First commit of the code

msg/CameraMeasurement.msg

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+std_msgs/Header header
+# All features on the current image,
+# including tracked ones and newly detected ones.
+FeatureMeasurement[] features

msg/FeatureMeasurement.msg

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+uint64 id
+# Normalized feature coordinates (with identity intrinsic matrix)
+float64 u0 # horizontal coordinate in cam0
+float64 v0 # vertical coordinate in cam0
+float64 u1 # horizontal coordinate in cam0
+float64 v1 # vertical coordinate in cam0

msg/TrackingInfo.msg

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+std_msgs/Header header
+
+# Number of features after each outlier removal step.
+int16 before_tracking
+int16 after_tracking
+int16 after_matching
+int16 after_ransac