[need help]we want a better vote method

[SurfaceMan]

I have try to speed up this algorithm for a long time, I found the performance neck at vote process by perf tool.

1. vote process has O(n^3) time complexity （inside 3 loops）
2. access memory randomly lead to miss cached(hash table to match, then vote to accumulator)

I have test to find the max voted model point firstly, then to find the max voted angle. This lead to little performance improvement and more mistake. Because max voted angle may not at the max voted reference point.

so if anyone have ideas about to improve vote method, please let me known