* @brief Convert a quaternion to the corresponding rotation matrix * @note Pay attention to the convention used. The function follows the * conve

* @brief Create a skew-symmetric matrix from a 3-element vector. * @note Performs the operation: * w -> [ 0 -w3 w2] * [ w3 0 -w1

* @brief Normalize the given quaternion to unit quaternion. */

* @brief Convert a rotation matrix to a quaternion. * @note Pay attention to the convention used. The function follows the * conversion in "Indir

* @brief Perform q1 * q2 */

* @brief Convert the vector part of a quaternion to a * full quaternion. * @note This function is useful to convert delta quaternion * which

Constructors for the struct.

Disable copy and assign constructors.

Disable copy and assign constructor

* @brief featureCompareByLifetime * Compare two features based on the lifetime. */

* @brief featureCompareByResponse * Compare two features based on the response. */

* @brief keyPointCompareByResponse * Compare two keypoints based on the response. */

Destructor