虽然你已经选择了BRISK，你可能会发现 FREAK 有趣。作者声称具有比BRISK和ORB更好的结果。我还应该补充说，ORB 是比例不变，但在该领域有一些问题。

Although you already choose BRISK, you might find FREAK interesting. Author claims to have better results than BRISK and ORB. I should also add that ORB is scale-invariant but has some problems in that area. So I would still recommend it for someone to try it.

FREAK源代码与OpenCV兼容（多么容易合并它们，我不知道），作者正在将其提交到OpenCV项目。

The FREAK source code is compatible with OpenCV (how easy it is to merge them I do not know) and the author is working on submitting it to the OpenCV project.

编辑：

FREAK现在是opencv功能检测器/描述符的一部分。

FREAK is now part of opencv feature detectors / descriptors.

您可以在这里阅读更多关于几个特征检测器/提取器之间的差异，以及一系列基准，包括FREAK和其他流行的基准。

You can read here more about the differences between several feature detectors/extractors, and also a series of benchmarks which includes FREAK and other popular ones.