/*
    * Copyright (C) 2017 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.geometry.Point3D;
  
  import java.io.Serializable;
  
  /**
   * Contains data of a reconstructed 3D point.
   */
  public class ReconstructedPoint3D 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;
  
      /**
       * Coordinates of reconstructed 3D point.
       */
      private Point3D point;
  
      /**
       * Indicates whether reconstructed point is an inlier or not.
       */
      private boolean inlier;
  
      /**
       * Quality score of sampled point. The larger the value, the better the
       * quality. This is used for robust estimators such as PROSAC or PROMedS.
       * This value is typically obtained from algorithms determining point
       * correspondences.
       */
      private double qualityScore = DEFAULT_QUALITY_SCORE;
  
      /**
       * Covariance of reconstructed point. This can be computed during point
       * triangularization.
       */
      private Matrix covariance;
  
      /**
       * Color data of reconstructed point (i.e. RGB or YUV values), if available.
       */
      private PointColorData colorData;
  
      /**
       * 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 coordinates of reconstructed 3D point.
       *
       * @return coordinates of reconstructed 3D point.
       */
      public Point3D getPoint() {
          return point;
      }
  
      /**
       * Sets coordinates of reconstructed 3D point.
      *
      * @param point coordinates of reconstructed 3D point.
      */
     public void setPoint(final Point3D point) {
         this.point = point;
     }
 
     /**
      * Indicates whether reconstructed point is an inlier or not.
      *
      * @return true if reconstructed point is an inlier, false otherwise.
      */
     public boolean isInlier() {
         return inlier;
     }
 
     /**
      * Specifies whether reconstructed point is an inlier or not.
      *
      * @param inlier true if reconstructed point is an inlier, false otherwise.
      */
     public void setInlier(final boolean inlier) {
         this.inlier = inlier;
     }
 
     /**
      * Gets quality score of sampled point. The larger the value, the better the
      * quality. This is used for robust estimators such as PROSAC or PROMedS.
      * This value is typically obtained from algorithms determining point
      * correspondences.
      *
      * @return quality score of sampled point.
      */
     public double getQualityScore() {
         return qualityScore;
     }
 
     /**
      * Sets quality score of sampled point. The larger the value, the better the
      * quality. This is used for robust estimators such as PROSAC or PROMedS.
      * This value is typically obtained from algorithms determining point
      * correspondences.
      *
      * @param qualityScore quality score of sampled point.
      */
     public void setQualityScore(final double qualityScore) {
         this.qualityScore = qualityScore;
     }
 
     /**
      * Gets covariance of reconstructed point. This is obtained from the
      * algorithms determining points of interest or point correspondences.
      * This might be null if covariance cannot be determined.
      *
      * @return covariance of reconstructed point.
      */
     public Matrix getCovariance() {
         return covariance;
     }
 
     /**
      * Sets covariance of reconstructed point. This is obtained from the
      * algorithms determining points of interest or point correspondences.
      *
      * @param covariance covariance of reconstructed point.
      */
     public void setCovariance(final Matrix covariance) {
         this.covariance = covariance;
     }
 
     /**
      * Gets color data of reconstructed point (i.e. RGB or YUV values), if
      * available.
      *
      * @return color data of reconstructed point or null.
      */
     public PointColorData getColorData() {
         return colorData;
     }
 
     /**
      * Sets color data of reconstructed point (i.e. RGB or YUV values), if
      * available.
      *
      * @param colorData color data of reconstructed point or null.
      */
     public void setColorData(final PointColorData colorData) {
         this.colorData = colorData;
     }
 }