该程序采用harris角点检测，使用ncc进行初匹配，双向重复搜索后得到特征匹配点。-The program uses harris corner detection, using ncc conducted early match, after a two-way repeated search feature to get the matching point.

运用快速傅里叶转换法fft2和逆转换ifft2反复迭代进行对二维平面函数的处理程序。-Fft2 by applying the method of fast Fourier transformation and reverse change ifft2 repeated iteration of two-dimensional plane function handler.

The computation of the time delay of arrival (TDOA) between each of the considered channels and the reference channel is repeated along the recording in order for the beamforming to respond to changes in the speaker. In this implementation it is comp