Merge branch 'BoundingBoxes' into 'master' (013a4b93) · Commits · Zane Safi Mroue / ObjectDetectionVSLAM

src/main/java/object_detection/ObjectDetector.java

+4 −6

Original line number	Diff line number	Diff line
		@@ -5,11 +5,8 @@ import object_detection.types.Point;

		import java.io.File;
		import java.io.FileNotFoundException;
		import java.io.IOException;
		import java.nio.file.Files;
		import java.util.ArrayList;
		import java.util.Arrays;
		import java.util.Scanner;
		import java.util.List;

		public class ObjectDetector {

		@@ -37,8 +34,9 @@ public class ObjectDetector {
		int NUMKF = feat_CSVs.length;

		for(int i = 0; i < NUMKF; i++){
		// single KeyFrame
		//ArrayList<ArrayList<Point>> currFrame = objSet.processFrame(feat_CSVs[i], bbox_CSVs[i]);
		// process the frame
		List<ArrayList<Point>> currFramePoints = objSet.processFrame(feat_CSVs[i], bbox_CSVs[i]);
		objSet.updateObjectSet(currFramePoints);
		}
		}

src/main/java/object_detection/types/BoundingBox.java

+3 −3

Original line number	Diff line number	Diff line
		@@ -2,11 +2,12 @@ package object_detection.types;

		public class BoundingBox {

		public BoundingBox(Point2D tr, Point2D tl, Point2D br, Point2D bl){
		public BoundingBox(Point2D tr, Point2D tl, Point2D br, Point2D bl, int idx){
		this.topRight = tr;
		this.topLeft = tl;
		this.botRight = br;
		this.botLeft = bl;
		this.idx = idx;
		}

		public boolean within(Point2D p){
		@@ -22,6 +23,5 @@ public class BoundingBox {
		Point2D topLeft;
		Point2D botRight;
		Point2D botLeft;


		int idx;
		}

src/main/java/object_detection/types/ObjectSet.java

+75 −12

Original line number	Diff line number	Diff line
		@@ -37,8 +37,8 @@ public class ObjectSet {
		* @return true if objects are the same
		*/
		public static boolean compareObjects(int i, int j){
		Point[] r1 = objects.get(i).getSetReps();
		Point[] r2 = objects.get(j).getSetReps();
		Point[] r1 = objects.get(i).getPoints();
		Point[] r2 = objects.get(j).getPoints();

		// compare r1 and r2
		Set<Point> s = new HashSet<>();
		@@ -75,8 +75,10 @@ public class ObjectSet {
		// remove j
		objects.remove(j);

		// eventually, push i to database
		// lower the count
		count--;

		// eventually, push i to database
		}

		/**
		@@ -85,20 +87,81 @@ public class ObjectSet {
		* @param featCsv : file containing each feature in space (x,y,z and index)
		* @param bboxCsv : file containing Bounding Boxes for each object in a keyframe
		*/
		public void processFrame(File featCsv, File bboxCsv) throws FileNotFoundException {

		// first we need to extract the features and blackbox from the corresponding CSVs
		ArrayList<Point> feature;
		ArrayList<BoundingBox> bbox;
		public List<ArrayList<Point>> processFrame(File featCsv, File bboxCsv) throws FileNotFoundException {
		// Print the name of the file being processed
		System.out.println("Processing " + featCsv.getName() + " and " + bboxCsv.getName());

		Scanner sc = new Scanner(featCsv);
		sc.useDelimiter("\n");
		while(sc.hasNext()){
		String[] cl = sc.next().split(",");
		// Read bounding boxes
		List<BoundingBox> boundingBoxes = readBoundingBoxes(bboxCsv);

		//Point p = new Point(cl[4], cl[5], cl[6]);
		// Initialize results structure
		List<ArrayList<Point>> results = new ArrayList<>();
		for (int i = 0; i < boundingBoxes.size(); i++) {
		results.add(new ArrayList<>());
		}

		int lineNum = 0;

		// Process feature points
		Scanner scanner = new Scanner(featCsv);
		while (scanner.hasNextLine()) {

		// Print the line of the file being processed
		System.out.println("Processing line " + lineNum++);

		String[] line = scanner.nextLine().split(",");
		Point2D point2D = new Point2D(Float.parseFloat(line[0]), Float.parseFloat(line[1]), Integer.parseInt(line[2]));
		Point point = new Point(Float.parseFloat(line[3]), Float.parseFloat(line[4]), Float.parseFloat(line[5]), Integer.parseInt(line[2]));

		// Check if the point is within any bounding box
		for (int i = 0; i < boundingBoxes.size(); i++) {
		if (boundingBoxes.get(i).within(point2D)) {
		results.get(i).add(point);
		break; // Assuming a point belongs to only one bounding box
		}
		}
		}
		scanner.close();

		return results;
		}

		/**
		* This method updates the existing ObjectSet to incorporate new information from the features and bounding boxes of a new keyframe.
		* It also updates the ObjectSet to merge objects that are similar.
		*
		* @param points : the features of the new keyframe of the form List<ArrayList<Point>>
		*
		*/
		public void updateObjectSet(List<ArrayList<Point>> points) {
		for (int i = 0; i < points.size(); i++) {
		Point[] pointArray = points.get(i).toArray(new Point[0]);
		int objIdx = makeObject(pointArray);

		// Compare the new object with all existing objects
		for (int j = 0; j < objects.size(); j++) {
		if (compareObjects(objIdx, j)) {
		combineObjects(j, objIdx);
		break;
		}
		}
		}
		}

		private List<BoundingBox> readBoundingBoxes(File bboxCsv) throws FileNotFoundException {
		List<BoundingBox> boxes = new ArrayList<>();
		Scanner scanner = new Scanner(bboxCsv);
		scanner.nextLine(); // Skip header
		while (scanner.hasNextLine()) {
		String[] line = scanner.nextLine().split(",");
		Point2D tr = new Point2D(Float.parseFloat(line[2]) + Float.parseFloat(line[4]), Float.parseFloat(line[3]), 0);
		Point2D tl = new Point2D(Float.parseFloat(line[2]), Float.parseFloat(line[3]), 0);
		Point2D br = new Point2D(Float.parseFloat(line[2]) + Float.parseFloat(line[4]), Float.parseFloat(line[3]) + Float.parseFloat(line[5]), 0);
		Point2D bl = new Point2D(Float.parseFloat(line[2]), Float.parseFloat(line[3]) + Float.parseFloat(line[5]), 0);
		boxes.add(new BoundingBox(tr, tl, br, bl, Integer.parseInt(line[0])));
		}
		scanner.close();
		return boxes;
		}
		}
		No newline at end of file

src/main/java/object_detection/types/Point.java

+7 −3

Original line number	Diff line number	Diff line
		@@ -9,18 +9,18 @@ public class Point {
		private float x;
		private float y;
		private float z;
		final int idx;
		private int idx;

		// METHODS

		/*
		Object Constructor of a feature in 3D
		*/
		public Point(float xx, float yy, float zz){
		public Point(float xx, float yy, float zz, int idx){
		this.x = xx;
		this.y = yy;
		this.z = zz;
		this.idx = count++;
		this.idx = idx;
		}

		/**
		@@ -64,4 +64,8 @@ public class Point {
		public float getZ() {
		return z;
		}

		public int getIdx() {
		return idx;
		}
		}

src/main/java/object_detection/types/Point2D.java

+7 −1

Original line number	Diff line number	Diff line
		@@ -4,10 +4,12 @@ public class Point2D {

		private float x;
		private float y;
		private int idx;

		public Point2D(float x, float y){
		public Point2D(float x, float y, int idx){
		this.x = x;
		this.y = y;
		this.idx = idx;
		}

		public float getY() {
		@@ -17,4 +19,8 @@ public class Point2D {
		public float getX() {
		return x;
		}

		public int getIdx() {
		return idx;
		}
		}