bundle min hash
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Visual words and bundling
it was proposed to bundle multiple SIFT features that lie in the same MSER region into a single description [26].
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用SIFT获取所有特征点
todo
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找center point的邻居节点
因为是128维的高维向量，所以这里用到了kd-tree，来搜寻邻居特征点
用到的kdtree的库，flann kdtree
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mini-hash
The min-Hashes can be computed by generating multiple random permutations on the range of all visual words and storing them in a lookup table.
