cmt算法_sctp协议_odfs算法(6)

获取目标位置和inliers关键点

<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;">consensus.findConsensus(points_fused, classes_fused, scale, rotation, center,
    points_inlier, classes_inlier);</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>

计算matchGlobal匹配后融合得到的关键点的投票，即每一个关键点与对应的经过尺度和旋转变换后的points_normalized关键点之间构成的向量；

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