"push" (90c18bf9) · Commits · Zane Safi Mroue / ObjectDetectionVSLAM

.idea/uiDesigner.xml

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		<?xml version="1.0" encoding="UTF-8"?>
		<project version="4">
		<component name="Palette2">
		<group name="Swing">
		<item class="com.intellij.uiDesigner.HSpacer" tooltip-text="Horizontal Spacer" icon="/com/intellij/uiDesigner/icons/hspacer.svg" removable="false" auto-create-binding="false" can-attach-label="false">
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		<initial-values>
		<property name="text" value="Button" />
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		<item class="javax.swing.JRadioButton" icon="/com/intellij/uiDesigner/icons/radioButton.svg" removable="false" auto-create-binding="true" can-attach-label="false">
		<default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
		<initial-values>
		<property name="text" value="RadioButton" />
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		<initial-values>
		<property name="text" value="CheckBox" />
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		</item>
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		</item>
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		</item>
		<item class="javax.swing.JSlider" icon="/com/intellij/uiDesigner/icons/slider.svg" removable="false" auto-create-binding="true" can-attach-label="false">
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		</item>
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		</item>
		<item class="javax.swing.JProgressBar" icon="/com/intellij/uiDesigner/icons/progressbar.svg" removable="false" auto-create-binding="true" can-attach-label="false">
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		</item>
		<item class="javax.swing.JToolBar" icon="/com/intellij/uiDesigner/icons/toolbar.svg" removable="false" auto-create-binding="false" can-attach-label="false">
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		<preferred-size width="-1" height="20" />
		</default-constraints>
		</item>
		<item class="javax.swing.JToolBar$Separator" icon="/com/intellij/uiDesigner/icons/toolbarSeparator.svg" removable="false" auto-create-binding="false" can-attach-label="false">
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		</item>
		<item class="javax.swing.JScrollBar" icon="/com/intellij/uiDesigner/icons/scrollbar.svg" removable="false" auto-create-binding="true" can-attach-label="false">
		<default-constraints vsize-policy="6" hsize-policy="0" anchor="0" fill="2" />
		</item>
		</group>
		</component>
		</project>
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vslam/ObjectMart.java

deleted100644 → 0

+0 −15

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		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
		*/

		}
		}

vslam/UnionFind.java

deleted100644 → 0

+0 −64

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		package vslam;


		import java.util.*;

		public class UnionFind {

		List<PointSet> disjointSets;
		public UnionFind(){
		disjointSets = new ArrayList<>();
		}

		public void makeSet(Point ...pp){
		PointSet ps = new PointSet();
		ps.addAll(pp);

		disjointSets.add(ps);
		}

		public Set<Point> findSet(Point p){
		Set<Point> l = p.getReps();
		if(!l.isEmpty()){
		return p.getReps();
		}
		else{
		throw new NullPointerException();
		}
		}

		public boolean union(int i, int j){
		Set<Point> l1 = disjointSets.get(i).getSetReps();
		Set<Point> l2 = disjointSets.get(j).getSetReps();

		int count = 0;
		for(Point r1 : l1){
		if(l2.contains(r1)){
		count++;
		}
		}

		if(count < (l1.size()*0.8)) {
		return false;
		}

		// merge the two sets together using union
		// HERE, CAN ADD PATH COMPRESSION, ETC LATER ON

		// create new pointset, fill with both set of points
		PointSet un = new PointSet();
		un.addAll(disjointSets.get(i).getPoints());
		un.addAll(disjointSets.get(j).getPoints());

		// need to implement this part
		un.updateReps();

		// add to disjoint set, remove originals
		disjointSets.add(un);
		disjointSets.remove(i);
		disjointSets.remove(j);

		return true;
		}

		}
		No newline at end of file

vslam/object_detection/ObjectDetector.java

0 → 100644

+41 −0

Original line number	Diff line number	Diff line
		package vslam.object_detection;

		public class ObjectDetector {
		static ObjectSet os;

		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
		*/

		// create objectset
		os = new ObjectSet();

		// Add two test sets
		int o1 = os.makeObject(
		new Point(0,10,0),
		new Point(0,0,0),
		new Point(10, 0, 0),
		new Point(10, 10, 0)
		);

		int o2 = os.makeObject(
		new Point(5,5,0),
		new Point(5,15,0),
		new Point(15, 5, 0),
		new Point(15, 15, 0)
		);

		System.out.println("Added two test points to ObjectSet");

		// test out compare
		boolean same = ObjectSet.compareObjects(o1, o2);
		if(same){
		os.combineObjects(o1, o2);
		System.out.println("Combining object 1 and 2");
		}
		}
		}

vslam/object_detection/ObjectSet.java

0 → 100644

+70 −0

Original line number	Diff line number	Diff line
		package vslam.object_detection;


		import java.util.*;

		public class ObjectSet {

		static List<PointSet> objects;
		public ObjectSet(){
		objects = new ArrayList<>();
		}

		/**
		* This method is used to create a new object (or candidate), that will then be compared to others
		* @param pp : the points that will be used as features
		* @return : the index of this object, so we can quickly add and remove objects from list
		*/
		public int makeObject(Point ...pp){
		PointSet ps = new PointSet();
		ps.addAll(pp);

		objects.add(ps);

		// return index of new object
		return (objects.size()-1);
		}

		/**
		* We compare two objects
		* @param i : should be the already in database object
		* @param j : the new candidate object
		* @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();

		// compare r1 and r2
		Set<Point> s = new HashSet<>(List.of(r1));
		int count = 0;
		for(Point p : r2){
		if(s.contains(p)){
		count++;
		}
		}

		// in this line, if the reps are 80% similar, assume this is the same set.
		return (count) > (r1.length*0.8);
		}

		/**
		* This function merges object j into object i (these are indexes in objects set)
		* @param i : current object in list
		* @param j : new object to be combined into i
		*/
		public void combineObjects(int i, int j){

		// add all points of j to i
		objects.get(i).addAll(objects.get(j).getPoints());

		// redo reps of the object with new points
		objects.get(i).updateReps();

		// remove j
		objects.remove(j);

		// eventually, push i to database
		}

		}
		No newline at end of file