diff --git a/src/CameraModels/KannalaBrandt8.cpp b/src/CameraModels/KannalaBrandt8.cpp
index 6876ad5..f5b8939 100644
--- a/src/CameraModels/KannalaBrandt8.cpp
+++ b/src/CameraModels/KannalaBrandt8.cpp
@@ -531,6 +531,7 @@ namespace ORB_SLAM3 {
 
         cv::SVD::compute(A,w,u,vt,cv::SVD::MODIFY_A| cv::SVD::FULL_UV);
         cv::Matx41f x3D_h = vt.row(3).t();
-        x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);
+        // x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);
+        x3D = cv::Matx31f(x3D_h.get_minor<3,1>(0,0)(0) / x3D_h(3), x3D_h.get_minor<3,1>(0,0)(1) / x3D_h(3), x3D_h.get_minor<3,1>(0,0)(2) / x3D_h(3));
     }
 }
diff --git a/src/LocalMapping.cc b/src/LocalMapping.cc
index 1107d06..376761f 100644
--- a/src/LocalMapping.cc
+++ b/src/LocalMapping.cc
@@ -773,7 +773,9 @@ void LocalMapping::CreateNewMapPoints()
                     continue;
                 // 归一化成为齐次坐标,然后提取前面三个维度作为欧式坐标
                 // Euclidean coordinates
-                x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);
+                // x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);
+                x3D = cv::Matx31f(x3D_h.get_minor<3,1>(0,0)(0) / x3D_h(3), x3D_h.get_minor<3,1>(0,0)(1) / x3D_h(3), x3D_h.get_minor<3,1>(0,0)(2) / x3D_h(3));
+
                 bEstimated = true;
 
             }
diff --git a/src/MapPoint.cc b/src/MapPoint.cc
index 2a736f4..6bec876 100644
--- a/src/MapPoint.cc
+++ b/src/MapPoint.cc
@@ -30,7 +30,7 @@ mutex MapPoint::mGlobalMutex;
 /** 
  * @brief 构造函数
  */
-    mnFirstKFid(0), mnFirstFrame(0), nObs(0), mnTrackReferenceForFrame(0),
+MapPoint::MapPoint() : mnFirstKFid(0), mnFirstFrame(0), nObs(0), mnTrackReferenceForFrame(0),
     mnLastFrameSeen(0), mnBALocalForKF(0), mnFuseCandidateForKF(0), mnLoopPointForKF(0), mnCorrectedByKF(0),
     mnCorrectedReference(0), mnBAGlobalForKF(0), mnVisible(1), mnFound(1), mbBad(false),
     mpReplaced(static_cast<MapPoint*>(NULL))
diff --git a/src/Tracking.cc b/src/Tracking.cc
index 5b2485c..ea067a0 100644
--- a/src/Tracking.cc
+++ b/src/Tracking.cc
@@ -4383,7 +4383,7 @@ bool Tracking::Relocalization()
 }
 
 //整个追踪线程执行复位操作
-void Tracking::Reset()
+void Tracking::Reset(bool bLocMap)
 {
     Verbose::PrintMess("System Reseting", Verbose::VERBOSITY_NORMAL);
 	//基本上是挨个请求各个线程终止