1 /*
2 * Copyright (C) 2016 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 package com.irurueta.ar.sfm;
17
18 import java.io.Serializable;
19 import java.util.BitSet;
20
21 /**
22 * Contains data relating matched 2D points and their reconstructions.
23 */
24 public class MatchedSamples implements Serializable {
25
26 /**
27 * Default quality score value.
28 */
29 public static final double DEFAULT_QUALITY_SCORE = 1.0;
30
31 /**
32 * 2D matched samples on different views.
33 * Each of these points correspond to projections of the same 3D point into
34 * different views.
35 */
36 private Sample2D[] samples;
37
38 /**
39 * Cameras associated to the views of each of the matched points.
40 */
41 private EstimatedCamera[] cameras;
42
43 /**
44 * ID's of views where matched points belong to.
45 */
46 private int[] viewIds;
47
48 /**
49 * 3D reconstructed point. Initially, might not be available
50 */
51 private ReconstructedPoint3D reconstructedPoint;
52
53 /**
54 * Quality score of a match.
55 */
56 private double qualityScore = DEFAULT_QUALITY_SCORE;
57
58 /**
59 * Indicates whether match between a pair of views has been considered an
60 * inlier or not.
61 * Position 0 of this bitset corresponds to viewIds in positions 0 and 1,
62 * position 1 of bitset corresponds to viewIds in positions 1 and 2, and so
63 * on.
64 */
65 private BitSet inliers;
66
67 /**
68 * Gets 2D matched samples on different views containing matched points.
69 * Each of these points correspond to projections of the same 3D point into
70 * different views.
71 *
72 * @return 2D matched samples on different views.
73 */
74 public Sample2D[] getSamples() {
75 return samples;
76 }
77
78 /**
79 * Sets 2D matched samples on different views containing matched points.
80 * Each of these points correspond to projections of the same 3D point into
81 * different views.
82 *
83 * @param samples 2D matched samples on different views.
84 */
85 public void setSamples(final Sample2D[] samples) {
86 this.samples = samples;
87 }
88
89 /**
90 * Gets cameras associated to the views of each of the matched points.
91 *
92 * @return cameras associated to the views of each of the matched points.
93 */
94 public EstimatedCamera[] getCameras() {
95 return cameras;
96 }
97
98 /**
99 * Sets cameras associated to the views of each of the matched points.
100 *
101 * @param cameras cameras associated to the views of each of the matched
102 * points.
103 */
104 public void setCameras(final EstimatedCamera[] cameras) {
105 this.cameras = cameras;
106 }
107
108 /**
109 * Gets id's of views where matched points belong to.
110 *
111 * @return id's of view where matched points belong to.
112 */
113 public int[] getViewIds() {
114 return viewIds;
115 }
116
117 /**
118 * Sets id's of views where matched points belong to.
119 *
120 * @param viewIds id's of views where matched points belong to.
121 */
122 public void setViewIds(final int[] viewIds) {
123 this.viewIds = viewIds;
124 }
125
126 /**
127 * Gets 3D reconstructed point.
128 *
129 * @return 3D reconstructed point.
130 */
131 public ReconstructedPoint3D getReconstructedPoint() {
132 return reconstructedPoint;
133 }
134
135 /**
136 * Sets 3D reconstructed point.
137 *
138 * @param reconstructedPoint 3D reconstructed point.
139 */
140 public void setReconstructedPoint(final ReconstructedPoint3D reconstructedPoint) {
141 this.reconstructedPoint = reconstructedPoint;
142 if (samples != null) {
143 for (final var sample : samples) {
144 sample.setReconstructedPoint(reconstructedPoint);
145 }
146 }
147 }
148
149 /**
150 * Gets quality score of match. The larger the value, the better the
151 * quality. This is used for robust estimators such as PROSAC or PROMedS.
152 * This value is typically obtained from algorithms determining scores for
153 * matches.
154 *
155 * @return quality score of match.
156 */
157 public double getQualityScore() {
158 return qualityScore;
159 }
160
161 /**
162 * Sets quality score of match. The larger the value, the better the
163 * quality. This is used for robust estimators such as PROSAC or PROMedS.
164 * This value is typically obtained from algorithms determining scores for
165 * matches.
166 *
167 * @param qualityScore quality score of match.
168 */
169 public void setQualityScore(final double qualityScore) {
170 this.qualityScore = qualityScore;
171 }
172
173 /**
174 * Indicates whether match between a pair of views has been considered an
175 * inlier or not.
176 * Position 0 of this bitset corresponds to viewIds in positions 0 and 1,
177 * position 1 of bitset corresponds to viewIds in positions 1 and 2, and so
178 * on.
179 *
180 * @return indicates whether match between a pair of views has been
181 * considered an inlier or not.
182 */
183 public BitSet getInliers() {
184 return inliers;
185 }
186
187 /**
188 * Specifies whether match between a pair of views has been considered an
189 * inlier or not.
190 * Position 0 of this bitset corresponds to viewIds in positions 0 and 1,
191 * position 1 of bitset corresponds to viewIds in positions 1 and 2, and so
192 * on.
193 *
194 * @param inliers set indicating whether a match between a pair of views has
195 * been considered an inlier or not.
196 */
197 public void setInliers(final BitSet inliers) {
198 this.inliers = inliers;
199 }
200 }