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  1. using  kp_idx_t = size_t;
  2.         using landmark_idx_t = size_t;
  3.         using img_idx_t = size_t;
  4.  
  5.         std::map<kp_idx_t, std::map<img_idx_t, kp_idx_t>> kp_matches;
  6.         std::map<kp_idx_t, landmark_idx_t> kp_landmark;
  7.  
  8.  
  9.         kp_idx_t& kp_match_idx(size_t kp_idx, size_t img_idx) { return kp_matches[kp_idx][img_idx]; };
  10.         bool kp_match_exist(size_t kp_idx, size_t img_idx) { return kp_matches[kp_idx].count(img_idx) > 0; };
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