利用orb特征对比连续关键帧，利用onepointRANSAC计算旋转角度（此代码处理的是在平面上运动的小车与水平方向成38度的摄像头拍摄的，提取关键帧之后的连续图片）(The use of orb features between continuous key frames, calculate the rotation angle by onepointRANSAC (this code processing is shooting 38 camera into the car and the horizontal motion in the plane, a series of pictures after extracting the key frames))