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[REF] Introduce Keypoints and Landmarks classes

Bruno Zanotti requested to merge brunozanotti/basalt:rename-bz into main

This commit introduces a refactored class that defines Keypoints and Landmarks, providing a more descriptive and streamlined implementation.

  • Keypoints class now represents 2D points of the frames that are detected in the frontend and it is extended to include more information like the descriptor of the point.
  • Landmark represents 3D points of the world as should be saved in the map.
Edited by Bruno Zanotti

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