Commit c7c03df6 authored by Rohan Kumar's avatar Rohan Kumar
Browse files

"push"

parent a65e99be

object_detection/ObjectDetector.java

+3 −3
Original line number Diff line number Diff line 
package vslam.object_detection;

package object_detection;



public class ObjectDetector {

    static ObjectSet os;
@@ -29,8 +29,8 @@ public class ObjectDetector { 
            new Point(15, 15, 0)

        );



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



        System.out.println("Added two objects of 4 points to ObjectSet");

        System.out.println("Indices: " + o1 + ", " + o2);

        // test out compare

        boolean same = ObjectSet.compareObjects(o1, o2);

        if(same){

object_detection/ObjectSet.java

+17 −6
Original line number Diff line number Diff line 
package vslam.object_detection;



package object_detection;



import java.util.*;



public class ObjectSet {



    static List<PointSet> objects;

    static int count = 0;

    public ObjectSet(){

        objects = new ArrayList<>();

    }
@@ -18,11 +18,14 @@ public class ObjectSet { 
    public int makeObject(Point ...pp){

        PointSet ps = new PointSet();

        ps.addAll(pp);

        count++;

        ps.updateReps();



        objects.add(ps);

        // add pointset to object list

        objects.add(count-1, ps);



        // return index of new object

        return (objects.size()-1);

        return count-1;

    }



    /**
@@ -35,11 +38,19 @@ public class ObjectSet { 
        Point[] r1 = objects.get(i).getSetReps();

        Point[] r2 = objects.get(j).getSetReps();







        // compare r1 and r2

        Set<Point> s = new HashSet<>(List.of(r1));

        Set<Point> s = new HashSet<>();

        for(Point r : r1){

            if(r != null){

                s.add(r);

            }

        }



        int count = 0;

        for(Point p : r2){

            if(s.contains(p)){

            if(p!=null && s.contains(p)){

                count++;

            }

        }

object_detection/Point.java

+1 −6
Original line number Diff line number Diff line 
package vslam.object_detection;



import java.util.ArrayList;

import java.util.HashSet;

import java.util.List;

import java.util.Set;

package object_detection;



public class Point {

object_detection/PointSet.java

+6 −7
Original line number Diff line number Diff line 
package vslam.object_detection;

package object_detection;



import java.util.*;
@@ -18,9 +18,6 @@ public class PointSet { 
        // add every point blankly to pointset

        pset.addAll(Arrays.asList(pp));

        reps = new Point[NUM_REPS];



        // initial set of reps

        this.updateReps();

    }



    public void addPoint(Point p){
@@ -36,7 +33,7 @@ public class PointSet { 
    }



    public Point[] getSetReps(){

        return reps;

        return this.reps;

    }



    public List<Point> getPoints(){
@@ -49,13 +46,15 @@ public class PointSet { 
     */

    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++){

            reps[i] = pset.iterator().next();



            // early exit if we have less than NUM_REPS points in the current object

            if(pset.isEmpty()){

            if(i == this.pset.size()) {

                return;

            }



            reps[i] = iter.next();

        }

    }