finally working (16a1df6b) · Commits · Zane Safi Mroue / ObjectDetectionVSLAM

src/main/java/database/MongoDBInteraction.java

+5 −2

Original line number	Diff line number	Diff line
		@@ -84,8 +84,10 @@ public class MongoDBInteraction {

		// Using Integer.parseInt to safely convert String to Integer if necessary
		int idx;
		String pred;
		try {
		idx = doc.get("setId") instanceof Integer ? (Integer) doc.get("setId") : Integer.parseInt((String) doc.get("setId"));
		pred = (String) doc.get("predName");
		} catch (NumberFormatException e) {
		System.err.println("Invalid format for setId, must be an integer: " + doc.get("setId"));
		return null;
		@@ -93,10 +95,10 @@ public class MongoDBInteraction {

		List<Document> pointsDocs = doc.getList("points", Document.class);
		if (pointsDocs == null) {
		return new PointSet(idx);
		return new PointSet(idx, pred);
		}

		PointSet pointSet = new PointSet(idx);
		PointSet pointSet = new PointSet(idx, pred);
		for (Document pointDoc : pointsDocs) {
		Point point = new Point(
		pointDoc.getDouble("x").floatValue(),
		@@ -123,6 +125,7 @@ public class MongoDBInteraction {
		.append("B", p.B));
		}
		return new Document("setId", setId)
		.append("predName", pointSet.getPred())
		.append("points", pointsList);
		}

src/main/java/object_detection/ObjectDetector.java

+1 −35

Original line number	Diff line number	Diff line
		@@ -17,22 +17,11 @@ public class ObjectDetector {

		/**
		* The starting function that creates an object set, compiles informatino, and returns it
		* @throws FileNotFoundException
		* @throws FileNotFoundException : if files have not been created yet
		*/
		public static void startProcess(String dataset) throws IOException, CsvValidationException {

		// for now, we can just set paths to the directories that hold keyframes and featurepoint CSVs
		<<<<<<< HEAD
		String bbox_dir_pth = "src/main/java/vslam/BoundedInfo";
		String pose_dir_path = "src/main/java/vslam/CameraPoses";

		if (dataset.equals("1")) {
		bbox_dir_pth = "src/main/java/vslam/tum_rgbd/BoundedInfo";
		pose_dir_path = "src/main/java/vslam/tum_rgbd/CameraPoses";
		} else if (dataset.equals("2")) {
		bbox_dir_pth = "src/main/java/vslam/imperial_london/BoundedInfoTUM";
		pose_dir_path = "src/main/java/vslam/imperial_london/CameraPosesTUM";
		=======
		String bbox_dir_pth;
		String pose_dir_path;
		CameraIntrinsics intrinsics;
		@@ -49,7 +38,6 @@ public class ObjectDetector {
		pose_dir_path = "src/main/java/vslam/imperial_london/CameraPoses";
		intrinsics = new CameraIntrinsics("src/main/java/vslam/imperial_london/CameraIntrinsics.csv");
		pointCloud = Downsampler.get_voxels("src/main/java/vslam/imperial_london/pointcloud.csv", 0.05F);
		>>>>>>> d54dedd1dda103cf3c9918bc5acfe073621f5ebb
		}

		// get files
		@@ -63,20 +51,6 @@ public class ObjectDetector {
		/* #################################################
		In the section below, we create a new ObjectSet, and iterate over each Keyframe
		################################################## */
		<<<<<<< HEAD
		CameraIntrinsics intrinsics = new CameraIntrinsics("src/main/java/vslam/CameraIntrinsics.csv");
		List<Point> pointCloud = Downsampler.get_voxels("src/main/java/vslam/pointcloud.csv", 0.05F);

		if(dataset.equals("1")){
		intrinsics = new CameraIntrinsics("src/main/java/vslam/tum_rgbd/CameraIntrinsics.csv");
		pointCloud = Downsampler.get_voxels("src/main/java/vslam/tum_rgbd/pointcloud.csv", 0.05F);
		} else if(dataset.equals("2")){
		intrinsics = new CameraIntrinsics("src/main/java/vslam/imperial_london/CameraIntrinsicsTUM.csv");
		pointCloud = Downsampler.get_voxels("src/main/java/vslam/imperial_london/pointcloudTUM.csv", 0.05F);
		}

		=======
		>>>>>>> d54dedd1dda103cf3c9918bc5acfe073621f5ebb
		ObjectSet os = new ObjectSet(intrinsics, pointCloud);

		// iterate through each frame, create the frame, then process it
		@@ -113,12 +87,4 @@ public class ObjectDetector {

		return f_arr;
		}

		<<<<<<< HEAD
		public static void main(String[] args) throws IOException, CsvValidationException {
		startProcess("1");
		}

		=======
		>>>>>>> d54dedd1dda103cf3c9918bc5acfe073621f5ebb
		}

src/main/java/object_detection/types/Frame.java

+6 −0

Original line number	Diff line number	Diff line
		@@ -31,6 +31,12 @@ public class Frame {
		ArrayList<BoundingBox2D> res = new ArrayList<>();
		while (scanner.hasNextLine()) {
		String[] line = scanner.nextLine().split(",");
		double confidence = Double.parseDouble(line[1]);
		// only keep boxes with confidence > 88%
		if(confidence < 0.82){
		continue;
		}

		// create the box accordingly
		int x = Integer.parseInt(line[2]);
		int y = Integer.parseInt(line[3]);

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

+1 −1

Original line number	Diff line number	Diff line
		@@ -45,7 +45,7 @@ public class ObjectSet {
		// 3) Find all points that fall within each box, add point to candidate objects
		List<PointSet> candidates = new ArrayList<>();
		for(int i = 0; i < f.boxes.size(); i++){
		candidates.add(new PointSet(i));
		candidates.add(new PointSet(i, f.boxes.get(i).predClass));
		}

		for(Map.Entry<Integer, Point2D> entry : projM.entrySet()){

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

+8 −30

Original line number	Diff line number	Diff line
		@@ -6,11 +6,8 @@ import java.util.*;

		public class PointSet {

		static final int NUM_REPS = 10;
		Set<Point> pset;
		Point[] reps;

		Point centroid;
		String predName;

		final int IDX;

		@@ -18,14 +15,13 @@ public class PointSet {
		*
		* @param pp : the points that this PointSet will contain
		*/
		public PointSet(int id, Point ...pp){
		pset = new HashSet<>();
		public PointSet(int id, String predName, Point ...pp){
		this.pset = new HashSet<>();

		// add every point blankly to pointset
		pset.addAll(Arrays.asList(pp));
		centroid = new Point(0,0,0);
		reps = new Point[NUM_REPS];
		IDX = id;
		this.pset.addAll(Arrays.asList(pp));
		this.IDX = id;
		this.predName = predName;
		}

		public void addPoint(Point p){
		@@ -40,8 +36,8 @@ public class PointSet {
		pset.addAll(p);
		}

		public Point[] getSetReps(){
		return this.reps;
		public String getPred(){
		return this.predName;
		}

		/*
		@@ -58,24 +54,6 @@ public class PointSet {
		return res;
		}

		/**
		* This method is called on a specific Point, and updates the Point via
		* some disjoint sets' method.
		*/
		public void updateReps(){
		// get first NUM_REPS from pset for now, will make more efficient later
		Iterator<Point> iter = this.pset.iterator();
		for(int i = 0; i < NUM_REPS; i++){

		// early exit if we have less than NUM_REPS points in the current object
		if(i == this.pset.size()) {
		return;
		}

		reps[i] = iter.next();
		}
		}

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