特征检测中imu数据和时间戳的集成

如何解决特征检测中imu数据和时间戳的集成

在多个图像上使用 lucas kanade 光流测试了特征检测，并已成功执行。现在我希望将此代码与 IMU 数据和时间戳集成。

cap = cv2.VideoCapture('sample.mp4') 

feature_params = dict( maxCorners = 100,qualityLevel = 0.3,mindistance = 7,blockSize = 7 ) 

  lk_params = dict( winSize = (15,15),maxLevel = 2,criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT,10,0.03)) 
  
  color = np.random.randint(0,255,(100,3)) 
  
  ret,old_frame = cap.read() 
  old_gray = cv2.cvtColor(old_frame,cv2.COLOR_BGR2GRAY) 
  p0 = cv2.goodFeaturesToTrack(old_gray,mask = None,**feature_params) 
  
  mask = np.zeros_like(old_frame) 
  
  while(1): 
      
       ret,frame = cap.read() 
       frame_gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY) 
  
       p1,st,err = cv2.calcopticalFlowPyrLK(old_gray,frame_gray,p0,None,**lk_params) 
  
       good_new = p1[st == 1] 
       good_old = p0[st == 1] 
  
       for i,(new,old) in enumerate(zip(good_new,good_old)): 
           a,b = new.ravel() 
           c,d = old.ravel() 
           mask = cv2.line(mask,(a,b),(c,d),color[i].tolist(),2) 
          
           frame = cv2.circle(frame,5,-1) 
          
        img = cv2.add(frame,mask) 
  
        cv2.imshow('frame',img) 
      
        k = cv2.waitKey(25) 
        if k == 27: 
            break

         old_gray = frame_gray.copy() 
         p0 = good_new.reshape(-1,1,2) 
  
    cv2.destroyAllWindows() 
    cap.release()

这是一个 python opencv 库，用于捕获图像上的特征。这用于运行多个图像并输出特征。我看到的问题是我们只在图像帧中获取特征数据，而我试图在世界帧中捕获它，所以我需要 IMU 来这样做。