| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // All rights reserved. | |
| // | |
| // Redistribution and use in source and binary forms, with or without | |
| // modification, are permitted provided that the following conditions are met: | |
| // | |
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| // | |
| // * 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 | |
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| // from this software without specific prior written permission. | |
| // | |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
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| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| 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) | |