cmt算法_sctp协议_odfs算法(3)

关键点全局匹配

<code class="language-cpp hljs  has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: Source Code Pro, monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">matcher.matchGlobal(keypoints, descriptors, points_matched_global, classes_matched_global);</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

将当前帧中检测器得到的所有关键点的特征描述与database进行knnMatch匹配（k=2），每个特征描述子在database寻找最佳的2个匹配结果，将符合以下条件之一的匹配关键点排除：

匹配到了背景关键点；

最佳匹配的匹配距离大于阈0.25；

最佳匹配与次佳匹配的匹配距离之比大于阈0.8（比率越小，最佳匹配越优于次佳匹配）

关键点局部匹配

<code class="language-cpp hljs  has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: Source Code Pro, monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">matcher.matchLocal(keypoints, descriptors, center, scale, rotation,points_matched_local,
    classes_matched_local);</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li></ul>

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