point3d.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 <vector>
 
#include "base/track.h"
#include "util/logging.h"
#include "util/types.h"
 
namespace colmap {
 
// 3D point class that holds information about triangulated 2D points.
class Point3D {
public:
    Point3D();
 
    // The point coordinate in world space.
    inline const Eigen::Vector3d& XYZ() const;
    inline Eigen::Vector3d& XYZ();
    inline double XYZ(const size_t idx) const;
    inline double& XYZ(const size_t idx);
    inline double X() const;
    inline double Y() const;
    inline double Z() const;
    inline void SetXYZ(const Eigen::Vector3d& xyz);
 
    // The RGB color of the point.
    inline const Eigen::Vector3ub& Color() const;
    inline Eigen::Vector3ub& Color();
    inline uint8_t Color(const size_t idx) const;
    inline uint8_t& Color(const size_t idx);
    inline void SetColor(const Eigen::Vector3ub& color);
 
    // The mean reprojection error in image space.
    inline double Error() const;
    inline bool HasError() const;
    inline void SetError(const double error);
 
    inline const class Track& Track() const;
    inline class Track& Track();
    inline void SetTrack(const class Track& track);
 
    inline bool operator==(const Point3D& other) const;
    inline bool operator!=(const Point3D& other) const;
 
private:
    // The 3D position of the point.
    Eigen::Vector3d xyz_;
 
    // The color of the point in the range [0, 255].
    Eigen::Vector3ub color_;
 
    // The mean reprojection error in pixels.
    double error_;
 
    // The track of the point as a list of image observations.
    class Track track_;
};
 
// Implementation
 
const Eigen::Vector3d& Point3D::XYZ() const { return xyz_; }
 
Eigen::Vector3d& Point3D::XYZ() { return xyz_; }
 
double Point3D::XYZ(const size_t idx) const { return xyz_(idx); }
 
double& Point3D::XYZ(const size_t idx) { return xyz_(idx); }
 
double Point3D::X() const { return xyz_.x(); }
 
double Point3D::Y() const { return xyz_.y(); }
 
double Point3D::Z() const { return xyz_.z(); }
 
void Point3D::SetXYZ(const Eigen::Vector3d& xyz) { xyz_ = xyz; }
 
const Eigen::Vector3ub& Point3D::Color() const { return color_; }
 
Eigen::Vector3ub& Point3D::Color() { return color_; }
 
uint8_t Point3D::Color(const size_t idx) const { return color_(idx); }
 
uint8_t& Point3D::Color(const size_t idx) { return color_(idx); }
 
void Point3D::SetColor(const Eigen::Vector3ub& color) { color_ = color; }
 
double Point3D::Error() const { return error_; }
 
bool Point3D::HasError() const { return error_ != -1.0; }
 
void Point3D::SetError(const double error) { error_ = error; }
 
const class Track& Point3D::Track() const { return track_; }
 
class Track& Point3D::Track() { return track_; }
 
void Point3D::SetTrack(const class Track& track) { track_ = track; }
 
bool Point3D::operator==(const Point3D& other) const {
    return XYZ() == other.XYZ() && Color() == other.Color() &&
           Error() == other.Error() && Track() == other.Track();
}
 
bool Point3D::operator!=(const Point3D& other) const {
    return !(*this == other);
}
 
}  // namespace colmap
 
// EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(colmap::Point3D)