updating (d54dedd1) · Commits · Zane Safi Mroue / ObjectDetectionVSLAM

pom.xml

+0 −12

Original line number	Diff line number	Diff line
		@@ -12,19 +12,7 @@
		<maven.compiler.source>17</maven.compiler.source>
		<maven.compiler.target>17</maven.compiler.target>
		<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
		<<<<<<< HEAD
		<!-- <exec.mainClass>top.BackendJava</exec.mainClass> -->
		<<<<<<< HEAD
		<!-- <exec.mainClass>yolo.YOLODetector</exec.mainClass> -->
		<exec.mainClass>vid2frames.Vid2Frames</exec.mainClass>
		=======
		<exec.mainClass>yolo.YOLODetector</exec.mainClass>
		<!-- <exec.mainClass>vid2frames.Vid2Frames</exec.mainClass> -->
		>>>>>>> divider
		=======
		<exec.mainClass>top.BackendJava</exec.mainClass>
		<!-- <exec.mainClass>yolo.YOLODetector</exec.mainClass> -->
		>>>>>>> 197296f30ca7b0c49c8308bf3194348f11ab6a30
		</properties>

		<build>

src/main/java/database/MongoDBInteraction.java

+1 −8

Original line number	Diff line number	Diff line
		@@ -34,7 +34,6 @@ public class MongoDBInteraction {
		this.mongoClient = MongoClients.create(settings);
		this.database = mongoClient.getDatabase("Objects");
		this.objectCollection = database.getCollection("objectSets");
		System.out.println("MongoDB Connection Established");
		}


		@@ -46,10 +45,8 @@ public class MongoDBInteraction {
		try {
		Document doc = objectCollection.find().sort(new Document("index", -1)).first();
		if (doc == null) {
		System.out.println("No document found.");
		return null;
		} else {
		System.out.println("Document found: " + doc.toJson());
		return convertDocumentToObjectSet(doc);
		}
		} catch (Exception e) {
		@@ -60,13 +57,11 @@ public class MongoDBInteraction {

		private ObjectSet convertDocumentToObjectSet(Document doc) {
		if (doc == null) {
		System.out.println("Document is null, no conversion possible.");
		return null;
		}

		List<Document> pointSetDocs = doc.getList("objectSets", Document.class);
		if (pointSetDocs == null \|\| pointSetDocs.isEmpty()) {
		System.out.println("No point sets found in document.");
		return new ObjectSet();
		}

		@@ -76,7 +71,7 @@ public class MongoDBInteraction {
		if (pointSet != null) {
		objectSet.objects.add(pointSet);
		} else {
		System.out.println("Failed to convert point set document: " + pointSetDoc.toJson());
		System.out.println("Failed to convert point set document");
		}
		}
		return objectSet;
		@@ -84,7 +79,6 @@ public class MongoDBInteraction {

		private PointSet convertDocumentToPointSet(Document doc) {
		if (doc == null) {
		System.out.println("PointSet document is null.");
		return null;
		}

		@@ -99,7 +93,6 @@ public class MongoDBInteraction {

		List<Document> pointsDocs = doc.getList("points", Document.class);
		if (pointsDocs == null) {
		System.out.println("No points found in point set document.");
		return new PointSet(idx);
		}

src/main/java/object_detection/ObjectDetector.java

+14 −21

Original line number	Diff line number	Diff line
		@@ -3,6 +3,7 @@ package object_detection;
		import com.opencsv.exceptions.CsvValidationException;
		import database.MongoDBInteraction;
		import object_detection.types.*;
		import org.bytedeco.ffmpeg.avutil.Cmp_Const_Pointer_Const_Pointer;

		import java.io.File;
		import java.io.FileNotFoundException;
		@@ -21,13 +22,22 @@ public class ObjectDetector {
		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

		String bbox_dir_pth = "src/main/java/vslam/tum_rgbd/BoundedInfo";
		String pose_dir_path = "src/main/java/vslam/rumrgbd/CameraPoses";
		String bbox_dir_pth;
		String pose_dir_path;
		CameraIntrinsics intrinsics;
		List<Point> pointCloud;

		if(dataset.equals("1")){
		bbox_dir_pth = "src/main/java/vslam/tum_rgbd/BoundedInfo";
		pose_dir_path = "src/main/java/vslam/tum_rgbd/CameraPoses";
		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{
		bbox_dir_pth = "src/main/java/vslam/imperial_london/BoundedInfo";
		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);
		}

		// get files
		@@ -41,8 +51,6 @@ public class ObjectDetector {
		/* #################################################
		In the section below, we create a new ObjectSet, and iterate over each Keyframe
		################################################## */
		CameraIntrinsics intrinsics = new CameraIntrinsics("src/main/java/vslam/CameraIntrinsics.csv");
		List<Point> pointCloud = Downsampler.get_voxels("src/main/java/vslam/pointcloud.csv", 0.05F);
		ObjectSet os = new ObjectSet(intrinsics, pointCloud);

		// iterate through each frame, create the frame, then process it
		@@ -51,19 +59,8 @@ public class ObjectDetector {
		Frame f = new Frame(bbox_CSVs[i].getPath(), cp);
		os.processFrame(f);
		System.out.println("Processed frame " + i);
		if(i == 5){
		break;
		}
		}

		Point[] pp = new Point[pointCloud.size()];
		int i = 0;
		for(Point p : pointCloud){
		pp[i] = p;
		i++;
		}
		os.objects.add(new PointSet(0, pp));

		// update MongoDB
		MongoDBInteraction mdbi = new MongoDBInteraction();
		mdbi.updateObjectSet(7, os);
		@@ -91,8 +88,4 @@ public class ObjectDetector {
		return f_arr;
		}

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

		}

src/main/java/object_detection/types/CameraIntrinsics.java

+0 −4

Original line number	Diff line number	Diff line
		@@ -46,8 +46,4 @@ public class CameraIntrinsics {
		float[] ImageSize;
		DMatrixRMaj K;


		public static void main(String[] args) throws FileNotFoundException {
		CameraIntrinsics intrinsics = new CameraIntrinsics("/Users/roku/IdeaProjects/group8/src/main/java/vslam/CameraIntrinsics.csv");
		}
		}

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

+2 −12

Original line number	Diff line number	Diff line
		@@ -73,9 +73,9 @@ public class Frame {

		// check if point is visible in current frame
		if(projPoint.get(0,2) > 0){
		if(x_div <= intrinsics.ImageSize[1]
		if(x_div < intrinsics.ImageSize[1]
		&& x_div >= 0
		&& y_div <= intrinsics.ImageSize[0]
		&& y_div < intrinsics.ImageSize[0]
		&& y_div >= 0){
		res.put(i, new Point2D((float) x_div, (float) y_div));
		}
		@@ -93,14 +93,4 @@ public class Frame {
		List<BoundingBox2D> boxes;
		CameraPose camera;


		public static void main(String[] args) throws IOException, CsvValidationException {
		System.out.println("Trying projection:");
		CameraIntrinsics ci = new CameraIntrinsics("src/main/java/vslam/CameraIntrinsics.csv");
		List<Point> pc = Downsampler.get_voxels("src/main/java/vslam/pointcloud.csv", 0.05F);

		CameraPose cp = new CameraPose("src/main/java/vslam/CameraPoses/Pose_0002.csv");
		Frame f = new Frame("src/main/java/vslam/BoundedInfo/KeyFrame_0002.csv", cp);

		}
		}