cmt算法_sctp协议_odfs算法(8)

将光流跟踪到的关键点与matchGlobal匹配到的关键点融合，得到的关键点用于评估目标的旋转角度和尺度，以及投票寻找目标中心位置。

关键点二次融合

<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;">fusion.preferFirst(points_matched_local, classes_matched_local, points_inlier, classes_inlier,
    points_active, classes_active);</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>

将matchLocal匹配到的关键点与inliers关键点融合，得到最终有效的目标关键点points_active，这些关键点用于下一帧的跟踪。

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