diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b39c846..7e7a92a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -102,6 +102,11 @@ add_executable(
   ${CMAKE_CURRENT_SOURCE_DIR}/tests/test_image.cxx
 )
 
+add_executable(
+  test_frame
+  ${CMAKE_CURRENT_SOURCE_DIR}/tests/test_image.cxx
+)
+
 target_link_libraries(
   test_image
   cunit
@@ -116,6 +121,20 @@ target_link_libraries(
   OpenMVG::openMVG_exif
 )
 
+target_link_libraries(
+  test_frame
+  cunit
+  cwalk
+  ${LIBDART_OPENMVG}
+  png
+  OpenMVG::openMVG_image
+  OpenMVG::openMVG_numeric
+  OpenMVG::openMVG_features
+  OpenMVG::openMVG_sfm
+  OpenMVG::openMVG_features
+  OpenMVG::openMVG_exif
+)
+
 target_include_directories(
   test_image
   PRIVATE
@@ -124,6 +143,14 @@ target_include_directories(
   ${CEREAL_INCLUDE_DIR}
 )
 
+target_include_directories(
+  test_frame
+  PRIVATE
+  ${LIBDART_OPENMVG_INCLUDE_DIRS}
+  ${OpenMVG_INCLUDE_DIRS}/src
+  ${CEREAL_INCLUDE_DIR}
+)
+
 set_target_properties(test_image
 PROPERTIES
 LINKER_LANGUAGE CXX
@@ -134,4 +161,9 @@ add_test (
   COMMAND test_image
 )
 
+add_test (
+  NAME test_frame
+  COMMAND test_frame
+)
+
 target_compile_definitions(${LIBDART_OPENMVG} PUBLIC DART_SHARED_LIB)
\ No newline at end of file
diff --git a/src/extlib/openMVG b/src/extlib/openMVG
index 7fd19fc..aff37dd 160000
--- a/src/extlib/openMVG
+++ b/src/extlib/openMVG
@@ -1 +1 @@
-Subproject commit 7fd19fc22419a35481d39d2946f77e1dc00df37c
+Subproject commit aff37dd005f85b3589aa50caca13b74ca7bd57e4
diff --git a/src/frame.cxx b/src/frame.cxx
index f9e7b1e..2d727a5 100644
--- a/src/frame.cxx
+++ b/src/frame.cxx
@@ -90,6 +90,70 @@ openMVG::image::Image<u_char> DartOpenMvg::imageFromFrame(const CFrame *frame)
   return openMVG::image::Image<uint8_t>(eigenMatrix);
 }
 
+DartOpenMvg::Frames::Frames(openMVG::sfm::Bundle_Adjustment_Ceres::BA_Ceres_options &options)
+{
+  mAdjustment = openMVG::sfm::Bundle_Adjustment_Ceres(options);
+}
+
+void DartOpenMvg::Frames::computeMatches()
+{
+#ifdef OPENMVG_USE_OPENMP
+  OPENMVG_LOG_INFO << "Using the OPENMP thread interface";
+  const bool b_multithreaded_pair_search = (eMatcherType_ == CASCADE_HASHING_L2);
+  // -> set to true for CASCADE_HASHING_L2, since OpenMP instructions are not used in this matcher
+#endif
+
+  // Match the pairs as a sequence
+  // Within openMvg::matching_image_collection::Matcher
+  // they matcha gainst *ALL* images. However, since we know the order of the
+  // image sequences (video frames), we'll stick to the sequence order.
+  for (size_t i = 0; i < this->size() - 1; ++i)
+  {
+    const Frame &frame1 = this->at(i);
+    const Frame &frame2 = this->at(i + 1);
+    auto *regions1 = frame1.mRegions.get();
+    auto *regions2 = frame2.mRegions.get();
+
+    // Initialize the matching interface
+    const std::unique_ptr<openMVG::matching::RegionsMatcher> matcher =
+        openMVG::matching::RegionMatcherFactory(openMVG::matching::EMatcherType::HNSW_L2, *regions1);
+    if (!matcher)
+      continue;
+
+#ifdef OPENMVG_USE_OPENMP
+#pragma omp parallel for schedule(dynamic) if (b_multithreaded_pair_search)
+#endif
+    openMVG::matching::IndMatches vec_putative_matches;
+    matcher->MatchDistanceRatio(0.5, *regions2, vec_putative_matches);
+    if (vec_putative_matches.empty())
+    {
+      return;
+    }
+    mFeatureMap[std::make_pair(i, i + 1)] = vec_putative_matches;
+  }
+};
+
+void DartOpenMvg::Frames::buildTracks()
+{
+  openMVG::tracks::TracksBuilder trackBuilder;
+
+  openMVG::matching::PairWiseMatches matches;
+
+  trackBuilder.Build(mFeatureMap);
+  trackBuilder.Filter();
+  trackBuilder.ExportToSTL(mTracks);
+}
+
+void DartOpenMvg::Frames::adjust()
+{
+  const openMVG::sfm::Optimize_Options ba_refine_options(openMVG::cameras::Intrinsic_Parameter_Type::ADJUST_ALL,
+                                                         openMVG::sfm::Extrinsic_Parameter_Type::ADJUST_ALL, // Adjust camera motion
+                                                         openMVG::sfm::Structure_Parameter_Type::ADJUST_ALL, // Adjust scene structure
+                                                         openMVG::sfm::Control_Point_Parameter(),
+                                                         false);
+  mAdjustment.Adjust(mSfmData, ba_refine_options);
+}
+
 void DartOpenMvg::Frame::calculateFeatures()
 {
   using namespace openMVG::image;
@@ -99,30 +163,15 @@ void DartOpenMvg::Frame::calculateFeatures()
   mRegions = desc.Describe(image);
 }
 
-openMVG::image::Image<u_char> DartOpenMvg::Frame::getMvgImage() {
+void DartOpenMvg::Frames::resection() {
+  // openMVG::tracks::TracksUtilsMap::GetFeatIndexPerViewAndTrackId(
+  //   mTracks;
+  // )
+}
+
+openMVG::image::Image<u_char> DartOpenMvg::Frame::getMvgImage()
+{
   return imageFromFrame(this->cFrame);
 }
 
-void DartOpenMvg::Frames::computeMatches()
-{
-  using namespace openMVG::matching;
-  using namespace openMVG::matching_image_collection;
-  using namespace openMVG::sfm;
-  using namespace openMVG::image;
-  Matcher *matcher = nullptr;
-
-  Regions_Provider provider = Regions_Provider();
-
-  matcher = new Matcher_Regions(0.8f, CASCADE_HASHING_L2);
-
-  openMVG::Pair_Set pairs = openMVG::Pair_Set();
-  Image im1 = this->at(0).getMvgImage();
-  Image im2 = this->at(1).getMvgImage();
-  auto pair = openMVG::Pair(0, 1);
-  pairs.insert(pair);
-
-  PairWiseMatches map_punitive_matches;
-
-  // matcher->Match(provider, pairs, map_punitive_matches, NULL);
-
 #endif // __cplusplus
\ No newline at end of file
diff --git a/src/frame.h b/src/frame.h
index 0b6b46c..3224081 100644
--- a/src/frame.h
+++ b/src/frame.h
@@ -8,6 +8,8 @@
 #include <openMVG/matching_image_collection/Matcher_Regions.hpp>
 #include <openMVG/matching_image_collection/Pair_Builder.hpp>
 #include <openMVG/sfm/pipelines/sfm_regions_provider.hpp>
+#include <openMVG/sfm/pipelines/sfm_engine.hpp>
+#include <openMVG/sfm/sfm_data_BA_ceres.hpp>
 #include <openMVG/features/feature.hpp>
 #include <openMVG/features/sift/octaver.hpp>
 #include <openMVG/features/sift/SIFT_Anatomy_Image_Describer.hpp>
@@ -17,6 +19,19 @@
 #include <openMVG/image/image_container.hpp>
 #include <openMVG/image/image_io.hpp>
 #include <openMVG/numeric/numeric.h>
+#include <openMVG/tracks/tracks.hpp>
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <openMVG/matching/indMatch.hpp>
+#include <openMVG/matching_image_collection/Matcher_Regions.hpp>
+#include <openMVG/matching_image_collection/Matcher.hpp>
+#include <openMVG/matching/regions_matcher.hpp>
+#include <openMVG/sfm/pipelines/sfm_regions_provider.hpp>
+#include <openMVG/system/progressinterface.hpp>
+#include <openMVG/system/logger.hpp>
+
 #include <iostream>
 #include <map>
 #include <utility>
@@ -44,24 +59,19 @@ namespace DartOpenMvg
 {
     openMVG::image::Image<uint8_t> imageFromFrame(const Frame *);
 
-    class InMemoryMatcherRegions : public openMVG::matching_image_collection::Matcher {
-        void Match(
-            const Pair_Set &,
-            PariWiseMatchesContainer &,
-        ) const override;
-    };
-
     class Frame
     {
     protected:
-        const CFrame *cFrame;
         std::stringstream mStream;
         int mW;
         int mH;
         int mDepth;
-        std::unique_ptr<openMVG::features::Regions> mRegions;
 
     public:
+        // TODO make this private
+        const CFrame *cFrame;
+        // TODO make this private
+        std::unique_ptr<openMVG::features::Regions> mRegions;
         Frame(const _Frame *f) : mW(f->w), mH(f->h), mDepth(f->depth)
         {
             cFrame = f;
@@ -70,20 +80,28 @@ namespace DartOpenMvg
             read_buffer(f->stream, &buffer_data, &len);
             mStream = std::stringstream(std::string((char *)buffer_data));
         }
-        openMVG::image::Image<u_char> DartOpenMvg::Frame::getMvgImage();
+        openMVG::image::Image<u_char> getMvgImage();
         void calculateFeatures();
     };
 
-    typedef std::pair<Frame, Frame> FrameMatchKey;
-    typedef std::map<FrameMatchKey, openMVG::matching::IndMatches> FrameFeatureMatch;
+    typedef std::pair<const Frame &, const Frame &> FrameMatchKey;
+    typedef std::map<std::pair<size_t, size_t>, openMVG::matching::IndMatches> FrameFeatureMatch;
 
-    class Frames : std::vector<Frame>
+    class Frames : protected std::vector<Frame>
     {
 
     protected:
-        FrameFeatureMatch mFeatureMap;
+        openMVG::matching::PairWiseMatches mFeatureMap;
+        openMVG::tracks::STLMAPTracks mTracks;
+        openMVG::sfm::SfM_Data mSfmData;
+        openMVG::sfm::Bundle_Adjustment_Ceres mAdjustment;
     public:
+        Frames(openMVG::sfm::Bundle_Adjustment_Ceres::BA_Ceres_options &);
         void computeMatches();
+        void buildTracks();
+        void adjust ();
+        void resection ();
+        void resectionAll ();
     };
 }
 #endif
@@ -94,4 +112,6 @@ Frame *new_frame_from_handle(FILE *, int, int, int);
 _FFI_PLUGIN
 Frame *new_frame_from_data(const uint8_t *, const size_t, int, int, int);
 
+void frame_cleanup(Frame **);
+
 #endif // __FRAME_H
\ No newline at end of file
diff --git a/src/tests/test_frame.cxx b/src/tests/test_frame.cxx
new file mode 100644
index 0000000..f575ac0
--- /dev/null
+++ b/src/tests/test_frame.cxx
@@ -0,0 +1,85 @@
+#include <archives/binary.hpp>
+#include <CUnit/Basic.h>
+#include "../image.h"
+#include "../streamingview.hpp"
+#include "../util.h"
+#include <cwalk.h>
+#ifdef __cplusplus
+#include <iostream>
+#endif // __cplusplus
+
+#define STRLEN 2048
+
+FILE *imageHandle = NULL;
+char frame1Path[STRLEN];
+
+#define HERE __FILE__
+
+int setUp(void)
+{
+    char framesDir[STRLEN];
+    size_t length;
+    cwk_path_get_dirname(HERE, &length); // archimedes_mobile_lib/src/tests
+    cwk_path_join(HERE, "../../../assets/test/frames", framesDir, STRLEN);
+    cwk_path_join(framesDir, "0001.png", frame1Path, STRLEN);
+    printf("Opening file %s\n", frame1Path);
+    return 0;
+}
+
+Frame *get_frame() {
+    imageHandle = fopen(frame1Path, "rw+");
+    Frame *f = new_frame_from_handle(
+        imageHandle,
+        768,
+        768,
+    64);
+    return f;
+}
+
+void destroy_frame() {
+    frame_
+}
+
+int tearDown(void)
+{
+    if (imageHandle)
+    {
+        fclose(imageHandle);
+    }
+    return 0;
+}
+
+void test_calculate_fetures
+
+int main()
+{
+    CU_pSuite pSuite = NULL;
+
+    /* initialize the CUnit test registry */
+    if (CUE_SUCCESS != CU_initialize_registry())
+        return CU_get_error();
+
+    /* add a suite to the registry */
+    pSuite = CU_add_suite("ImageSuite", setUp, tearDown);
+    if (NULL == pSuite)
+    {
+        CU_cleanup_registry();
+        return CU_get_error();
+    }
+
+    /* add the tests to the suite */
+    if ((NULL == CU_add_test(pSuite, "frame can be created", test_create_frame)) ||
+        (NULL == CU_add_test(pSuite, "frame can be created from data", test_frame_from_data)) ||
+        (NULL == CU_add_test(pSuite, "data can be retrieved from frame", test_archimedes_get_data)) ||
+        (NULL == CU_add_test(pSuite, "Streaming view can read & write data", test_archimedes_streamed_view)))
+    {
+        CU_cleanup_registry();
+        return CU_get_error();
+    }
+
+    /* Run all tests using the CUnit Basic interface */
+    CU_basic_set_mode(CU_BRM_VERBOSE);
+    CU_basic_run_tests();
+    CU_cleanup_registry();
+    return CU_get_error();
+}
\ No newline at end of file
diff --git a/src/tests/test_image.cxx b/src/tests/test_image.cxx
index 303bf87..ca7afda 100644
--- a/src/tests/test_image.cxx
+++ b/src/tests/test_image.cxx
@@ -2,6 +2,7 @@
 #include <CUnit/Basic.h>
 #include "../image.h"
 #include "../streamingview.hpp"
+#include "../util.h"
 #include <cwalk.h>
 #ifdef __cplusplus
 #include <iostream>
@@ -12,41 +13,6 @@
 FILE *imageHandle = NULL;
 char frame1Path[STRLEN];
 
-/*
- * Read the contents of a file into an array
- * path: path to the file
- * contents: array we'll write to that contains the contents of the file.
- */
-size_t read_file(const char *path, uint8_t **contents)
-{
-    FILE *file = fopen(path, "rb");
-    if (file == NULL)
-    {
-        printf("Error: Unable to open file.\n");
-        return 0;
-    }
-
-    // Determine the file size
-    fseek(file, 0, SEEK_END);
-    size_t file_size = ftell(file);
-    rewind(file);
-
-    // Allocate memory for the contents array
-    *contents = (uint8_t *)malloc(file_size);
-    if (*contents == NULL)
-    {
-        printf("Error: Unable to allocate memory.\n");
-        fclose(file);
-        return 0;
-    }
-
-    // Read the file contents into the array
-    fread(*contents, 1, file_size, file);
-    fclose(file);
-
-    return file_size;
-}
-
 #define HERE __FILE__
 
 int setUp(void)
diff --git a/src/util.h b/src/util.h
new file mode 100644
index 0000000..047d00d
--- /dev/null
+++ b/src/util.h
@@ -0,0 +1,6 @@
+/*
+ * Read the contents of a file into an array
+ * path: path to the file
+ * contents: array we'll write to that contains the contents of the file.
+ */
+size_t read_file(const char *path, uint8_t **contents);
\ No newline at end of file
diff --git a/util.cpp b/util.cpp
new file mode 100644
index 0000000..c9bdea9
--- /dev/null
+++ b/util.cpp
@@ -0,0 +1,29 @@
+size_t read_file(const char *path, uint8_t **contents)
+{
+    FILE *file = fopen(path, "rb");
+    if (file == NULL)
+    {
+        printf("Error: Unable to open file.\n");
+        return 0;
+    }
+
+    // Determine the file size
+    fseek(file, 0, SEEK_END);
+    size_t file_size = ftell(file);
+    rewind(file);
+
+    // Allocate memory for the contents array
+    *contents = (uint8_t *)malloc(file_size);
+    if (*contents == NULL)
+    {
+        printf("Error: Unable to allocate memory.\n");
+        fclose(file);
+        return 0;
+    }
+
+    // Read the file contents into the array
+    fread(*contents, 1, file_size, file);
+    fclose(file);
+
+    return file_size;
+}
\ No newline at end of file