initial attempt (9d184061) · 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>top.BackendJava</exec.mainClass>
		<exec.mainClass>object_detection.ObjectDetector</exec.mainClass>
		</properties>

		<!-- FOR THE YOLO USAGE:

src/main/java/object_detection/ObjectDetector.java

+19 −1

Original line number	Diff line number	Diff line
		@@ -12,6 +12,11 @@ import java.util.List;
		public class ObjectDetector {


		/**
		* The starting function that creates an object set, compiles informatino, and returns it
		* TODO: need to add functionality to update Database
		* @throws FileNotFoundException
		*/
		public static void startProcess() throws FileNotFoundException {

		// for now, we can just set paths to the directories that hold keyframes and featurepoint CSVs
		@@ -32,21 +37,34 @@ public class ObjectDetector {
		System.err.println("ERROR: features and bounding box directories have differing number of Keyframes");
		}

		/* #################################################
		In the section below, we create a new ObjectSet, and iterate over each Keyframe
		################################################## */

		System.out.println("====> Starting Object Mapping");

		// initialize ObjectSet
		ObjectSet objSet = new ObjectSet();

		// for each keyframe, process bounding box csv and feature csv
		int NUMKF = feat_CSVs.length;

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

		// update the current object set
		objSet.updateObjectSet(currFramePoints);
		}

		// printing final object set for sanity
		System.out.println(objSet);
		}

		/**
		* A helper function used to pull all files out of a directory path
		* @param dir_pth
		* @return
		*/
		public static File[] getDirFiles(String dir_pth){
		File[] f_arr;
		// get the csv files of each frame

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

+14 −5

Original line number	Diff line number	Diff line
		@@ -12,10 +12,10 @@ public class BoundingBox {
		}

		public boolean within(Point2D p){
		return p.getX() < this.topRight.getX()
		&& p.getX() > this.topLeft.getX()
		&& p.getY() < this.topLeft.getY()
		&& p.getY() > this.botLeft.getY();
		return p.getX() <= this.topRight.getX()
		&& p.getX() >= this.topLeft.getX()
		&& p.getY() >= this.topLeft.getY()
		&& p.getY() <= this.botLeft.getY();
		}


		@@ -26,4 +26,13 @@ public class BoundingBox {
		Point2D botLeft;
		int idx;
		String predClass;

		@Override
		public String toString(){
		return "BBOX with corners:" +
		"\n TR: " + topRight +
		"\n TL: " + topLeft +
		"\n BR: " + botRight +
		"\n BL: " + botLeft + "\n";
		}
		}

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

+35 −20

Original line number	Diff line number	Diff line
		@@ -7,7 +7,6 @@ import java.util.*;
		public class ObjectSet {

		public List<PointSet> objects;
		int count = 0;
		public ObjectSet(){
		objects = new ArrayList<>();
		}
		@@ -18,16 +17,18 @@ public class ObjectSet {
		* @return : the index of this object, so we can quickly add and remove objects from list
		*/
		public int makeObject(Point...pp){
		// blank pointset
		PointSet ps = new PointSet();
		ps.addAll(pp);
		this.count++;

		// add all points
		ps.updateReps();

		// add pointset to object list
		objects.add(count-1, ps);
		objects.add(ps);

		// return index of new object
		return count-1;
		// return index of new object, which will be at end of ArrayList
		return objects.size()-1;
		}

		/**
		@@ -37,10 +38,11 @@ public class ObjectSet {
		* @return true if objects are the same
		*/
		public boolean compareObjects(int i, int j){
		// O(n), moving points
		Point[] r1 = this.objects.get(i).getPoints();
		Point[] r2 = this.objects.get(j).getPoints();

		// compare r1 and r2
		// O(n)
		Set<Point> s = new HashSet<>();
		for(Point r : r1){
		if(r != null){
		@@ -48,6 +50,7 @@ public class ObjectSet {
		}
		}

		// O(n)
		int count = 0;
		for(Point p : r2){
		if(p!=null && s.contains(p)){
		@@ -74,11 +77,6 @@ public class ObjectSet {

		// remove j
		this.objects.remove(j);

		// lower the count
		this.count--;

		// eventually, push i to database
		}

		/**
		@@ -101,15 +99,11 @@ public class ObjectSet {
		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++);

		// 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]), Integer.parseInt(line[2]));
		@@ -118,7 +112,7 @@ public class ObjectSet {
		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
		break; // Assuming a point belongs to only one bounding box, first come first serve
		}
		}
		}
		@@ -135,12 +129,18 @@ public class ObjectSet {
		*
		*/
		public void updateObjectSet(List<ArrayList<Point>> points) {
		// for each BoundingBox we have all points that fall within it

		for(ArrayList<Point> point : points) {
		Point[] pointArray = point.toArray(new Point[0]);
		int objIdx = makeObject(pointArray);

		// Compare the new object with all existing objects
		for (int j = 0; j < objects.size(); j++) {
		for (int j = 0; j < this.objects.size(); j++) {
		// don't compare with yourself
		if(objIdx == j){
		continue;
		}
		if (compareObjects(objIdx, j)) {
		combineObjects(j, objIdx);
		break;
		@@ -149,17 +149,28 @@ public class ObjectSet {
		}
		}

		/**
		* Takes a file of bounding boxes; just another utility function
		* @param bboxCsv : File object holding info about a single csv of bounding boxes from one frame
		* @return : list of BoundingBox objects from that KeyFrame
		* @throws FileNotFoundException
		*/
		private List<BoundingBox> readBoundingBoxes(File bboxCsv) throws FileNotFoundException {
		List<BoundingBox> boxes = new ArrayList<>();
		Scanner scanner = new Scanner(bboxCsv);
		scanner.nextLine(); // Skip header

		int i = 0;
		while (scanner.hasNextLine()) {
		String[] line = scanner.nextLine().split(",");

		// get all coordinate points
		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);
		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);

		// create the box accordingly
		boxes.add(new BoundingBox(tr, tl, br, bl, i, line[0]));
		i++;
		}
		@@ -167,6 +178,10 @@ public class ObjectSet {
		return boxes;
		}

		/**
		* Just used for debugging purposes
		* @return res : String representation of the object set
		*/
		@Override
		public String toString(){
		StringBuilder res = new StringBuilder("ObjectSet:");

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

+5 −0

Original line number	Diff line number	Diff line
		@@ -23,4 +23,9 @@ public class Point2D {
		public int getIdx() {
		return idx;
		}

		@Override
		public String toString(){
		return "{"+ x + ", " + y + "}";
		}
		}