Tom's object oriented Numerics - templated library for C++ vectors and matrices and more. Includes wrappers for BLAS/LAPACK functionality and representations of the euclidean groups SE(3) and SO(3), i.e. everything you need for rigid-body 3D motion. Integrates well with libCVD for writing computer vision apps.
No tarballs available, just grab the files from the CVS.
There are no reported vulnerabilities