diff --git a/cpp/src/DO/Sara/SfM/Odometry/FeatureTracker.hpp b/cpp/src/DO/Sara/SfM/Odometry/FeatureTracker.hpp
deleted file mode 100644
index 2fd475342..000000000
--- a/cpp/src/DO/Sara/SfM/Odometry/FeatureTracker.hpp
+++ /dev/null
@@ -1,48 +0,0 @@
-#pragma once
-
-#include <DO/Sara/Core/Image.hpp>
-
-#include <DO/Sara/FeatureDetectors/SIFT.hpp>
-#include <DO/Sara/SfM/Helpers/KeypointMatching.hpp>
-
-
-namespace DO::Sara {
-
-  struct FeatureTracker
-  {
-    float sift_nn_ratio = 0.6f;
-    ImagePyramidParams image_pyr_params = ImagePyramidParams(0);
-
-    const ImageView<float>& _frame;
-    std::array<KeypointList<OERegion, float>, 2> keys;
-    std::vector<Match> matches;
-
-    FeatureTracker(const ImageView<float>& frame)
-      : _frame{frame}
-    {
-    }
-
-    auto detect_features() -> void
-    {
-      print_stage("Computing keypoints...");
-      std::swap(keys[0], keys[1]);
-      keys[1] = compute_sift_keypoints(_frame, image_pyr_params);
-    }
-
-    auto match_features() -> void
-    {
-      print_stage("Matching keypoints...");
-      if (features(keys[0]).empty() || features(keys[1]).empty())
-      {
-        SARA_DEBUG << "Skipping...\n";
-        return;
-      }
-
-      matches = match(keys[0], keys[1], sift_nn_ratio);
-      // Put a hard limit of 1000 matches to scale.
-      if (matches.size() > 1000)
-        matches.resize(1000);
-    }
-  };
-
-}  // namespace DO::Sara