point2d.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// clang-format off
#include "util/alignment.h"
// clang-format on
 
#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:
    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);
 
    inline bool operator==(const Point2D& other) const;
    inline bool operator!=(const Point2D& other) const;
 
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;
}
 
bool Point2D::operator==(const Point2D& other) const {
    return XY() == other.XY() && Point3DId() == other.Point3DId();
}
 
bool Point2D::operator!=(const Point2D& other) const {
    return !(*this == other);
}
 
}  // namespace colmap