FIX fundamental_matrix matches queryIdx and trainIdx

src/examples/fundamental_matrix.cpp

@@ -224,8 +224,8 @@ int main(int argc, char** argv)
         		if (matches[ii].distance <= 50) //std::max(2*min_dist, 0.02) )
         		{
         			good_matches.push_back(matches[ii]);
-        			matched_1.push_back(keypoints_1[matches[ii].trainIdx].pt);
-        			matched_2.push_back(keypoints_1[matches[ii].queryIdx].pt);
+        			matched_1.push_back(keypoints_1[matches[ii].queryIdx].pt);
+        			matched_2.push_back(keypoints_1[matches[ii].trainIdx].pt);
         		}
         	}
 

src/matchers/matcher_base.cpp

@@ -191,8 +191,8 @@ void MatcherBase::ransacTest(const KeyPointVector& _raw_kps1,
     PointVector raw_pts1, raw_pts2;
     for (std::vector<cv::DMatch>::const_iterator it= _raw_matches.begin(); it!= _raw_matches.end(); ++it)
     {
-        raw_pts1.push_back(cv::Point2f(_raw_kps1[it->queryIdx].pt.x, _raw_kps1[it->queryIdx].pt.y));
-        raw_pts2.push_back(cv::Point2f(_raw_kps2[it->trainIdx].pt.x, _raw_kps2[it->trainIdx].pt.y));
+        raw_pts1.push_back(_raw_kps1[it->queryIdx].pt);
+        raw_pts2.push_back(_raw_kps2[it->trainIdx].pt);
     }
 
     // Compute F matrix using RANSAC