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the c++ documentation has quite detailled description:

http://docs.opencv.org/master/dd/d1a/group__imgproc__feature.html#ga47849c3be0d0406ad3ca45db65a25d2d

the c++ documentation has quite detailled description:

http://docs.opencv.org/master/dd/d1a/group__imgproc__feature.html#ga47849c3be0d0406ad3ca45db65a25d2d