Looking for Feature descriptors mapped with Feature ID

[ishaniis]

I'm looking for feature descriptors for their respective feature id. I haven't been able to fetch that.

However, I found a npz array with respect to each image frame(which has points, instances, descriptors etc.)

• Size of descriptors.npy (numpy array): [5716,128]

• Size of points.npy (numpy array) - [5716,4]

So, for every feature point, there exists a feature descriptor. But I'm not able to map these feature points to their respective feature id's. (Feature ID's that you obtain in tracks.csv)

Can someone point out some resources? which can help in my case.

Potentially, aim to develop a db of feature id's & their respective feature descriptors, along with track id's and image id's.