Struct MapPoint 

pub struct MapPoint {
    pub position: Point3<f64>,
    pub descriptor: Option<Vec<u8>>,
    pub observations: usize,
    pub id: usize,
}

A 3D map point

Fields

position: Point3<f64>

3D position in world coordinates

descriptor: Option<Vec<u8>>

Descriptor (for matching)

observations: usize

Number of times this point has been observed

id: usize

ID of the point

Implementations

impl MapPoint

pub fn new(position: Point3<f64>, id: usize) -> Self

Create a new map point

pub fn with_descriptor( position: Point3<f64>, descriptor: Vec<u8>, id: usize, ) -> Self

Create a new map point with descriptor

pub fn add_observation(&mut self)

Add observation count

Trait Implementations

impl Clone for MapPoint

fn clone(&self) -> MapPoint

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for MapPoint

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MapPoint

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for MapPoint

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.