pseudo code

pseudocoderesection.cpp

// given the tracks visibleTracks visible for the current view viewIndex

// find the tracks reconstructedTracks in visibleTracks that have already been reconstructed
// reconstructedTracks = set_intersection(visibleTracks, Landmarks)

// update the 3D points observation of reconstructedTracks with viewIndex 
// for each of reconstructedTracks  (OMP parallelizable)
  // update the observation with viewIndex

// the remaining visible tracks of viewIndex are potential 3D points
// newTracks = set_difference(visibleTracks, reconstructedTracks)

// for each newTracks (OMP parallelizable)
  // find the views in valid_views that have that tracks

  // if not other views continue

  // triangulate the points with the found views
  // * this could be a call to TriangulateDLT if only two views
  // * a call to triangulateNview if views > 2  (or ransac)?
  // update the 3d point if conditions are met