"adding entry into system"

import database.DatabaseUpdater;

import object_detection.ObjectDetector;

import object_detection.types.ObjectSet;

public class EntryPoint {

    public static void main(String args[]){

        /*

            - start GUI server

            - get keyframes and featurepoints

            - get objects from keyframes

            - start object detection

            - finish object detection and update database

            - ping GUI server

            - GUI server pulls information and displays point cloud to user

         */

        // #################################################

        // 1) Starting the GUI Server

        // nothing yet

        int port = 9999;

        System.out.println("1) GUI Server has been started on https://localhost:"+ port + ".");

        // #################################################

        // 2) Getting keyframes and feature points

        // for now, we can just set paths to the directories that hold keyframes and featurepoint CSVs

        String feature_csv_path = "/src/main/java/vslam/KeyFramePoints/";

        String keyframe_png_path = "/src/main/java/vslam/KeyFrames/";

        System.out.println("2) Keyframe and Features have been collected.");

        // #################################################

        // 3) Get objects from keyframes

        // for now, we can just set paths to the directories holding bounded box information

        String bounding_info_path = "/src/main/java/vslam/BoundedInfo/";

        System.out.println("3) Objects have been detected via YOLOv4.");

        // #################################################

        // 4) Get objects from keyframes

        // start the object detection module, output will be the objects pushed to the cloud, return the completed object set

        ObjectSet os = ObjectDetector.process(bounding_info_path, feature_csv_path);

        System.out.println("4) ObjectSet has been constructed.");

        // #################################################

        // 5) Update database with objectset

        // perform the update of the database using the video elements

        boolean updateRes = DatabaseUpdater.updateDB(os);

        if(!updateRes){

            System.err.println("ERROR: database update failed");

        }

        System.out.println("5) Database has been constructed.");

        // #################################################

        // 6) Ping GUI server with completion status, so server can start displaying ObjectSet

        // nothing yet

        System.out.println("5) GUI will start reflecting object tracking.");

        /*

        At this point, everything is done, but there should be the option to rerun this system with another video possibly?

         */

    }

}

# Entry into System

Things that are true:

1. A student should be able to build the system, then press run, then open a localhost and see the video and the point cloud of each object

2. A student should also be able to choose between different object and get information (need interactive display)

3. The entry needs to do the entire workflow

    - get keyframes and featurepoints

    - get objects from keyframes

    - start object detection

    - finish object detection and update database

    - ping GUI server

    - GUI server pulls information and displays point cloud to user

TODO: function to process each frame within the ObjectSet

 No newline at end of file

package database;

import object_detection.types.ObjectSet;

public class DatabaseUpdater {

    public static boolean updateDB(ObjectSet objSet){

        return true;

    }

}

package object_detection;

import java.net.ServerSocket;

import java.net.Socket;

import java.io.BufferedReader;

import java.io.IOException;

import java.io.InputStreamReader;

import java.io.OutputStream;

import java.io.FileWriter; // file writing support

import java.nio.charset.StandardCharsets;

public class ObjectDetectionServer {

    public static void main(String[] args) throws Exception {

        final ServerSocket server = new ServerSocket(80); // port 80

        System.out.println("Listening for connection on port 80...");

        while (true) {

            try (Socket clientSocket = server.accept();

                 FileWriter fw = new FileWriter("blank.txt", true); // open file in append mode

            ) {

                InputStreamReader isr = new InputStreamReader(clientSocket.getInputStream());

                BufferedReader reader = new BufferedReader(isr);

                String line = reader.readLine();

                while (!line.isEmpty()) {

                    System.out.println(line);

                    fw.write(line + "\n"); // write line to file

                    line = reader.readLine();

                }

                fw.flush(); // ensure all data is written to file

                // at this point, run ObjectDetector

                // ObjectDetector.run(fw.toString());

                // HTTP response

                String httpResponse = "HTTP/1.1 200 OK\r\n\r\n" + "<html><body><h1>Hello, World!</h1></body></html>";

                // dispatching HTTP response to the client

                OutputStream outputStream = clientSocket.getOutputStream();

                outputStream.write(httpResponse.getBytes(StandardCharsets.UTF_8));

                outputStream.flush();

            } catch (IOException e) {

                e.printStackTrace(); // handle exceptions appropriately

            }

        }

    }

}

import java.io.File;

import java.io.FileNotFoundException;

import java.io.IOException;

import java.nio.file.Files;

import java.util.Arrays;

import java.util.Scanner;

public class ObjectDetector {

    static ObjectSet os;

    public static void run() throws IOException {

        System.out.println("Running object detection:");

        ObjectDetector.main(null);

    }

    public static void processFrame(String framename) throws FileNotFoundException {

        // 1) we get the feature points, store as an

        Scanner sc = new Scanner(new File(framename));

        sc.useDelimiter("\n");

        // 2) we map each point to an object using the bounding boxes

        double[][] box1 = {{1, 2}, {3, 4}};

        System.out.println(Arrays.deepToString(box1));

        // 3)

    public static ObjectSet process(String bbox_dir_pth, String feat_dir_pth){

        File[] feat_CSVs = getDirFiles(feat_dir_pth);

        File[] bbox_CSVs = getDirFiles(bbox_dir_pth);

        // check to make sure both file arrays have same number of keyframes (for consistency)

        if(feat_CSVs.length != bbox_CSVs.length){

            System.err.println("ERROR: features and bounding box directories have differing number of Keyframes");

        }

    public static void main(String[] args) throws IOException {

        /* infinite loop of running system:

        1) Get new info from system

        2) Update UnionFind

        3) Push new update to database if necessary

         */

        // initialize ObjectSet

        ObjectSet objSet = new ObjectSet();

        // create objectset

        os = new ObjectSet();

        // for each keyframe, process bounding box csv and feature csv

        int NUMKF = feat_CSVs.length;

        processFrame("src/main/java/vslam/KeyFramePoints/KeyFramePoints_0003.csv");

        for(int i = 0; i < NUMKF; i++){

            objSet.processFrame(feat_CSVs[i], bbox_CSVs[i]);

        }

        // 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)

        );

        // return the completely built object set

        return objSet;

    }

        int o2 = os.makeObject(

            new Point(5,5,0),

            new Point(5,15,0),

            new Point(15, 5, 0),

            new Point(15, 15, 0)

        );

    public static File[] getDirFiles(String dir_pth){

        File[] f_arr;

        // get the csv files of each frame

        try {

            f_arr = new File(dir_pth).listFiles();

        } catch (Exception e) {

            throw new RuntimeException(e);

        }

        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){

            os.combineObjects(o1, o2);

            System.out.println("Combining object 1 and 2");

        // some error checking

        if(f_arr == null || f_arr.length == 0){

            System.err.println("ERROR: no feature csvs found at given path");

        }

        return f_arr;

    }

}