73 lines
1.9 KiB
Rust
73 lines
1.9 KiB
Rust
//! The [`Point2D`] data type: an observed 2D feature in an image.
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//!
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//! Mirrors COLMAP's `colmap/scene/point2d.h`. A 2D point stores its pixel
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//! location and, when it has been triangulated, the id of the 3D point it
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//! observes (otherwise [`INVALID_POINT3D_ID`]).
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use crate::math::Vec2;
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use crate::types::{Point3DId, INVALID_POINT3D_ID};
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/// A 2D observation in an image, optionally linked to a triangulated 3D point.
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#[derive(Debug, Clone, Copy, PartialEq)]
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#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
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pub struct Point2D {
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/// The pixel coordinates of the observation.
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pub xy: Vec2,
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/// The id of the observed 3D point, or [`INVALID_POINT3D_ID`] if none.
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pub point3d_id: Point3DId,
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}
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impl Default for Point2D {
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/// A point at the origin with no associated 3D point.
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#[inline]
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fn default() -> Self {
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Self {
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xy: Vec2::zeros(),
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point3d_id: INVALID_POINT3D_ID,
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}
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}
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}
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impl Point2D {
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/// Creates a 2D point at `xy` that is not yet linked to a 3D point.
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#[inline]
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pub fn new(xy: Vec2) -> Self {
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Self {
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xy,
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point3d_id: INVALID_POINT3D_ID,
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}
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}
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/// Returns `true` if this observation is linked to a valid 3D point.
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#[inline]
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pub fn has_point3d(&self) -> bool {
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self.point3d_id != INVALID_POINT3D_ID
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}
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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#[test]
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fn new_has_no_point3d() {
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let p = Point2D::new(Vec2::new(1.0, 2.0));
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assert!(!p.has_point3d());
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assert_eq!(p.xy, Vec2::new(1.0, 2.0));
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}
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#[test]
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fn default_is_unlinked_origin() {
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let p = Point2D::default();
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assert_eq!(p.xy, Vec2::zeros());
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assert!(!p.has_point3d());
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}
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#[test]
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fn linking_sets_flag() {
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let mut p = Point2D::new(Vec2::new(0.0, 0.0));
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p.point3d_id = 42;
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assert!(p.has_point3d());
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}
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}
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