fixed database (b953275c) · Commits · Zane Safi Mroue / ObjectDetectionVSLAM

Main.java

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		package org.group8;

		public class Main {

		public static void main(String[] args) {
		MongoDBInteraction dbInteraction = new MongoDBInteraction();

		// Test PointSet Operations
		String pointSetId = "set101";
		PointSet testPointSet = new PointSet(new Point(1.0f, 2.0f, 3.0f));
		System.out.println("Attempting to update/insert PointSet with ID: " + pointSetId);
		dbInteraction.update(pointSetId, testPointSet);
		System.out.println("PointSet Added/Updated");

		System.out.println("Attempting to retrieve PointSet with ID: " + pointSetId);
		PointSet retrievedPointSet = dbInteraction.retrieve(pointSetId);
		if (retrievedPointSet != null && !retrievedPointSet.getPoints().isEmpty()) {
		System.out.println("PointSet Retrieved Successfully");
		} else {
		System.out.println("PointSet Retrieve Failed");
		}

		// System.out.println("Attempting to delete PointSet with ID: " + pointSetId);
		// dbInteraction.delete(pointSetId);
		// PointSet deletedPointSet = dbInteraction.retrieve(pointSetId);
		// if (deletedPointSet == null) {
		// System.out.println("PointSet Successfully Deleted");
		// } else {
		// System.out.println("PointSet Delete Failed");
		// }

		// Test ObjectSet Operations
		ObjectSet objectSet = new ObjectSet();
		System.out.println("Creating and populating ObjectSet with two PointSets.");
		objectSet.makeObject(new Point(1, 2, 3), new Point(4, 5, 6));
		objectSet.makeObject(new Point(7, 8, 9), new Point(10, 11, 12));

		int index = 1;
		System.out.println("Attempting to update/insert ObjectSet at index: " + index);
		dbInteraction.updateObjectSet(index, objectSet);
		System.out.println("ObjectSet Add/Update Completed");

		System.out.println("Attempting to retrieve ObjectSet at index: " + index);
		ObjectSet retrievedObjectSet = dbInteraction.retrieveObjectSet(index);
		if (retrievedObjectSet != null && !retrievedObjectSet.objects.isEmpty()) {
		System.out.println("ObjectSet Retrieved Successfully");
		} else {
		System.out.println("ObjectSet Retrieve Failed");
		}

		// System.out.println("Attempting to delete ObjectSet at index: " + index);
		// dbInteraction.deleteObjectSet(index);
		// ObjectSet deletedObjectSet = dbInteraction.retrieveObjectSet(index);
		// if (deletedObjectSet == null) {
		// System.out.println("ObjectSet Successfully Deleted");
		// } else {
		// System.out.println("ObjectSet Delete Failed");
		// }
		}
		}

Point.java

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		package org.group8;

		public class Point {

		// index
		static int count = 0;

		// members
		private float x;
		private float y;
		private float z;
		final int idx;

		// METHODS

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

		/**
		* helper function for equals overriding
		* @param aa : first point
		* @param bb : second point
		* @param err : error between aa and bb that is acceptable
		* @return true if points are close enough
		*/
		public static boolean equals(Point aa, Point bb, float err){
		return (aa.x - bb.x < err) && (aa.y - bb.y < err) && (aa.z - bb.z < err);
		}

		@Override
		public boolean equals(Object o){
		if(getClass() != o.getClass()){
		return false;
		}
		Point p = (Point) o;
		return Point.equals(this, p, (float) 0.05);
		}

		@Override
		public int hashCode() {
		float res = this.x + this.y + this.z;
		return Float.hashCode(res);
		}
		@Override
		public String toString() {
		return "Point(" + this.x + " ," + this.y + " ," + this.z + ")";
		}

		public float getX() {
		return x;
		}
		public float getY() {
		return y;
		}
		public float getZ() {
		return z;
		}

		}

PointSet.java

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		package org.group8;

		import java.util.*;

		public class PointSet {

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

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

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

		public void addPoint(Point p){
		pset.add(p);
		}

		public void addAll(Point ...p) {
		Collections.addAll(pset, p);
		}

		public void addAll(List<Point> p) {
		pset.addAll(p);
		}

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

		public List<Point> getPoints(){
		return new ArrayList<>(pset);
		}

		/**
		* 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();
		}
		}

		}

Server.java

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		package org.group8;

		import com.google.gson.Gson;
		import com.google.gson.GsonBuilder;
		import com.google.gson.reflect.TypeToken;

		import java.util.List;

		import static spark.Spark.*;

		public class Server {
		public static void main(String[] args) {
		port(8080);

		MongoDBInteraction dbInteraction = new MongoDBInteraction();

		// Customize Gson to handle the specifics of your data structure
		Gson gson = new GsonBuilder().create();

		// ObjectSet GET endpoint
		get("/objectset/:index", (request, response) -> {
		response.type("application/json");
		try {
		int index = Integer.parseInt(request.params(":index"));
		ObjectSet objectSet = dbInteraction.retrieveObjectSet(index);

		if (objectSet != null) {
		// Manually serialize the static list
		return gson.toJson(ObjectSet.objects);
		} else {
		response.status(404);
		return "{}";
		}
		} catch (NumberFormatException e) {
		response.status(400);
		return "{\"error\":\"Invalid index format\"}";
		} catch (Exception e) {
		response.status(500);
		return "{\"error\":\"Internal Server Error\"}";
		}
		});

		// ObjectSet POST endpoint
		post("/objectset/:index", (request, response) -> {
		response.type("application/json");
		try {
		int index = Integer.parseInt(request.params(":index"));
		// Assume JSON is being sent correctly formatted to match the static list structure
		List<PointSet> receivedObjects = gson.fromJson(request.body(), new TypeToken<List<PointSet>>(){}.getType());
		ObjectSet.objects = receivedObjects; // Directly set the static list
		dbInteraction.updateObjectSet(index, new ObjectSet()); // Pass a new ObjectSet instance that will use the updated static list
		return gson.toJson(ObjectSet.objects);
		} catch (Exception e) {
		e.printStackTrace();
		response.status(500);
		return "{\"error\":\"Internal Server Error: " + e.getMessage() + "\"}";
		}
		});

		// ObjectSet DELETE endpoint
		delete("/objectset/:index", (request, response) -> {
		int index = Integer.parseInt(request.params(":index"));
		dbInteraction.deleteObjectSet(index);
		response.status(204);
		return "";
		});
		}
		}

ServerTest.java

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		package org.group8;

		import kong.unirest.HttpResponse;
		import kong.unirest.Unirest;

		public class ServerTest {

		public static void main(String[] args) {
		// Start Unirest instance (optional if using newer versions)
		Unirest.config().defaultBaseUrl("http://localhost:8080");

		// Ensure your server is running before executing this main method
		try {
		testGetObjectSet();
		//testPostObjectSet();
		//testDeleteObjectSet();
		} finally {
		Unirest.shutDown();
		}
		}

		private static void testGetObjectSet() {
		System.out.println("Testing GET /objectset/:index");
		HttpResponse<String> response = Unirest.get("/objectset/1").asString();
		if (response.getStatus() == 200) {
		System.out.println("Success: " + response.getBody());
		} else {
		System.out.println("Failed: HTTP status " + response.getStatus());
		}
		}

		// private static void testPostObjectSet() {
		// System.out.println("Testing POST /objectset/:index");
		// String json = "{\"objects\":[{\"points\":[{\"x\":1,\"y\":2,\"z\":3},{\"x\":4,\"y\":5,\"z\":6}]}]}";
		// HttpResponse<String> response = Unirest.post("/objectset/2")
		// .header("Content-Type", "application/json")
		// .body(json)
		// .asString();
		// if (response.getStatus() == 200) {
		// System.out.println("Success: " + response.getBody());
		// } else {
		// System.out.println("Failed: HTTP status " + response.getStatus());
		// }
		// }
		//
		// private static void testDeleteObjectSet() {
		// System.out.println("Testing DELETE /objectset/:index");
		// HttpResponse<String> response = Unirest.delete("/objectset/1").asString();
		// if (response.getStatus() == 204) {
		// System.out.println("Success: ObjectSet deleted successfully.");
		// } else {
		// System.out.println("Failed: HTTP status " + response.getStatus());
		// }
		// }
		}