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    <p>Your question is not so clear because if you are using emgucv homography computation is estimated using <code>CameraCalibration.FindHomography()</code> function using RANSAC if there are more than 10 matching pairs. I'm working on these topics for my thesis so i will post some relevant code that should fully reply to you and serve also to others.</p> <pre><code>result = MatchingRefinement.VoteForSizeAndOrientation(result, 1.5, 20); homography = MatchingRefinement. GetHomographyMatrixFromMatchedFeatures(result, HomographyDirection.DIRECT, HOMOGRAPHY_METHOD.LMEDS); inverseHomography = MatchingRefinement.GetHomographyMatrixFromMatchedFeatures( result, HomographyDirection.INVERSE, HOMOGRAPHY_METHOD.LMEDS); PointF[] pts1 = new PointF[result.Length]; PointF[] pts1_t = new PointF[result.Length]; PointF[] pts2 = new PointF[result.Length]; for (int i = 0; i &lt; result.Length; i++) { pts1[i] = result[i].ObservedFeature.KeyPoint.Point; pts1_t[i] = result[i].ObservedFeature.KeyPoint.Point; pts2[i] = result[i].SimilarFeatures[0].Feature.KeyPoint.Point; } // Project model features according to homography homography.ProjectPoints(pts1_t); Image&lt;Bgr, Byte&gt; finalCorrespondance = inputImage.Copy(); matchedInliersFeatures = new List&lt;MatchedImageFeature&gt;(); for (int i1 = 0; i1 &lt; pts1_t.Length; i1++) { if (Math.Sqrt(Math.Pow(pts2[i1].X - pts1_t[i1].X, 2d) + Math.Pow(pts2[i1].Y - pts1_t[i1].Y, 2d)) &lt;4d) // Inlier { PointF p_t = pts1_t[i1]; PointF p = pts1[i1]; finalCorrespondance.Draw(new CircleF(p, 2f), new Bgr(Color.Yellow), 2); finalCorrespondance.Draw(new CircleF(p_t, 2f), new Bgr(Color.Black), 2); finalCorrespondance.Draw(new LineSegment2DF(p, p_t), new Bgr(Color.Blue), 1); MatchedImageFeature feature = new MatchedImageFeature(); feature.SimilarFeatures = new SimilarFeature[] { result[i1].SimilarFeatures[0] }; feature.ObservedFeature = result[i1].ObservedFeature; matchedInliersFeatures.Add(feature); } } List&lt;ImageFeature&gt; inliers = new List&lt;ImageFeature&gt;(); foreach (MatchedImageFeature match in matchedInliersFeatures) { inliers.Add(match.ObservedFeature); inliers.Add(match.SimilarFeatures[0].Feature); } </code></pre>
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