* creates minimal image with own memory */

Default constructor. Initializes a new pool. */

Note: The first argument (checks_IGNORED_) is ignored, but kept for compatibility with the FLANN interface */

@ 处理挑选出来待激活的点

sets linearization point.

calculates residual, Hessian and Hessian-block neede for re-substituting depth.

Helper accessor to the dataset points:

* Create a tree node that subdivides the list of vecs from vind[first] * to vind[last]. The routine is called recursively on each sublist. *

applies step to linearization point.

Frees the previously-built index. Automatically called within buildIndex(). */