/*
    * Copyright (C) 2016 Alberto Irurueta Carro (alberto@irurueta.com)
    *
    * 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.
   */
  package com.irurueta.ar.sfm;
  
  import com.irurueta.algebra.Matrix;
  import com.irurueta.ar.epipolar.FundamentalMatrix;
  
  import java.io.Serializable;
  import java.util.BitSet;
  import java.util.List;
  
  /**
   * Contains data of estimated fundamental matrix.
   */
  public class EstimatedFundamentalMatrix implements Serializable {
  
      /**
       * Default quality score value.
       */
      public static final double DEFAULT_QUALITY_SCORE = 1.0;
  
      /**
       * ID to identify this instance. This is useful in case that this data is
       * stored in some sort of database and must be set externally.
       */
      private String id;
  
      /**
       * Estimated fundamental matrix.
       */
      private FundamentalMatrix fundamentalMatrix;
  
      /**
       * Quality score of estimated fundamental matrix. The larger the value,
       * the better the quality.
       */
      private double qualityScore = DEFAULT_QUALITY_SCORE;
  
      /**
       * Covariance of estimated fundamental matrix. This can be computed during
       * estimation.
       */
      private Matrix covariance;
  
      /**
       * ID of first view related by fundamental matrix.
       */
      private int viewId1;
  
      /**
       * ID of second view related by fundamental matrix.
       */
      private int viewId2;
  
      /**
       * Indicates which samples used for fundamental matrix estimation where
       * considered inliers.
       */
      private BitSet inliers;
  
      /**
       * Left samples used for fundamental matrix estimation.
       */
      private List<Sample2D> leftSamples;
  
      /**
       * Right samples used for fundamental matrix estimation.
       */
      private List<Sample2D> rightSamples;
  
      /**
       * Gets id to identify this instance. This is useful in case that this data
       * is stored in some sort of database and must be set externally.
       *
       * @return id to identify this instance.
       */
      public String getId() {
          return id;
      }
  
      /**
       * Sets id to identify this instance. This is useful in case that this data
       * is stored in some sort of database and must be set externally.
       *
       * @param id id to identify this instance.
       */
     public void setId(final String id) {
         this.id = id;
     }
 
     /**
      * Gets estimated fundamental matrix.
      *
      * @return estimated fundamental matrix.
      */
     public FundamentalMatrix getFundamentalMatrix() {
         return fundamentalMatrix;
     }
 
     /**
      * Sets estimated fundamental matrix.
      *
      * @param fundamentalMatrix estimated fundamental matrix.
      */
     public void setFundamentalMatrix(final FundamentalMatrix fundamentalMatrix) {
         this.fundamentalMatrix = fundamentalMatrix;
     }
 
     /**
      * Gets quality score of estimated fundamental matrix. The larger the value,
      * the better the quality.
      *
      * @return quality score of estimated fundamental matrix.
      */
     public double getQualityScore() {
         return qualityScore;
     }
 
     /**
      * Sets quality score of estimated fundamental matrix. The larger the value,
      * the better the quality.
      *
      * @param qualityScore quality score of estimated fundamental matrix.
      */
     public void setQualityScore(final double qualityScore) {
         this.qualityScore = qualityScore;
     }
 
     /**
      * Gets covariance of estimated fundamental matrix. This can be computed
      * during estimation.
      *
      * @return covariance of estimated fundamental matrix.
      */
     public Matrix getCovariance() {
         return covariance;
     }
 
     /**
      * Sets covariance of estimated fundamental matrix. This can be computed
      * during estimation.
      *
      * @param covariance covariance of estimated fundamental matrix.
      */
     public void setCovariance(final Matrix covariance) {
         this.covariance = covariance;
     }
 
     /**
      * Gets id of first view related by fundamental matrix.
      *
      * @return id of first view related by fundamental matrix.
      */
     public int getViewId1() {
         return viewId1;
     }
 
     /**
      * Sets id of first view related by fundamental matrix.
      *
      * @param viewId1 id of first view related by fundamental matrix.
      */
     public void setViewId1(final int viewId1) {
         this.viewId1 = viewId1;
     }
 
     /**
      * Gets id of second view related by fundamental matrix.
      *
      * @return id of second view related by fundamental matrix.
      */
     public int getViewId2() {
         return viewId2;
     }
 
     /**
      * Sets id of second view related by fundamental matrix.
      *
      * @param viewId2 id of second view related by fundamental matrix.
      */
     public void setViewId2(final int viewId2) {
         this.viewId2 = viewId2;
     }
 
     /**
      * Indicates which samples used for fundamental matrix estimation where
      * considered inliers.
      *
      * @return which samples used for fundamental matrix estimation where
      * considered inliers.
      */
     public BitSet getInliers() {
         return inliers;
     }
 
     /**
      * Specifies which samples used for fundamental matrix estimation where
      * considered inliers.
      *
      * @param inliers which samples used for fundamental matrix estimation where
      *                considered inliers.
      */
     public void setInliers(final BitSet inliers) {
         this.inliers = inliers;
     }
 
     /**
      * Gets left samples used for fundamental matrix estimation.
      *
      * @return left samples used for fundamental matrix estimation.
      */
     public List<Sample2D> getLeftSamples() {
         return leftSamples;
     }
 
     /**
      * Sets left samples used for fundamental matrix estimation.
      *
      * @param leftSamples left samples used for fundamental matrix estimation.
      */
     public void setLeftSamples(final List<Sample2D> leftSamples) {
         this.leftSamples = leftSamples;
     }
 
     /**
      * Gets right samples used for fundamental matrix estimation.
      *
      * @return right samples used for fundamental matrix estimation.
      */
     public List<Sample2D> getRightSamples() {
         return rightSamples;
     }
 
     /**
      * Sets right samples used for fundamental matrix estimation.
      *
      * @param rightSamples right samples used for fundamental matrix estimation.
      */
     public void setRightSamples(final List<Sample2D> rightSamples) {
         this.rightSamples = rightSamples;
     }
 }