transforms points from one frame to another.

Linear Kalman Filter private: State Vector: x State Covariance Matrix: P public: __ini

* computes the outer sum of 10x2 matrices, weighted with a 2x2 matrix: * H = [x y] * [a b; b c] * [x y]^T * (assuming x,y are column-vectors). *

stores a pointcloud associated to a Keyframe.