match.draw_matches(roi, match.good_matches)
cv2.namedWindow('roi', cv2.WINDOW_NORMAL)
cv2.imshow('roi', roi)
cv2.waitKey(0)
cv2.destroyAllWindows()
# save matches
match.sum_coord(start[0], start[1])
match.append_matches()
match.append_keypoints1()
match.append_keypoints2()
print "len keypoints", len(match.global_kpts1)
match.global_kpts1 = np.float32(match.global_kpts1)
match.global_kpts2 = np.float32(match.global_kpts2)
print len(match.global_kpts1)
vo = VisualOdometry()
for i in range(2):
print len(match.global_kpts1)
image_plane = np.zeros((h, w, 3), np.uint8)
#image_plane= img.create_img()
[match.global_kpts1, match.global_kpts2] = vo.EstimateF_multiprocessing(match.global_kpts1, match.global_kpts2)
