diff --git a/src/pointbase.cpp b/src/pointbase.cpp
index b9e90f9..b7fc26f 100644
--- a/src/pointbase.cpp
+++ b/src/pointbase.cpp
@@ -5,6 +5,7 @@
 #include "opencv2/stitching.hpp"
 #include <opencv2/xfeatures2d.hpp>
 #include <opencv2/features2d.hpp>
+#include "opencv2/calib3d/calib3d.hpp"
 #include <fstream>
 #include <iostream>
 #include <json/json.h>
@@ -526,7 +527,7 @@ class PointBase {
 
                     
                     cv::Ptr<SIFT> siftPtr = SIFT::create();
-                    std::vector<cv::KeyPoint> keypointsROI, keypointsImg;
+                    std::vector<KeyPoint> keypointsROI, keypointsImg;
                     cv::Ptr<SiftDescriptorExtractor> siftExtrPtr;
                     cv::Mat descriptorsROI, descriptorsImg;
                     siftPtr->detect(roi, keypointsROI);
@@ -541,16 +542,15 @@ class PointBase {
                     imshow("sift_result.jpg", output);
                     waitKey(0);*/
 
-                    cout<<" SIZE \n"<<roi.size() <<" \n";
+                    cout<<" SIZE \n"<<cv::typeToString(roi.type()) <<" \n";
                     siftPtr->compute(roi,
                                 keypointsROI,
                                 descriptorsROI);
-                    /*siftExtrPtr->compute(imgSmall,
+                    siftPtr->compute(imgSmall,
                                 keypointsImg,
-                                descriptorsImg);*/
+                                descriptorsImg);
 
-                    
-                    cv::BFMatcher matcher(cv::NORM_L2,true);
+                    cv::FlannBasedMatcher matcher;
                     std::vector<cv::DMatch> matches;
                     
                     matcher.match(descriptorsROI,descriptorsImg,matches);
@@ -561,6 +561,60 @@ class PointBase {
                     cv::imshow("matches",imageMatches);
                     cv::waitKey(0);
 
+
+
+
+
+
+                    double max_dist = 0; double min_dist = 100;
+                    cout<<"ROWS DESC:"<<descriptorsImg.rows<<"\n";
+                    cout<<"SIZE DESC:"<<descriptorsImg.size()<<"\n";
+                    //-- Quick calculation of max and min distances between keypoints
+                    for( int i = 0; i < descriptorsImg.rows; i++ )
+                    { double dist = matches[i].distance;
+                    cout<<"DIST:"<<dist<<"\n";
+                    if( dist < min_dist ) min_dist = dist;
+                    if( dist > max_dist ) max_dist = dist;
+                    }
+                    printf("-- Max dist : %f \n", max_dist );
+                    printf("-- Min dist : %f \n", min_dist );
+                    
+                     std::vector< DMatch > good_matches;
+ 
+                    for( int i = 0; i < descriptorsImg.rows; i++ )
+                    { if( matches[i].distance < 3*min_dist )
+                    { good_matches.push_back( matches[i]);  }
+
+                    }
+                    std::vector< Point2d > obj;
+                    std::vector< Point2d > scene;
+                    
+                    for( int i = 0; i < good_matches.size(); i++ )
+                    {
+                    //-- Get the keypoints from the good matches
+                    obj.push_back( static_cast<cv::Point2i>( keypointsImg[ good_matches[i].queryIdx ].pt ));
+                    scene.push_back(  static_cast<cv::Point2i>(keypointsROI[ good_matches[i].trainIdx ].pt ));
+                    }
+
+                    /*cv::Mat imageMatches2;
+                    drawMatches(roi,keypointsROI,imgSmall,keypointsImg,good_matches,imageMatches2);
+                    cv::namedWindow("good_matches");
+                    cv::imshow("good_matches",imageMatches2);
+                    cv::waitKey(0);*/
+
+
+                    //Mat H = findHomography( Mat(obj), Mat(scene), RANSAC );
+                    Mat H = estimateAffinePartial2D( Mat(obj), Mat(scene), noArray(),RANSAC );
+
+                    cv::Mat result;
+                    //warpPerspective(imgSmall,roi,H,cv::Size(roi.cols,roi.rows));
+                    warpAffine(imgSmall,result,H,cv::Size(roi.cols,roi.rows));
+                    /*cv::Mat half(result,cv::Rect(0,0,imgSmall.cols,imgSmall.rows));
+                    result.copyTo(roi);*/
+                    imshow("imgSmall", imgSmall);
+                    imshow( "Result", result );
+                    imshow("roi", roi);
+                    cv::waitKey(0);
                     
                    //cout<<CV_VERSION;
                 }