feature_point.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef VISION_COMMON_FEATURE_POINT_H_
#define VISION_COMMON_FEATURE_POINT_H_
 
#include <localization_common/time.h>
 
#include <gtsam/geometry/Point2.h>
 
#include <vector>
 
namespace vision_common {
using FeatureId = int;
using ImageId = int;
// Point belonging to an image space feature track.
// Contains an image_id corresponding to the image it belongs to and a feature_track_id
// corresponding to the feature track it belongs to.
struct FeaturePoint {
  FeaturePoint(const double u, const double v, const ImageId image_id, const FeatureId feature_track_id,
               const localization_common::Time timestamp)
      : image_point(u, v), image_id(image_id), feature_track_id(feature_track_id), timestamp(timestamp) {}
  FeaturePoint() {}
  gtsam::Point2 image_point;
  ImageId image_id;
  FeatureId feature_track_id;
  localization_common::Time timestamp;
 
 private:
  // Serialization function
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& BOOST_SERIALIZATION_NVP(image_point);
    ar& BOOST_SERIALIZATION_NVP(image_id);
    ar& BOOST_SERIALIZATION_NVP(feature_track_id);
    ar& BOOST_SERIALIZATION_NVP(timestamp);
  }
};
 
using FeaturePoints = std::vector<FeaturePoint>;
}  // namespace vision_common
 
#endif  // VISION_COMMON_FEATURE_POINT_H_