New draw functions

src/matchers/matcher_base.cpp

@@ -312,13 +312,13 @@ void MatcherBase::filterByDistance(const KeyPointVector& _raw_kps1,
 }
 
 void MatcherBase::ransacTest(const KeyPointVector& _raw_kps1,
-                                            const KeyPointVector& _raw_kps2,
-                                            const DMatchVector& _raw_matches,
-                                            DMatchVector& _inlier_matches)
+                             const KeyPointVector& _raw_kps2,
+                             const DMatchVector& _raw_matches,
+                             DMatchVector& _inlier_matches)
 {
     std::vector<Scalar> normalized_scores;
 
-    if (_raw_matches.size() > 0)
+    if (_raw_matches.size() > 8) // RANSAC requires at least 8 points
     {
         // Convert keypoints into Point2f
         PointVector raw_pts1, raw_pts2;
@@ -333,7 +333,7 @@ void MatcherBase::ransacTest(const KeyPointVector& _raw_kps1,
         cv::Mat fundemental= cv::findFundamentalMat(raw_pts1,
                                                     raw_pts2,                                   // matching points
                                                     inliers,                                    // match status (inlier ou outlier)
-                                                    CV_FM_RANSAC,                               // RANSAC method
+                                                    CV_FM_RANSAC,                             // RANSAC / LMEDS method
                                                     params_base_ptr_->ransac_epipolar_distance, // distance to epipolar line
                                                     params_base_ptr_->ransac_confidence_prob);  // confidence probability