• build_dictionary() : bow_tools.cpp , bow_tools.hpp
• dissimilar() : LC_tools.cpp , LC_tools.hpp
• find_corrospondence() : BA_tools.cpp , BA_tools.hpp
• find_loop() : LC_tools.cpp , LC_tools.hpp
• geometric_verification() : LC_tools.cpp , LC_tools.hpp
• get_all_3d_landmarks() : BA_tools.hpp , BA_tools.cpp
• get_world_point() : BA_tools.hpp , BA_tools.cpp
• optimization() : BA_tools.cpp , BA_tools.hpp