These just provide access to the point data in a clean way

Standard STL read-only container stuff

发布topic：pub_pg_path、pub_path、pub_base_path

去除无法跟踪的特征点

剔除status为0的点

* \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) * * \param P 3D point coordinates * \param p return value, contains

添加残差块相关信息（优化变量，待边缘化变量）

* Returns whether the node is a leaf node * @return true iff the node is a leaf */

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

Add a point to the spline, and invalidate it so its recalculated on the next access

窗口中被跟踪的特征数量

优化过程中Bias会更新，需要根据新的bias重新计算预积分