How can I store the feature descriptors for all 3D points found in Structure from Motion?

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Markus Iversflaten 2021-4-20

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编辑： Qu Cao 2021-4-22

I am running the example on Structure from Motion from MathWorks. I have managed to find 3D points from my 2D images, but I also need to store feature descriptors for each 3D point, so that I can perform 3D-2D matching later on. How do I go about this? I can save the features for each image separately, but I don't know how to later match them to each 3D point.

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Qu Cao 2021-4-20

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You can use imageviewset to store the feature points associated with each view and the connections between the views. You can also use worldpointset to store the correspondences between 2-D image points and 3-D world points.

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Markus Iversflaten 2021-4-22

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I've managed to extract the features that were used to create the 3D points now. However, it seems that the features are not ordered correctly, even though I am extracting them in the order of the pointTracks:

features = zeros(length(tracks),64);
for i=1:length(tracks)
    track = tracks(i);
    viewID = track.ViewIds(1);
    index = find(track.Points(1,:) == vSet.Views.Points{viewID}.Location,1);
    feature = vSet.Views.Features{viewID}(index,:);
    features(i,:) = feature;
end