def match_initial(self, x: Tensor) -> Tuple[Tensor, bool]:
        """Match the frame `x` with initial_matcher and verified with ransac."""
        input_dict: Dict[str, Tensor] = {"image0": self.target, "image1": x}

        for k, v in self.target_initial_representation.items():
            input_dict[f"{k}0"] = v

        match_dict: Dict[str, Tensor] = self.initial_matcher(input_dict)
        keypoints0 = match_dict["keypoints0"][match_dict["batch_indexes"] == 0]
        keypoints1 = match_dict["keypoints1"][match_dict["batch_indexes"] == 0]

        self.keypoints0_num = len(keypoints0)
        self.keypoints1_num = len(keypoints1)

        if self.keypoints0_num < self.minimum_inliers_num:
            return self.no_match()

        H, inliers = self.ransac(keypoints0, keypoints1)
        self.inliers_num = inliers.sum().item()

        if self.inliers_num < self.minimum_inliers_num:
            return self.no_match()
        self.previous_homography = H.clone()

        return H, True
Match the frame `x` with initial_matcher and verified with ransac.
kornia/tracking/planar_tracker.py