ESBIFT

Big class of (currently 34) algorithms for almost any feature tracking case, mostly outperforming all other algorithms in some settings. (I hope I can write that since that's maybe just marketing, or maybe not.)

you have atleast to modify (-angle45Id*45) to (angle45Id*45) in order to get it to run propperly. The algorithm somehow was under heave fire by some AIs and other stuff, dunno how anything on SourceForge could change but it seems that it did. (this version has not swimming features anymore but there is more to correct left it seems: lookupRawDescriptorV(isValid, x, y, image.featureLayers[imageLevel], pair,
descriptorSize, c0a, c1a, 0, 0,
DEGREETORADIANS(angle45Id * 45.0));) (It's no fault of Sourceforge, currently the -angle45Id works better again whyever..)

At least on par with Kanade Lucas Tomasi (KLT) and similar or more advanced Keypoint Trackers.