Plane tracking with Python OpenCV

When I was working Python samples for OpenCV I decided to try to reproduce this real-time plane tracking demo using Features2D framework. Here is a couple of videos showing the results:

I use ORB feature detector/descriptor and FLANN-based descriptor matcher. Also cv2.solvePnP function is used to estimate camera position relative to the tracked plane for simple video augmentation. Relevant codes are located in files:

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