RansacMethodCPP

cv::Mat ransacTest(
				   const std::vector<std::vector<cv::DMatch> > &matches,   // Matches between two set of keypoints
				   const std::vector<cv::KeyPoint>& keypoints1,
				   const std::vector<cv::KeyPoint>& keypoints2, 
				   std::vector<std::vector<cv::DMatch> > &outMatches) {
				   
	// Convert keypoints into Point2f 
	std::vector<cv::Point2f> points1, points2; 
	for (std::vector<std::vector<cv::DMatch> >::
	const_iterator it= matches.begin(); it!= matches.end(); ++it) {
		// Get the position of left keypoints 
		float x= keypoints1[(*it)[0].queryIdx].pt.x; 
		float y= keypoints1[(*it)[0].queryIdx].pt.y; 
		points1.push_back(cv::Point2f(x,y));
		// Get the position of right keypoints 
		x= keypoints2[(*it)[0].trainIdx].pt.x; 
		y= keypoints2[(*it)[0].trainIdx].pt.y; 
		points2.push_back(cv::Point2f(x,y));
	}
	
	// Compute F matrix using RANSAC 
	std::vector<uchar> inliers(points1.size(),0); 
	cv::Mat fundemental= cv::findFundamentalMat(
    cv::Mat(points1),cv::Mat(points2), // matching points
	inliers,	// match status (inlier or outlier) 
	CV_FM_RANSAC, // RANSAC method 
	3.0,	// distance to epipolar line 
	0.99); // confidence probability
//	// extract the surviving (inliers) matches 
	std::vector<uchar>::const_iterator itIn= inliers.begin(); 
	std::vector<std::vector<cv::DMatch> >:: const_iterator itM= matches.begin();
	// for all matches 
	for ( ;itIn!= inliers.end(); ++itIn, ++itM) {
	if (*itIn) { // it is a valid match

	outMatches.push_back(*itM);
	 }
	}
	
	bool refineF = true;
	if (refineF) { // The F matrix will be recomputed with // all accepted matches
		// Convert keypoints into Point2f // for final F computation
		points1.clear(); 
		points2.clear();
		for (std::vector<std::vector<cv::DMatch> >:: const_iterator it= outMatches.begin();
			 it!= outMatches.end(); ++it) {
			// Get the position of left keypoints 
			float x= keypoints1[(*it)[0].queryIdx].pt.x; 
			float y= keypoints1[(*it)[0].queryIdx].pt.y; 
			points1.push_back(cv::Point2f(x,y));
			// Get the position of right keypoints 
			x= keypoints2[(*it)[0].trainIdx].pt.x; 
			y= keypoints2[(*it)[0].trainIdx].pt.y; 
			points2.push_back(cv::Point2f(x,y));

		}
		
		
		
		// Compute 8-point F from all accepted matches 
		fundemental= cv::findFundamentalMat(
		cv::Mat(points1),cv::Mat(points2), // matches 
		CV_FM_8POINT); // 8-point method
		
	}
	
	
	
	return fundemental;
	
}