"first push"

public class Point {

    // index

    static int count = 0;

    // members

    final float x;

    final float y;

    final float z;

    final int idx;

    public Point(float xx, float yy, float zz){

        this.x = xx;

        this.y = yy;

        this.z = zz;

        this.idx = count++;

    }

    public static boolean equals(Point aa, Point bb, float err){

        return (aa.x - bb.x < err) && (aa.y - bb.y < err) && (aa.z - bb.z < err);

    }

}

Point: single feature

- modify x,y,z coordinates

- pointer to rep(s)

UnionFind: group of objects --> from database

- make-set > instantiate HashSet of points

- find-set > return list of k reps

- union > combine two sets

- union-find > find and union together

ObjectMart: disjoint set operations, that gets coordinates from source

- just a main function?

- getObject > get new set of coordinates, make-set on them, try union-find

package vslam;

public class ObjectMart {

    UnionFind objects = new UnionFind();

    public static void main(String[] args){

        /* infinite loop of running system:

        1) Get new info from system

        2) Update UnionFind

        3) Push new update to database if necessary

         */

    }

}

package vslam;

import java.util.ArrayList;

import java.util.HashSet;

import java.util.List;

import java.util.Set;

public class Point {

    // index

    static int count = 0;

    // members

    private float x;

    private float y;

    private float z;

    final int idx;

    private Set<Point> reps;

    // METHODS

    /*

    Object Constructor of a feature in 3D

     */

    public Point(float xx, float yy, float zz){

        this.x = xx;

        this.y = yy;

        this.z = zz;

        this.idx = count++;

        this.reps = new HashSet<>();

    }

    /*

    Check if two points are in similar area, within margin of epsilon (err)

     */

    public static boolean equals(Point aa, Point bb, float err){

        return (aa.x - bb.x < err) && (aa.y - bb.y < err) && (aa.z - bb.z < err);

    }

    // GETTERS AND SETTERS BELOW HERE

    public void addRep(Point rr){

        this.reps.add(rr);

    }

    public Set<Point> getReps() {return this.reps; }

    public boolean deleteRep(Point rr){

        return this.reps.remove(rr);

    }

    public float getX() {

        return x;

    }

    public float getY() {

        return y;

    }

    public float getZ() {

        return z;

    }

    public void setX(float xx){

        this.x = xx;

    }

    public void setY(float yy){

        this.y = yy;

    }

    public void setZ(float zz){

        this.z = zz;

    }

}

import java.util.ArrayList;

import java.util.Arrays;

import java.util.List;

package vslam;

import java.util.*;

public class PointSet {

    List<Point> pset;

    Set<Point> pset;

    public PointSet(Point ...pp){

        pset = new ArrayList<>();

        pset = new HashSet<>();

        // add every point blankly to pointset

        pset.addAll(Arrays.asList(pp));

        pset.add(p);

    }

    public boolean

    public void addAll(Point ...p) {

        Collections.addAll(pset, p);

    }

    public void addAll(List<Point> p) {

        pset.addAll(p);

    }

    public Set<Point> getSetReps(){

        Point p = pset.iterator().next();

        return p.getReps();

    }

    public List<Point> getPoints(){

        return new ArrayList<>(pset);

    }

    public boolean updateReps(){

        return true;

    }

}