Method PrintObservations

src/MapPoint.cc:548–558

}

void MapPoint::PrintObservations()
{
    cout << "MP_OBS: MP " << mnId << endl;
    for(map<KeyFrame*,tuple<int,int>>::iterator mit=mObservations.begin(), mend=mObservations.end(); mit!=mend; mit++)
    {
        KeyFrame* pKFi = mit->first;
        tuple<int,int> indexes = mit->second;
        int leftIndex = get<0>(indexes), rightIndex = get<1>(indexes);
        cout << "--OBS in KF " << pKFi->mnId << " in map " << pKFi->GetMap()->GetId() << endl;
    }
}

Map* MapPoint::GetMap()
{