[REF] Introduce Keypoints and Landmarks classes
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