/*
    * 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.geometry.Point2D;
  
  import java.io.Serializable;
  
  /**
   * Contains data of a 2D point sample on a given view.
   */
  public class Sample2D 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;
  
      /**
       * ID of view where 2D point has been sampled.
       */
      private int viewId;
  
      /**
       * 2D sampled point coordinates.
       */
      private Point2D point;
  
      /**
       * 3D reconstructed point.
       */
      private ReconstructedPoint3D reconstructedPoint;
  
      /**
       * 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 quality of
       * points of interest.
       */
      private double qualityScore = DEFAULT_QUALITY_SCORE;
  
      /**
       * Covariance of sampled points. This is obtained from the algorithms
       * determining points of interest or point correspondences.
       * If covariance cannot be determined, a typical value might be to
       * consider 1 pixel accuracy.
       * This might be null if covariance cannot be determined.
       */
      private Matrix covariance;
  
      /**
       * Color data of sampled 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 id of view where 2D point has been sampled.
       *
      * @return id of view where 2D point has been sampled.
      */
     public int getViewId() {
         return viewId;
     }
 
     /**
      * Sets id of view where 2D point has been sampled.
      *
      * @param viewId id of view where 2D point has been sampled.
      */
     public void setViewId(final int viewId) {
         this.viewId = viewId;
     }
 
     /**
      * Gets 2D sampled point coordinates.
      *
      * @return 2D sampled point coordinates.
      */
     public Point2D getPoint() {
         return point;
     }
 
     /**
      * Sets 2D sampled point coordinates.
      *
      * @param point 2D sampled point coordinates.
      */
     public void setPoint(final Point2D point) {
         this.point = point;
     }
 
     /**
      * Gets 3D reconstructed point.
      *
      * @return 3D reconstructed point.
      */
     public ReconstructedPoint3D getReconstructedPoint() {
         return reconstructedPoint;
     }
 
     /**
      * Sets 3D reconstructed point.
      *
      * @param reconstructedPoint 3D reconstructed point.
      */
     public void setReconstructedPoint(final ReconstructedPoint3D reconstructedPoint) {
         this.reconstructedPoint = reconstructedPoint;
     }
 
     /**
      * 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 quality of
      * points of interest.
      *
      * @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 quality of
      * points of interest.
      *
      * @param qualityScore quality score of sampled point.
      */
     public void setQualityScore(final double qualityScore) {
         this.qualityScore = qualityScore;
     }
 
     /**
      * Gets covariance of sampled points. This is obtained from the algorithms
      * determining points of interest or point correspondences.
      * If covariance cannot be determined, a typical value might be to
      * consider 1 pixel accuracy.
      * This might be null if covariance cannot be determined.
      *
      * @return covariance of sampled points or null.
      */
     public Matrix getCovariance() {
         return covariance;
     }
 
     /**
      * Sets covariance of sampled points. This is obtained from the algorithms
      * determining points of interest or point correspondences.
      * If covariance cannot be determined, a typical value might be to
      * consider 1 pixel accuracy.
      * This might be null if covariance cannot be determined.
      *
      * @param covariance covariance of sampled points.
      */
     public void setCovariance(final Matrix covariance) {
         this.covariance = covariance;
     }
 
     /**
      * Gets color data of sampled point (i.e. RGB or YUV values), if available.
      *
      * @return color data of sampled point or null.
      */
     public PointColorData getColorData() {
         return colorData;
     }
 
     /**
      * Sets color data of sampled point (i.e. RGB or YUV values), if available.
      *
      * @param colorData color data of sampled point or null.
      */
     public void setColorData(final PointColorData colorData) {
         this.colorData = colorData;
     }
 }