    {
        if (matches[ i ].distance <= 3*min_dist)
        {
            good_matches.push_back(matches[ i ]);
        }
    }
    return good_matches;
}

//Realiza el Matching entre puntos
void computeMatching(Mat& img1, Mat& img2,vector<KeyPoint>& keypoints1,vector<KeyPoint>& keypoints2, vector<DMatch>& matches ){
        // computing descriptors
        #if _SURF_
        SurfDescriptorExtractor extractor;
        #else if _SIFT_
        SiftDescriptorExtractor extractor;
        #endif
        Mat descriptors1, descriptors2;
        extractor.compute(img1, keypoints1, descriptors1);
        extractor.compute(img2, keypoints2, descriptors2);

        FlannBasedMatcher matcher;
        matcher.match(descriptors1,descriptors2,matches);

        double max_dist = 0; double min_dist = 100;

        //-- Quick calculation of max and min distances between keypoints
        for( int i = 0; i < descriptors1.rows; i++ ){
           double dist = matches[i].distance;
           if( dist < min_dist ) min_dist = dist;
           if( dist > max_dist ) max_dist = dist;
         }

         printf("-- Max dist : %f \n", max_dist );
         printf("-- Min dist : %f \n", min_dist );

         //-- Draw only "good" matches (i.e. whose distance is less than 2*min_dist )
         //-- PS.- radiusMatch can also be used here.
         std::vector< DMatch > good_matches;

         for( int i = 0; i < descriptors1.rows; i++ ){
             if( matches[i].distance < 2*min_dist ){
                 good_matches.push_back( matches[i]);
             }
         }

         //-- Draw only "good" matches
         Mat img_matches;
         drawMatches( img1, keypoints1, img2, keypoints2,
                        good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
                        vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );

         //-- Show detected matches
         imshow( "Good Matches", img_matches );
}

bool findMatch(CvPoint &offset, FlannBasedMatcher matcher, SurfFeatureDetector detector, SurfDescriptorExtractor extractor, Mat des_object[])
{
	bool noMatch = true;
	Mat des_image, img_matches;
	vector<KeyPoint> kp_image;
	vector<vector<DMatch > > matches;
	vector<DMatch > good_matches;
	int iter = 0;
	Mat image = imread("/home/pi/opencv/photo.jpg" , CV_LOAD_IMAGE_GRAYSCALE );
	detector.detect( image, kp_image );
	extractor.compute( image, kp_image, des_image );
	while ( noMatch )
	{
		//printf("before kp and des detection 2\n");
	    	
		
		matcher.knnMatch(des_object[iter], des_image, matches, 2);
		for(int i = 0; i < min(des_image.rows-1,(int) matches.size()); i++) //THIS LOOP IS SENSITIVE TO SEGFAULTS
		{
		    if((matches[i][0].distance < 0.6*(matches[i][1].distance)) && ((int) matches[i].size()<=2 && (int) matches[i].size()>0))
		    {
			good_matches.push_back(matches[i][0]);
		    }
		}
		
		//printf("Number of matches: %d\n", good_matches.size());
		if (good_matches.size() >= 10)
		{
			CvPoint center = cvPoint(0,0);
			for ( int z = 0 ; z < good_matches.size() ; z++ )
			{
				int index = good_matches.at(z).trainIdx;
				center.x += kp_image.at(index).pt.x;
				center.y += kp_image.at(index).pt.y;
			}
			center.x = center.x/good_matches.size();
			center.y = center.y/good_matches.size();
			int radius = 5;
			circle( image, center, radius, {0,0,255}, 3, 8, 0 );
			namedWindow("test");
			imshow("test", image);
			imwrite("centerPoint.jpg", image);
			waitKey(5000);
			int offsetX = center.x - image.cols/2;
			int offsetY = center.y - image.rows/2;
			offset = cvPoint(offsetX, offsetY);			
			noMatch = false;
		}
		//printf("draw good matches\n");
		//Show detected matches
		if ( iter++ == 3 || !noMatch )
			break;
		
		good_matches.clear();
	}
	return noMatch;
}

static void match(Mat& img1, Mat& img2, Mat& depth1, Mat& depth2) {
	SurfFeatureDetector detector(400);
	vector<KeyPoint> keypoint1, keypoint2;
	detector.detect(img1, keypoint1);
	detector.detect(img2, keypoint2);

	SurfDescriptorExtractor extractor;
	Mat des1, des2;
	extractor.compute(img1, keypoint1, des1);
	extractor.compute(img2, keypoint2, des2);

	FlannBasedMatcher matcher;
	vector< vector< DMatch > > matches;
	matcher.radiusMatch(des1, des2, matches, 0.2);

	Mat key = img1;
	Mat space( 1024, 640 , CV_8UC3, CV_RGB(0, 0, 0));

	vector< Point > ref1, ref2;
	for(vector< vector<DMatch> >::iterator iter = matches.begin(); iter != matches.end(); iter++) {
		if( iter -> size() > 0) {
			DMatch match = iter->at(0);
			line( key, keypoint1[match.queryIdx].pt, keypoint2[match.trainIdx].pt, CV_RGB(255,0,0), 1);
			
			if( depth1.at<uint16_t>(keypoint1[match.queryIdx].pt) / 10 > 0 )  {
			circle( space, 
				Point( depth1.at<uint16_t>(keypoint1[match.queryIdx].pt) / 10, keypoint1[match.queryIdx].pt.x),
				5,
				CV_RGB(255, 0, 0));
			}

			if( depth1.at<uint16_t>(keypoint1[match.queryIdx].pt) > 0 && depth2.at<uint16_t>(keypoint2[match.trainIdx].pt) > 0)  {
				ref1.push_back( Point( depth1.at<uint16_t>(keypoint1[match.queryIdx].pt), keypoint1[match.queryIdx].pt.x) );
				ref2.push_back( Point( depth2.at<uint16_t>(keypoint2[match.trainIdx].pt), keypoint2[match.trainIdx].pt.x) );
			}
		}
	}
	imshow( "keypoint", key);
	imshow( "space", space);
}