new (098873e4) · Commits · Zane Safi Mroue / ObjectDetectionVSLAM

pom.xml

+1 −1

Original line number	Diff line number	Diff line
		@@ -12,7 +12,7 @@
		<maven.compiler.source>17</maven.compiler.source>
		<maven.compiler.target>17</maven.compiler.target>
		<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
		<exec.mainClass>object_detection.ObjectDetector</exec.mainClass>
		<exec.mainClass>top.BackendJava</exec.mainClass>
		</properties>

		<build>

src/main/java/database/MongoDBInteraction.java

+61 −2

Original line number	Diff line number	Diff line
		package database;

		import com.mongodb.ConnectionString;
		import com.mongodb.MongoClientSettings;
		import com.mongodb.ServerApi;
		import com.mongodb.ServerApiVersion;
		import com.mongodb.client.*;
		import com.mongodb.client.model.Filters;
		import com.mongodb.client.model.ReplaceOptions;
		@@ -20,7 +24,18 @@ public class MongoDBInteraction {

		public MongoDBInteraction() {
		String uri = "mongodb+srv://Cluster03790:dlVzT2Z2bEh9@cluster03790.tk4cwyy.mongodb.net/myFirstDatabase?retryWrites=true";
		this.mongoClient = MongoClients.create(uri);

		// Construct a ServerApi instance using the ServerApi.builder() method
		ServerApi serverApi = ServerApi.builder()
		.version(ServerApiVersion.V1)
		.build();

		MongoClientSettings settings = MongoClientSettings.builder()
		.applyConnectionString(new ConnectionString(uri))
		.serverApi(serverApi)
		.build();

		this.mongoClient = MongoClients.create(settings);
		this.database = mongoClient.getDatabase("Objects");
		this.objectCollection = database.getCollection("objectSets");
		}
		@@ -57,8 +72,10 @@ public class MongoDBInteraction {
		}

		private PointSet convertDocumentToPointSet(Document doc) {
		int idx = Integer.parseInt(doc.getString("setId"));
		List<Document> pointsDocs = doc.getList("points", Document.class);
		PointSet pointSet = new PointSet();

		PointSet pointSet = new PointSet(idx);
		for (Document pointDoc : pointsDocs) {
		float x = pointDoc.getDouble("x").floatValue();
		float y = pointDoc.getDouble("y").floatValue();
		@@ -67,4 +84,46 @@ public class MongoDBInteraction {
		}
		return pointSet;
		}

		// PointSet management methods
		private Document pointSetToDocument(String setId, PointSet pointSet) {
		List<Document> pointsList = new ArrayList<>();
		for (Point p : pointSet.getPoints()) {
		pointsList.add(new Document("x", p.getX())
		.append("y", p.getY())
		.append("z", p.getZ()));
		}
		return new Document("setId", setId)
		.append("points", pointsList);
		}


		// ObjectSet management methods
		private Document objectSetToDocument(int index, ObjectSet objectSet) {
		List<Document> pointSetsList = new ArrayList<>();

		for (object_detection.types.PointSet ps : objectSet.objects) {
		Document pointSetDoc = pointSetToDocument(Integer.toString(ps.getIDX()), ps);
		pointSetsList.add(pointSetDoc);
		}
		return new Document("index", index)
		.append("objectSets", pointSetsList);
		}


		public void updateObjectSet(int index, ObjectSet objectSet) {
		Document doc = objectSetToDocument(index, objectSet);
		ReplaceOptions options = new ReplaceOptions().upsert(true);
		objectCollection.replaceOne(Filters.eq("index", index), doc, options);
		}

		public ObjectSet retrieveObjectSet(int index) {
		Document query = new Document("index", index);
		Document doc = objectCollection.find(query).first();
		if (doc != null) {
		return convertDocumentToObjectSet(doc);
		}
		return null;
		}

		}

src/main/java/object_detection/ObjectDetector.java

+4 −0

Original line number	Diff line number	Diff line
		package object_detection;

		import database.MongoDBInteraction;
		import object_detection.types.ObjectSet;
		import object_detection.types.Point;

		@@ -59,6 +60,9 @@ public class ObjectDetector {
		// printing final object set for sanity
		System.out.println(objSet);
		System.out.println("====> Finished Object Mapping");

		MongoDBInteraction mdbi = new MongoDBInteraction();
		mdbi.updateObjectSet(5, objSet);
		}

		/**

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

+2 −2

Original line number	Diff line number	Diff line
		@@ -18,7 +18,7 @@ public class ObjectSet {
		*/
		public int makeObject(Point...pp){
		// blank pointset
		PointSet ps = new PointSet();
		PointSet ps = new PointSet(objects.size());
		ps.addAll(pp);

		// add all points
		@@ -103,7 +103,7 @@ public class ObjectSet {
		// get the Point and its corresponding 2D projection from the current KeyFrame
		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]));
		Point point = new Point(Float.parseFloat(line[3]), Float.parseFloat(line[4]), Float.parseFloat(line[5]), 0);

		// Check if the point is within any bounding box
		for (int i = 0; i < boundingBoxes.size(); i++) {

src/main/java/object_detection/types/PointSet.java

+7 −1

Original line number	Diff line number	Diff line
		@@ -10,16 +10,19 @@ public class PointSet {
		Set<Point> pset;
		Point[] reps;

		final int IDX;

		/**
		*
		* @param pp : the points that this PointSet will contain
		*/
		public PointSet(Point ...pp){
		public PointSet(int id, Point ...pp){
		pset = new HashSet<>();

		// add every point blankly to pointset
		pset.addAll(Arrays.asList(pp));
		reps = new Point[NUM_REPS];
		IDX = id;
		}

		public void addPoint(Point p){
		@@ -70,4 +73,7 @@ public class PointSet {
		}
		}

		public int getIDX() {
		return this.IDX;
		}
		}