Structure in order to save pairwise indexed references. A sort operator exist in order to remove duplicates of IndMatch series.

---------- float ----------

Define a 3D Pose as a 3D transform: [R|C] t = -RC

Define 3D-2D tracking data: 3D landmark with it's 2D observations

---------- double ----------

---------- float ----------

---------- float ----------

* @brief A rectangle where x1 < x2 and y1 < y2 such as width() == (x2 - x1) && height() == (y2 - y1) **/

Representation of weighted relative rotations data between two poses

Allow to select the Keys of a map.

A Feature is the 2D location of a detected feature in an image.

Define a camera Frustum: - infinite Frustum (4 Half Spaces) (a pyramid) - truncated Frustum (6 Half Spaces) (a truncated pyramid) - This structure is

* Base class for ScaleInvariant Oriented Point features. * Add scale and orientation description to basis PointFeature. */

Simple container for tuple of three value It is used to store the node id of triplets of a graph.

Define a landmark (a 3D point, with it's 2d observations)

Define a classic Pinhole camera (store a K 3x3 matrix) with intrinsic parameters defining the K calibration matrix