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// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#ifndef COLMAP_SRC_BASE_POINT2D_H_
#define COLMAP_SRC_BASE_POINT2D_H_
#include <Eigen/Core>
#include "util/alignment.h"
#include "util/types.h"
namespace colmap {
// 2D point class corresponds to a feature in an image. It may or may not have a
// corresponding 3D point if it is part of a triangulated track.
class Point2D {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Point2D();
// The coordinate in image space in pixels.
inline const Eigen::Vector2d& XY() const;
inline Eigen::Vector2d& XY();
inline double X() const;
inline double Y() const;
inline void SetXY(const Eigen::Vector2d& xy);
// The identifier of the observed 3D point. If the image point does not
// observe a 3D point, the identifier is `kInvalidPoint3Did`.
inline point3D_t Point3DId() const;
inline bool HasPoint3D() const;
inline void SetPoint3DId(const point3D_t point3D_id);
private:
// The image coordinates in pixels, starting at upper left corner with 0.
Eigen::Vector2d xy_;
// The identifier of the 3D point. If the 2D point is not part of a 3D point
// track the identifier is `kInvalidPoint3DId` and `HasPoint3D() = false`.
point3D_t point3D_id_;
};
////////////////////////////////////////////////////////////////////////////////
// Implementation
////////////////////////////////////////////////////////////////////////////////
const Eigen::Vector2d& Point2D::XY() const { return xy_; }
Eigen::Vector2d& Point2D::XY() { return xy_; }
double Point2D::X() const { return xy_.x(); }
double Point2D::Y() const { return xy_.y(); }
void Point2D::SetXY(const Eigen::Vector2d& xy) { xy_ = xy; }
point3D_t Point2D::Point3DId() const { return point3D_id_; }
bool Point2D::HasPoint3D() const { return point3D_id_ != kInvalidPoint3DId; }
void Point2D::SetPoint3DId(const point3D_t point3D_id) {
point3D_id_ = point3D_id;
}
} // namespace colmap
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(colmap::Point2D)
#endif // COLMAP_SRC_BASE_POINT2D_H_
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