def extractKps(kps1, kps2, ratioMatches):
    """
    Take in two sets of keypoints and the matches that survived ratio test
    Extract all the keypoints in the set of ratio matches
    Return extracted keypoints
    """
    newKps1 = list()
    newKps2 = list()
    for match in ratioMatches:
        newKps1.append(kps1[match.queryIdx].pt)
        newKps2.append(kps2[match.trainIdx].pt)
    return newKps1, newKps2