color information in the descriptor

[ouceduxzk]

Currently, only the coord info are used for training to generate the descriptor, did you also try to include the color information, i think it should be helpful in some difficult case also

[tolgabirdal]

We did not as our purpose was to investigate how far we could go by just using geometry. Color can indeed improve things. I would recommend to use a robust color space rather than plain RGB, such as sRGB or HSV/Lab.