Method GetFeatureIndexInFrame

src/database/MapPoint.cpp:108–121

}

int MapPoint::GetFeatureIndexInFrame(std::shared_ptr<Frame> frame) const {
    std::lock_guard<std::mutex> lock(m_mutex);
    
    if (!frame) return -1;
    
    for (const auto& obs : m_observations) {
        if (auto obs_frame = obs.frame.lock()) {
            if (obs_frame == frame) {
                return obs.feature_index;
            }
        }
    }
    return -1;
}

float MapPoint::GetDepthInFrame(std::shared_ptr<Frame> frame) const {
    if (!frame) return -1.0f;