public:

typedef shared_ptr<MapPoint> Ptr;

Mat descriptor; // Descriptor for matching

list<std::pair<Frame::Ptr,cv::Point2d>> observedFrames;//观测帧和像素坐标

Vector3d pos; // Position in world

Vec3b rgb;

MapPoint();

MapPoint(const Vector3d &pos, const Mat &descriptor, const Vec3b &rgb) :

pos(pos),

descriptor(descriptor),

rgb(rgb) {}

template <typename T>

cv::Point3_<T> getPosPoint3_CV() const {

return cv::Point3_<T>(pos(0, 0), pos(1, 0), pos(2, 0));

}

template <typename T>

cv::Matx<T,1,3> getPosMatx13() const{

return cv::Matx<T,1,3>(pos(0, 0), pos(1, 0), pos(2, 0));

};

template <typename T>

void setPos(cv::Matx<T,1,3> posMatx13){

pos(0)=posMatx13(0);

pos(1)=posMatx13(1);

pos(2)=posMatx13(2);

}

void addObervedFrame(const Frame::Ptr &observedFrame,const cv::Point2d &pixelCoor) {

if (observedFrame)

observedFrames.push_back(

std::pair<Frame::Ptr,cv::Point2d>(observedFrame,pixelCoor));

}