if(flag==0):
featureMap[i+1][count][0] = prevFeatures[featureIndex][0]
featureMap[i+1][count][1] = prevFeatures[featureIndex][1]
featureMap[i][count][0] = features[featureIndex][0]
featureMap[i][count][1] = features[featureIndex][1]
count += 1
if ((param.IS_INVERSE_DEPTH_PARAMETRIZATION == 0) and (param.IS_LOCALIZATION_FROM_GT == 1)): # Only XYZ representation available in the first iteration
l = Localization("")
#tx, ty, tz, qx, qy, qz, qw, fBlock, sBlock = l.staticLocalizationFrmGT(param.GROUND_TRUTH_FILE,'',0)
_tx, _ty, _tz, _qx, _qy, _qz, _qw, size = l.getDataBetweenImagesGT(imageName1, imageName2, param.GROUND_TRUTH_FILE)
_w.append(_w)
if (param.DEBUG==1):
print "Size of interim quaternions {}" .format(size)
for q in range(0,size):
#if (param.DEBUG==1):
#print "GT tuple : {},{},{},{},{},{}, {}" .format(_tx[q], _ty[q], _tz[q], _qx[q], _qy[q], _qz[q], _qw[q])
if (q==0) and (i==0):
cameraState[3] = float(_qw[q])
cameraState[4] = float(_qx[q])
cameraState[5] = float(_qy[q])
cameraState[6] = float(_qz[q])
