cmt算法_sctp协议_odfs算法(5)

计算并保存第一帧中所有归一化前景关键点points_normalized与x轴的夹角（反正切）angles_pairwise以及关键点两两之间的距离distances_pairwise。

评估当前的旋转角度和尺度因子

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计算matchGlobal匹配后融合得到的关键点的夹角以及关键点两两之间的距离，并与对应的points_normalized关键点的夹角求差、距离求商，再分别取平均，评估出当前帧中目标的尺度因子scale和旋转角度rotation。cmt算法

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