diff --git a/src/main/java/vslam/.DS_Store b/src/main/java/vslam/.DS_Store index f315799cf22cd11f4462e57adfee4361f630d473..baa2cde54b14ea9f3d5b8bd770adfab8bc5925b3 100644 Binary files a/src/main/java/vslam/.DS_Store and b/src/main/java/vslam/.DS_Store differ diff --git a/target/classes/.DS_Store b/target/classes/.DS_Store deleted file mode 100644 index ad6f838768a41fe54f4f111d8715044eca3954a1..0000000000000000000000000000000000000000 Binary files a/target/classes/.DS_Store and /dev/null differ diff --git a/target/classes/README.md b/target/classes/README.md deleted file mode 100644 index c93df4abbe8779abb9ad11834d608762c273d314..0000000000000000000000000000000000000000 --- a/target/classes/README.md +++ /dev/null @@ -1,15 +0,0 @@ - -# 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 diff --git a/target/classes/application.properties b/target/classes/application.properties deleted file mode 100644 index 4a5c2635a3e493971d146497da0075134f6914fa..0000000000000000000000000000000000000000 --- a/target/classes/application.properties +++ /dev/null @@ -1,2 +0,0 @@ -server.port = 5555 -#spring.data.mongodb.uri = mongodb+srv://zanem:@cluster0.axhv9kg.mongodb.net/?retryWrites=true&w=majority&appName=Cluster0 \ No newline at end of file diff --git a/target/classes/database/MongoDBInteraction.class b/target/classes/database/MongoDBInteraction.class deleted file mode 100644 index ad1989ee5cd63799f39e089923fb2792fe1c2f8c..0000000000000000000000000000000000000000 Binary files a/target/classes/database/MongoDBInteraction.class and /dev/null differ diff --git a/target/classes/extractedPoints.csv b/target/classes/extractedPoints.csv deleted file mode 100644 index 482821170b96860c836ae47d6f7624d9469d8fb5..0000000000000000000000000000000000000000 --- a/target/classes/extractedPoints.csv +++ /dev/null @@ -1,365 +0,0 @@ --0.06900241,-0.3507448,1.033868 --0.5094872,-0.335972,1.037024 --0.0517595,-0.3194826,0.964794 --0.26819,-0.2832867,0.93624 --0.451066,-0.2754324,0.9582117 --0.02466401,-0.2934302,1.022113 -0.4340152,-0.2927349,1.012656 --0.4700845,-0.2324494,1.027293 -0.05616835,-0.2302022,1.02122 -0.3103633,-0.2405539,1.076906 -0.3468663,-0.2287515,1.026217 --0.2542701,-0.1819791,0.9472755 -0.2602769,-0.2096001,1.085634 -0.4181629,-0.1918874,1.018657 -0.5108834,-0.1945888,1.10052 -0.1607228,-0.1786381,1.092534 -0.1154751,-0.1575818,1.033309 -0.3628199,-0.1240209,1.042551 -0.3392987,-0.1220983,1.065156 -0.09428331,-0.09280027,1.005206 --0.4141278,-0.08583868,1.030251 -0.18329,-0.09223963,0.997163 -0.1716043,-0.08562668,0.958635 --0.1729519,-0.0776499,1.006449 --0.2845822,-0.06999036,0.8611298 -0.02044802,-0.05811689,0.9738315 -0.01296036,-0.04444205,0.9208867 --0.08239425,-0.03085459,0.9267675 -0.04727431,0.008490545,0.8688331 --0.3606437,0.01618071,0.8629293 -0.2105094,0.1243638,0.933347 -0.231766,0.1069027,0.8321818 --0.1770186,0.139959,0.7958759 -0.2364081,0.1642755,0.8707324 -0.2360844,0.3081827,0.8830881 --0.4306689,-0.3407795,0.8945921 --0.05465219,-0.3774999,0.96435 --0.2250856,-0.3546759,0.9550002 --0.246262,-0.3290255,0.9545395 --0.2260483,-0.3236364,0.9466397 --0.05509534,-0.3003376,0.9892556 --0.4109164,-0.2374692,0.9288879 --0.5153137,-0.2687777,1.098092 --0.5362918,-0.2719595,1.141981 -0.05192059,-0.238798,0.9994154 -0.1607298,-0.2088129,1.080495 -0.09027376,-0.1664593,1.074121 -0.5117261,-0.152272,1.121635 -0.3421884,-0.1492289,1.072462 --0.2698344,-0.07390544,0.8396418 -0.4053755,-0.07456393,0.9178874 -0.0910932,-0.0747536,0.914787 -0.1581096,-0.0611611,0.9377224 --0.1005423,-0.06197135,0.9697764 --0.1423956,-0.01718888,0.889078 -0.493636,0.2370742,0.998692 --0.2270201,0.1787612,0.7168721 --0.02916331,-0.338412,0.9608698 --0.4426665,-0.2671321,0.982818 -0.2466568,-0.2226559,1.124538 -0.2462575,-0.2091596,1.095683 -0.1003007,-0.08707787,1.01655 -0.3871322,-0.08398501,0.9352465 -0.1269614,-0.06724115,0.9209728 --0.2694361,-0.01734548,0.8628417 --0.1826763,0.1571379,0.7704211 -0.09884058,0.231997,0.947727 --0.3231615,0.2712583,0.827448 --0.03420264,-0.3844759,0.9560074 --0.2257674,-0.3436999,0.9292494 --0.4242442,-0.3174223,0.8753457 -0.2805332,-0.1544295,1.103116 -0.1366949,-0.01871451,0.8879513 -0.4166071,-0.2877659,0.9980846 -0.3462467,-0.155378,1.067033 --0.267102,-0.03911924,0.842447 --0.1379147,0.2917985,0.8614042 --0.06394307,-0.3850106,0.9949217 -0.2485076,-0.2154702,1.076664 -0.3474581,0.2785804,0.973517 -0.09086783,-0.05588575,0.9360696 --0.06223369,-0.3731945,0.9987332 --0.3058668,-0.3330749,0.923512 --0.3194951,-0.2781164,0.920142 --0.2412821,-0.2824242,0.9502748 --0.5362516,-0.2704518,1.137176 -0.5133331,-0.1986132,1.103809 --0.2407167,-0.0667384,0.9728302 --0.1780017,-0.06392631,0.980948 -0.1453963,-0.06234509,0.8963837 -0.04186799,-0.05968328,0.9665195 --0.141848,-0.01770822,0.8938537 -0.1555232,0.01132735,0.7962826 -0.2392749,0.1292011,0.8495147 --0.317225,0.2634278,0.7950491 --0.2358509,-0.2750409,0.9541141 -0.4307193,-0.2904671,1.0093 -0.3085175,-0.2394926,1.07031 -0.3428572,-0.2236946,1.018585 -0.2561058,-0.2120067,1.078925 -0.425136,-0.2028808,1.035519 -0.3169505,-0.171614,1.099244 -0.337285,-0.1200175,1.059947 --0.4175623,-0.08743324,1.033202 --0.01069216,-0.085336,1.016277 -0.5365584,-0.09633294,1.07562 --0.2464464,-0.06267948,0.9495894 -0.009706357,-0.05663859,0.9594213 -0.2266814,0.1094883,0.825797 -0.2323674,0.1299975,0.835213 --0.1637864,0.1558638,0.8396296 -0.2045291,0.2266563,1.024981 --0.2588624,0.2894014,0.8415105 --0.2795627,0.2859771,0.8127716 --0.2434675,-0.3227388,0.9361313 --0.3228565,-0.2760262,0.927058 -0.4282402,-0.2952021,1.019851 --0.05229088,-0.2684516,1.003989 -0.05750264,-0.242816,1.032476 --0.2550797,-0.1803353,0.9426121 -0.349949,-0.1501152,1.077408 -0.364328,-0.1230637,1.04259 -0.1332736,-0.1001167,1.037352 -0.1393238,-0.06769709,0.9166197 -0.5090637,-0.06844565,0.9841929 -0.1896564,-0.04798145,0.9069208 -0.2274647,0.02626145,0.8115273 -0.3313511,0.2596697,0.9809458 --0.1559988,0.3005977,0.8606426 --0.06209136,-0.3916617,1.023829 -0.2425683,-0.2107174,1.083649 -0.11261,-0.1564932,1.030488 --0.1686943,-0.07779373,0.9688949 -0.009822373,0.007371004,0.8556352 --0.1761959,0.1407651,0.7920365 -0.2307135,0.1612477,0.8564904 --0.2187958,0.2199828,0.9514446 --0.2821191,0.2795953,0.8400663 --0.2233695,-0.3516035,0.9444437 --0.183986,-0.1838907,0.9441056 -0.1653828,-0.08678392,0.9655206 -0.09907275,-0.05507715,0.935532 --0.05236644,-0.3412952,1.038251 --0.2497024,-0.06357522,0.9638004 -0.1918641,-0.05735386,0.9079157 --0.2960039,-0.03725029,0.8480514 -0.2565357,0.2127689,0.9803448 -0.2046134,0.3036045,0.8512656 -0.03959246,-0.1758798,1.083882 -0.1312987,-0.1032514,1.035343 -0.5097085,-0.0696622,0.9898168 -0.1562947,0.01338092,0.8065224 -0.3344355,0.2731282,0.9570121 --0.1428414,0.2899679,0.8712013 --0.3221677,0.2686726,0.8178742 -0.2018151,0.3004805,0.8637038 --0.3768963,-0.2517308,0.9167308 --0.2087414,-0.259801,0.9773223 --0.02174715,-0.2387529,0.9503756 --0.5200428,-0.2621163,1.092994 --0.1897668,-0.1821947,0.9355006 --0.01251197,-0.08524455,0.9966073 -0.4079772,-0.07563928,0.9272817 --0.1815553,-0.06450817,0.9733769 --0.03034927,-0.05313706,0.9594299 -0.09135146,-0.05634768,0.9598512 --0.1423813,-0.01816225,0.8952572 -0.2114216,0.1216684,0.9267979 -0.230729,0.1138304,0.839915 -0.5119752,0.2320295,1.020901 --0.2280564,0.180914,0.7241505 -0.3478338,0.249103,0.9437129 -0.2303768,0.3057928,0.878794 -0.4178427,-0.2793739,0.9934466 -0.351016,-0.1223374,1.07408 --0.4167723,-0.08709431,1.025605 --0.1677646,0.160184,0.8640101 -0.04599537,-0.2336768,1.007575 -0.2559456,-0.2103207,1.070717 --0.4705151,-0.118435,1.063128 -0.009801613,-0.05670394,0.9605088 -0.2668202,0.1792605,0.9468367 -0.1585376,-0.06231721,0.9329817 -0.1542538,-0.06129301,0.916054 -0.04737057,-0.1147366,1.05294 -0.1275372,-0.1026819,1.029462 -0.4110928,-0.07276425,0.9163254 -0.0953429,-0.0555375,0.9642707 -0.3036539,0.09963318,0.8840221 --0.06394706,-0.3449335,1.022622 -0.3805089,-0.0438611,0.9386814 --0.2595145,-0.1820738,0.9480324 -0.3955265,-0.08680294,0.9667431 -0.1053762,0.257158,0.9729793 -0.3716389,-0.1227333,1.045853 --0.03229201,-0.05399266,0.9556986 -0.2029226,-0.04673193,0.9079415 -0.2276707,0.11552,0.8404955 -0.5159252,0.2306961,1.029338 --0.4180538,-0.2414638,0.9533334 -0.2872858,-0.1480609,0.8368129 --0.415727,-0.08602455,1.01799 -0.1360853,0.04429527,0.9478176 -0.3405285,0.2766038,0.9696857 -0.4231883,-0.2898793,1.002351 --0.01174978,-0.08815142,1.027534 --0.3930062,-0.2199768,0.8813173 -0.3897037,-0.0882737,0.9498562 -0.3420729,0.2749782,0.9672684 --0.1881284,-0.1834696,0.9391624 -0.2194189,0.02284092,0.7826742 -0.1374939,0.04199801,0.938673 -0.008090999,-0.0556135,0.9385412 --0.2001241,0.2012295,0.7873362 --0.004772666,-0.1164431,0.9870591 --0.2473751,-0.06159194,0.9319729 -0.0179728,-0.04893986,0.9547012 --0.2558832,-0.1774473,0.9309245 -0.352358,-0.1270986,1.037609 -0.4715958,-0.06426462,0.9337447 -0.09555181,-0.06146855,0.972965 --0.1403598,-0.01817375,0.902211 --0.1527963,0.1036686,0.8422352 -0.1976708,-0.05558001,0.930172 -0.2343024,0.1149019,0.8521932 --0.3380554,-0.2673729,1.016717 --0.2767066,-0.1807123,0.9499612 -0.01201001,-0.05878334,0.9654921 -0.4054979,-0.04484414,0.9648999 -0.2479243,0.04419627,0.8256484 -0.2376407,0.119975,0.8692614 -0.4626999,-0.1492064,1.06836 -0.005104779,0.2466353,1.040364 -0.3535894,-0.2304855,1.043343 -0.2760725,-0.1476941,1.105381 --0.2531862,-0.06744567,0.9683442 -0.1586053,0.08767073,0.894982 --0.3088645,-0.0006655821,0.8540156 --0.2408815,-0.00136668,0.789228 -0.1176352,0.2594517,1.003664 --0.3078272,-0.0340562,0.8394636 -0.4794235,-0.08754969,1.059167 -0.09368172,-0.05827027,0.9575018 -0.3888934,-0.2984765,1.06647 --0.1806639,-0.1595708,0.8282026 -0.09065511,-0.1802279,1.017427 -0.2342526,-0.1373423,1.090462 -0.3128547,-0.002355849,0.8007344 -0.3348317,0.01416313,0.8493284 --0.1535044,0.08972955,0.8050805 -0.2352889,0.2416172,0.9417447 -0.3546837,0.2587089,0.9760814 -0.2713401,-0.1518742,1.103099 --0.3142846,-0.002005559,0.8704169 -0.1528147,0.08638745,0.873449 --0.1615119,0.1200627,0.8962712 -0.1158049,-0.1415409,1.032568 --0.131795,-0.05671853,1.001704 --0.05672517,-0.00544187,0.8644754 -0.3446455,-0.2269868,1.026573 -0.2611695,0.1332472,0.9069186 --0.139282,-0.02048167,0.898899 --0.1311982,-0.05038192,0.9204796 -0.1775557,-0.02134528,0.7669008 --0.306838,-0.001666977,0.8548229 --0.224217,-0.006948673,0.8743064 --0.05161691,-0.006450188,0.8951803 -0.3025928,0.06158197,0.8623655 -0.1462712,0.08418168,0.8456649 -0.08586484,-0.02390853,0.8686644 -0.1753121,-0.1655259,1.160361 --0.1610556,0.1174856,0.877206 -0.248744,0.2016371,1.007058 -0.157421,0.1867121,1.078835 --0.009553179,-0.085581,1.013929 --0.02892774,-0.0532833,0.9613039 --0.282928,0.278895,0.8359428 --0.04957639,-0.369127,0.9731228 -0.01702051,-0.04533472,0.9444337 --0.07353064,-0.3075865,1.034926 --0.05724207,-0.3268222,0.9840019 --0.3071938,-0.2704645,0.9740036 -0.4027773,-0.07493064,0.9180254 --0.2705682,-0.03783097,0.8437724 -0.4367933,-0.04706088,0.9263144 -0.1108954,0.2348897,0.9850631 --0.4736948,-0.1887571,1.057577 --0.1418313,0.2933781,0.8793298 --0.3169226,-0.315626,0.8997502 --0.004672669,-0.1196132,0.9950922 -0.1834435,-0.04955603,0.8967467 -0.2149479,0.02418533,0.7784578 -0.3684973,-0.125515,1.054403 --0.03842634,-0.2810566,0.9791331 --0.2816711,0.2749768,0.8271965 --0.0638868,-0.3756057,1.001736 -0.2352151,-0.2067222,1.065149 -0.1719003,0.1740108,1.111236 -0.2571567,0.01785592,0.7800547 --0.06954765,-0.3452871,1.011635 -0.4185283,-0.1919428,1.032634 -0.1560985,0.01334437,0.8045694 -0.009622957,-0.05713243,0.9588727 -0.3450766,0.2491381,0.9491569 -0.3591888,-0.1971599,1.023383 -0.1062352,0.2539421,0.9739559 --0.1670724,-0.07096634,0.9514265 --0.3232416,-0.2560004,0.9738911 -0.1569842,0.1901944,1.113013 -0.1322179,-0.1028359,1.037979 -0.2164164,0.1212126,0.9321462 --0.4797733,-0.1065544,1.057738 -0.05499854,0.2304022,1.003598 -0.1612022,0.1917541,1.112718 --0.1876256,-0.1814058,0.9455772 -0.2211331,0.02430135,0.7882554 -0.1070728,0.2568132,0.9810027 -0.07222299,-0.149104,1.04724 -0.1874172,0.2189017,1.02233 -0.0008595486,0.241768,1.012677 -0.04435947,0.2338271,0.9989055 --0.3118894,-0.0525211,0.8364203 -0.1627576,0.03328351,0.8107042 --0.007553636,-0.1433157,0.99919 -0.2768867,-0.1514093,1.10665 -0.1213294,-0.02233552,0.8810297 -0.04573977,-0.1568315,1.033527 -0.1606325,0.002024488,0.8010422 --0.3625667,-0.2752512,0.8706695 --0.2359699,-0.2755284,0.9530578 --0.2600232,0.2909613,0.8470659 --0.229685,-0.3670517,0.9394615 -0.1639192,-0.1360335,1.115315 --0.06801663,-0.004436393,0.8623105 -0.04665259,0.008191184,0.8645554 --0.2916386,-0.01443144,0.8701435 -0.1386092,0.04155803,0.9564064 -0.1940272,-0.0452026,0.9150068 --0.2526848,-0.1890874,0.9899349 -0.3478922,-0.225699,1.028025 --0.2546642,-0.1801634,0.9439381 --0.1332443,-0.02049798,0.9006702 -0.3077984,0.2599651,0.9147555 --0.1833283,-0.06626967,0.9623166 -0.4657886,-0.2832201,1.112916 --0.2642756,-0.006794568,0.8830249 -0.2435224,-0.154452,1.096173 -0.2914666,-0.2514516,1.055821 -0.1507915,0.01683612,0.8082297 -0.1360076,-0.02551712,0.8809111 -0.3126655,-0.2527284,1.026723 --0.07216852,-0.01049863,0.8885513 -0.1551005,0.1952393,1.102571 -0.05611544,0.007698196,0.8905023 -0.216849,0.02456905,0.7784246 --0.004028429,-0.1214522,0.9926546 --0.2912066,-0.03622973,0.8521563 --0.1349083,0.3005275,0.885272 -0.2522716,0.2439528,0.9753847 -0.07009287,-0.005558786,0.8449458 --0.2736052,-0.1831203,0.9532959 -0.3169914,-0.2287931,1.043959 -0.3601266,-0.1163306,1.045606 -0.1001761,-0.05475012,0.9317999 -0.3287488,0.263433,0.9809636 diff --git a/target/classes/object_detection/ObjectDetector.class b/target/classes/object_detection/ObjectDetector.class deleted file mode 100644 index c9c367cf6a2a479ed4cd9cf9e0eab30be340c575..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/ObjectDetector.class and /dev/null differ diff --git a/target/classes/object_detection/layout.md b/target/classes/object_detection/layout.md deleted file mode 100644 index e20177dae76513b4e6962c626a942c14f14e04bf..0000000000000000000000000000000000000000 --- a/target/classes/object_detection/layout.md +++ /dev/null @@ -1,20 +0,0 @@ - -Point: single feature -- modify x,y,z coordinates -- pointer to rep(s) - -PointSet: a single set of points that constitutes an object -- made of a set of points, and some k number of object reps -- object reps are chosen heuristically - - current ideas are to get middle most points, or corner most points as rep -- also update reps when adding points to a PointSet - -ObjectSet: group of objects <--> to/from database -- makeObject > instantiate HashSet of points -- find-set > return list of k reps -- union > combine two sets -- union-find > find and union together - -ObjectMart: disjoint set operations, that gets coordinates from source -- just a main function? -- getObject > get new set of coordinates, make-set on them, try union-find diff --git a/target/classes/object_detection/types/BoundingBox.class b/target/classes/object_detection/types/BoundingBox.class deleted file mode 100644 index 97d18f0abaa395a2058eb975da5c2a00f3f94d8b..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/BoundingBox.class and /dev/null differ diff --git a/target/classes/object_detection/types/ObjectSet.class b/target/classes/object_detection/types/ObjectSet.class deleted file mode 100644 index a2a27434fa7e83c172a2dc1de0a3a61467fbafb3..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/ObjectSet.class and /dev/null differ diff --git a/target/classes/object_detection/types/Point.class b/target/classes/object_detection/types/Point.class deleted file mode 100644 index f1581e84c4f62ddd245d243f2e1804b5b6c99c1f..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/Point.class and /dev/null differ diff --git a/target/classes/object_detection/types/Point2D.class b/target/classes/object_detection/types/Point2D.class deleted file mode 100644 index 1b4ac9f212bafbb5081f361e7e74769269ae4c13..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/Point2D.class and /dev/null differ diff --git a/target/classes/object_detection/types/PointSet.class b/target/classes/object_detection/types/PointSet.class deleted file mode 100644 index 789ad4f59bc1c90e45a4a5613f954cd3d70aeeca..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/PointSet.class and /dev/null differ diff --git a/target/classes/templates/html/index.html b/target/classes/templates/html/index.html deleted file mode 100644 index ad4a36d45fdd57432ac830eb245a9ac8de8b3a45..0000000000000000000000000000000000000000 --- a/target/classes/templates/html/index.html +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - VSlam - - - - - - -

Visual Simultaneous Localization and Mapping (VSLAM) is the process of taking camera feed, as well as its position, and building a map of the current local world, specifically using visual input. This project uses this process, and builds upon it by also tracking objects within a frame. In this comes two problems: object detection, and then subsequent mapping and tracking of objects within a 3D space. For more information go here

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Press the button below to start the workflow and view the output

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Select An Object To View Point Cloud With That Object Highlighted

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point cloud can be manipulated through rotate and zoom

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- - - - - - diff --git a/target/classes/templates/js/app.js b/target/classes/templates/js/app.js deleted file mode 100644 index 2ac1825de39da991bfba1b760d4678512b9a04f1..0000000000000000000000000000000000000000 --- a/target/classes/templates/js/app.js +++ /dev/null @@ -1,71 +0,0 @@ -async function fetchImageAndObjects() { - try { - const response = await fetch('http://127.0.0.1:5555/api/getObjects'); - if (!response.ok) { - throw new Error('Failed to fetch image and objects'); - } - const data = await response.json(); - - displayImageAndObjects(data.objects); - } catch (error) { - console.error(error); - } -} - -function displayImageAndObjects(objects) { - const objectsContainer = document.getElementById('objectsContainer'); - const container = document.getElementById('resultContainer'); - - // Create a list for objects - const objectsList = document.createElement('ul'); - objects.forEach(object => { - const objectButton = document.createElement('button'); - objectButton.textContent = object; - // Add event listener to each button - objectButton.addEventListener('click', () => { - // You can define what happens when the button is clicked - drawPointCloud(object); - }); - const objectItem = document.createElement('li'); - objectItem.appendChild(objectButton); - objectsList.appendChild(objectItem); - }); - - // Append objects list to the objects container - objectsContainer.appendChild(objectsList); - - container.style.visibility = "visible"; -} - - -// selecting loading div -const loader = document.querySelector("#loading"); - -// showing loading -function displayLoading() { - loader.classList.add("display"); -} - -// hiding loading -function hideLoading() { - loader.classList.remove("display"); -} - -async function startWorkflow(){ - const startButton = document.getElementById("process"); - startButton.style.display = "none"; - displayLoading(); - try { - const response = await fetch('http://127.0.0.1:5555/runProcess'); - if (!response.ok) { - throw new Error('Failed to fetch image and objects'); - } - const data = await response; - console.log(data); - hideLoading(); - } catch (error) { - console.error(error); - } - fetchImageAndObjects(); - -} diff --git a/target/classes/templates/js/pointCloud.js b/target/classes/templates/js/pointCloud.js deleted file mode 100644 index 308687971ada84925dc77d653afae1c687e5ab10..0000000000000000000000000000000000000000 --- a/target/classes/templates/js/pointCloud.js +++ /dev/null @@ -1,139 +0,0 @@ -async function drawPointCloud(object) { - await fetch('http://127.0.0.1:5555/getJSON') - .then(response => response.json()) - .then(responseText => { - let pointCloudData = parseJSONToPointCloud(responseText, object); - - // Use three.js to render the point cloud - let scene = new THREE.Scene(); - let camera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 0.1, 1000); - let renderer = new THREE.WebGLRenderer(); - renderer.setSize(window.innerWidth, window.innerHeight); - document.body.appendChild(renderer.domElement); - - // Create a buffer geometry and add the point cloud data - let geometry = new THREE.BufferGeometry(); - geometry.setAttribute('position', new THREE.Float32BufferAttribute(new Float32Array(pointCloudData.positions), 3)); - geometry.setAttribute('color', new THREE.Float32BufferAttribute(new Float32Array(pointCloudData.colors), 3)); - - let material = new THREE.PointsMaterial({ vertexColors: true, size: 0.005 }); - - let pointCloud = new THREE.Points(geometry, material); - scene.add(pointCloud); - - camera.position.z = 2; - - let angleX = 0; - let angleY = 0; - - // Handle user interaction for rotation - let isDragging = false; - let previousMousePosition = { - x: 0, - y: 0 - }; - - // Add event listeners to renderer's DOM element - renderer.domElement.addEventListener("mousedown", (event) => { - isDragging = true; - previousMousePosition = { - x: event.clientX, - y: event.clientY - }; - }); - - renderer.domElement.addEventListener("mousemove", (event) => { - if (isDragging) { - let deltaX = event.clientX - previousMousePosition.x; - let deltaY = event.clientY - previousMousePosition.y; - - angleY += deltaX * 0.01; - angleX += deltaY * 0.01; - - pointCloud.rotation.y = angleY; - pointCloud.rotation.x = angleX; - - previousMousePosition = { - x: event.clientX, - y: event.clientY - }; - - renderer.render(scene, camera); - } - }); - - renderer.domElement.addEventListener("mouseup", () => { - isDragging = false; - }); - - let zoomFactor = 1; // Initial zoom level - - const zoomSensitivity = 0.01; // Adjust zoom sensitivity as needed - - renderer.domElement.addEventListener("wheel", (event) => { - event.preventDefault(); - - zoomFactor += event.deltaY * zoomSensitivity; - zoomFactor = Math.max(0.1, zoomFactor); // Enforce minimum zoom level - camera.position.z = camera.initialPosition.z / zoomFactor; - renderer.render(scene, camera); - }); - - camera.initialPosition = { z: camera.position.z }; // Store initial position - - function animate() { - requestAnimationFrame(animate); - renderer.render(scene, camera); - } - - animate(); - - function parseJSONToPointCloud(jsonObject, target) { - // Initialize point cloud data - let positions = []; - let colors = []; - - // Check if the object name exists in the JSON - if (target in jsonObject || target == null) { - - for (let objectKey in jsonObject) { - let object = jsonObject[objectKey]['pset']; - - // Loop through each coordinate in the object - for (let i = 0; i < object.length; i++) { - let coordinate = object[i]; - - // Extract x, y, z values - let x = coordinate['x']; - let y = coordinate['y']; - let z = coordinate['z']; - let r,g,b; - - if(objectKey == target){ - console.log(target); - r = 1; // Red component - g = 0; // Green component - b = 0; // Blue component - } else { - r = 1; - g = 1; - b = 1; - } - - // Push to positions list - positions.push(x, y, z ); - colors.push(r,g,b); - } - } - - } else { - console.error(`Object '${object}' not found in JSON.`); - } - - return { positions: positions, colors: colors }; - } - }) - .catch(error => { - console.error('Error loading JSON:', error); - }); -} \ No newline at end of file diff --git a/target/classes/templates/style/main.css b/target/classes/templates/style/main.css deleted file mode 100644 index 24a5bdcb31b5da8e72e871c379d69c6d6eaf3066..0000000000000000000000000000000000000000 --- a/target/classes/templates/style/main.css +++ /dev/null @@ -1,72 +0,0 @@ -html { - height: 100%; -} - -body { - margin: 10px; -} -canvas { - display: block; -} - -body { - font-family: Arial, sans-serif; - margin: 20px; -} - -#resultContainer -{ - visibility: hidden; -} - -.container { - display: flex; - justify-content: space-between; -} - -.image-container { - flex: 1; - margin-right: 20px; -} - -.objects-container { - flex: 1; -} - -img { - max-width: 100%; - height: auto; -} - -ul { - list-style-type: none; - padding-left: 0; -} - -li { - margin-bottom: 5px; -} - -/* creating css loader */ - -#loading { - width: 2rem; - height: 2rem; - border: 5px solid #f3f3f3; - border-top: 6px solid #9c41f2; - border-radius: 100%; - margin: auto; - visibility: hidden; - animation: spin 1s infinite linear; -} -#loading.display { - visibility: visible; -} -@keyframes spin { - from { - transform: rotate(0deg); - } - to { - transform: rotate(360deg); - } -} diff --git a/target/classes/top/BackendJava$BackendService.class b/target/classes/top/BackendJava$BackendService.class deleted file mode 100644 index dc2763604dc33173b2e6062cefd3460fb8390fbb..0000000000000000000000000000000000000000 Binary files a/target/classes/top/BackendJava$BackendService.class and /dev/null differ diff --git a/target/classes/top/BackendJava$ObjectSetController.class b/target/classes/top/BackendJava$ObjectSetController.class deleted file mode 100644 index e57c8bdc8e868e62aebf806ca04bf73f7c3cf38e..0000000000000000000000000000000000000000 Binary files a/target/classes/top/BackendJava$ObjectSetController.class and /dev/null differ diff --git a/target/classes/top/BackendJava$WebMvcConfig.class b/target/classes/top/BackendJava$WebMvcConfig.class deleted file mode 100644 index fd34d8c5fa7f0eda5e246d7ac8f2b395d51091f3..0000000000000000000000000000000000000000 Binary files a/target/classes/top/BackendJava$WebMvcConfig.class and /dev/null differ diff --git a/target/classes/top/BackendJava.class b/target/classes/top/BackendJava.class deleted file mode 100644 index bf825e3741abf576b6a5eda3b329f317bd553a9a..0000000000000000000000000000000000000000 Binary files a/target/classes/top/BackendJava.class and /dev/null differ diff --git a/target/classes/vslam/.DS_Store b/target/classes/vslam/.DS_Store deleted file mode 100644 index f315799cf22cd11f4462e57adfee4361f630d473..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/.DS_Store and /dev/null differ diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0003.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0003.csv deleted file mode 100644 index 056a5a481db43a670686bb63678f4e4fed5de8c9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0003.csv +++ /dev/null @@ -1,15 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.993455,49,263,216,217 -bottle,0.943588,374,139,20,54 -bottle,0.914840,202,40,26,74 -bottle,0.900759,177,35,26,72 -bottle,0.880150,348,124,20,70 -chair,0.863159,392,234,151,200 -bottle,0.847367,398,147,16,41 -book,0.843019,261,212,67,39 -bottle,0.777080,301,33,27,81 -book,0.741183,198,146,23,73 -cup,0.657321,543,203,22,27 -book,0.614862,214,146,24,73 -book,0.594223,232,147,15,71 -book,0.568934,186,146,20,73 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0004.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0004.csv deleted file mode 100644 index 30375fbc12f97202b928ebb57a7bdb172441bbf4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0004.csv +++ /dev/null @@ -1,14 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.989348,55,264,221,216 -bottle,0.972833,191,33,26,69 -bottle,0.915706,299,24,21,82 -bottle,0.913090,166,28,27,74 -bottle,0.910639,366,133,21,51 -book,0.910017,259,206,65,38 -chair,0.869248,393,216,138,205 -bottle,0.775094,388,139,15,40 -bottle,0.756660,288,25,14,80 -book,0.742734,180,144,24,69 -bottle,0.732562,340,121,20,66 -book,0.670628,193,140,34,74 -cup,0.655761,533,191,23,25 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0005.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0005.csv deleted file mode 100644 index a5953adcc99a2029e220292681b9da4a8bb7d599..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0005.csv +++ /dev/null @@ -1,15 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.987287,115,273,198,206 -book,0.951032,294,210,58,38 -chair,0.945227,420,225,151,189 -bottle,0.933776,222,41,25,73 -cup,0.924748,551,193,22,25 -bottle,0.898357,318,33,21,77 -bottle,0.856866,194,37,24,70 -bottle,0.796510,384,137,23,50 -book,0.795472,231,147,25,72 -bottle,0.786705,408,143,14,40 -book,0.679131,217,148,21,72 -book,0.622862,254,147,16,71 -bottle,0.620367,312,33,15,76 -diningtable,0.505527,77,126,561,229 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0006.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0006.csv deleted file mode 100644 index e06a073135dc9ce4544c0e41637ce08a1c639fdb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0006.csv +++ /dev/null @@ -1,14 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.986703,195,240,177,234 -bottle,0.973417,270,3,25,75 -chair,0.964182,457,185,177,194 -cup,0.893079,594,160,23,25 -bottle,0.885799,357,-1,18,75 -bottle,0.853597,370,0,23,79 -book,0.795398,347,179,53,35 -bottle,0.787510,434,105,18,51 -book,0.762133,274,113,39,73 -bottle,0.711928,240,0,23,73 -bottle,0.602570,407,89,20,68 -book,0.566506,267,114,18,68 -book,0.529085,304,114,14,70 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0007.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0007.csv deleted file mode 100644 index 45114905023d106501f01be0bfc39a00fd19cc72..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0007.csv +++ /dev/null @@ -1,14 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.980962,232,274,177,199 -bottle,0.974138,285,-1,29,86 -bottle,0.873482,455,104,22,56 -chair,0.870026,485,191,155,202 -bottle,0.839144,375,-2,22,76 -bottle,0.804067,393,0,25,78 -book,0.786843,378,190,57,38 -bottle,0.779136,252,2,24,77 -book,0.682283,297,119,29,83 -bottle,0.607538,426,91,30,74 -bottle,0.599189,472,107,12,46 -book,0.544751,318,119,20,81 -book,0.516700,286,123,17,67 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0008.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0008.csv deleted file mode 100644 index c0f107a5e17e249160ed220d7a76397283fe2919..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0008.csv +++ /dev/null @@ -1,12 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.956396,377,29,24,95 -bottle,0.951447,356,29,24,91 -bottle,0.934471,265,44,32,92 -bottle,0.785467,231,41,24,87 -chair,0.766622,247,362,191,117 -book,0.730273,374,240,69,40 -book,0.706878,316,170,20,85 -chair,0.683852,481,232,159,211 -bottle,0.637819,419,131,20,80 -book,0.633563,281,171,28,82 -book,0.509863,296,169,30,87 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0009.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0009.csv deleted file mode 100644 index 41a818fd58721e2848fbc2d5a3bdb9b54b146deb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0009.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.989392,321,35,27,97 -bottle,0.979705,345,33,26,102 -bottle,0.936430,226,52,37,101 -book,0.931039,349,264,83,49 -cup,0.898504,582,196,29,30 -bottle,0.826991,413,160,22,61 -bottle,0.783535,182,44,30,102 -book,0.601428,246,194,67,91 -book,0.591419,285,189,26,97 -book,0.563663,233,201,27,91 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0010.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0010.csv deleted file mode 100644 index 05d0fd582d0b58e3aa9de541a55ed80977a09325..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0010.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.989190,298,-2,29,110 -bottle,0.979452,325,-1,30,114 -bottle,0.972495,195,23,44,117 -book,0.946781,343,250,99,62 -book,0.830862,231,185,57,116 -book,0.697451,257,179,49,110 -bottle,0.663523,139,14,40,108 -book,0.535742,215,195,32,111 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0011.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0011.csv deleted file mode 100644 index e4ba9a438efae215b80f1499a3615765d4f3dc17..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0011.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.987451,193,36,48,124 -bottle,0.977778,287,14,31,114 -bottle,0.975147,319,12,30,119 -book,0.958766,350,272,119,68 -book,0.830124,251,203,61,132 -book,0.776551,222,224,42,118 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0012.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0012.csv deleted file mode 100644 index 3869913a12b6cf3db491e7cd8388ed4be15e3a48..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0012.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.992835,307,-1,31,115 -bottle,0.963762,223,2,51,143 -bottle,0.960663,340,0,34,116 -book,0.879273,378,259,125,68 -book,0.790902,276,186,68,150 -chair,0.687933,462,258,177,175 -scissors,0.569565,446,228,26,30 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0013.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0013.csv deleted file mode 100644 index 694560bfba54245199307e288a846aeebbbcfc1d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0013.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.975009,388,2,37,124 -bottle,0.948660,355,3,34,116 -bottle,0.918266,299,19,45,132 -book,0.912712,424,261,123,65 -book,0.720314,329,201,49,131 -scissors,0.663079,484,230,25,28 -book,0.652247,351,187,53,144 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0014.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0014.csv deleted file mode 100644 index 8f9c2601cc8e0755805e3ef22fb5d3ed0f693275..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0014.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.982068,405,27,35,107 -bottle,0.977063,374,26,33,103 -bottle,0.914378,348,40,29,119 -book,0.828439,442,260,103,56 -book,0.773026,379,196,34,124 -book,0.700694,365,212,29,112 -chair,0.649578,454,405,184,75 -book,0.578206,395,194,29,109 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0015.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0015.csv deleted file mode 100644 index 603c223a84b64bdbf37ee387cb6a97805ffbde13..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0015.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.956232,432,15,34,108 -bottle,0.833740,410,19,22,94 -book,0.722502,428,174,31,118 -book,0.641357,410,191,31,107 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0016.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0016.csv deleted file mode 100644 index 140647d3636ceab34c1e2053f769d7edd83bf46a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0016.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.669045,423,21,33,103 -book,0.610651,418,178,31,111 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0017.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0017.csv deleted file mode 100644 index bc88505bf9bd169b6d6ca9b4c51402df66fb8f8e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0017.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.900084,476,272,164,204 -bottle,0.832877,383,15,20,86 -book,0.776666,389,161,38,117 -chair,0.514597,518,141,72,182 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0018.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0018.csv deleted file mode 100644 index b488e910a93438782cac206530565ba547b69d35..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0018.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.912043,470,254,173,222 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0019.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0019.csv deleted file mode 100644 index 1f72d25a42909714963b7e527873efdafe0525be..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0019.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.926111,473,244,168,233 -chair,0.540201,488,133,50,95 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0020.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0020.csv deleted file mode 100644 index c42e95dc7a6d93f7a766eacfadaeac2553806ca9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0020.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.902670,124,59,64,104 -chair,0.791025,475,223,169,253 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0021.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0021.csv deleted file mode 100644 index 73877f4cc362f9d244bb1f54caf12d90f4af5d30..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0021.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.925145,118,95,74,101 -tvmonitor,0.840341,198,96,69,119 -tvmonitor,0.759917,16,-1,82,41 -chair,0.709732,491,261,149,199 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0022.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0022.csv deleted file mode 100644 index 7c8b5c3564ccd00d5d5f86f73d8872bc41be91a9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0022.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.963351,102,89,81,107 -chair,0.734046,483,220,158,241 -chair,0.653522,462,124,36,66 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0023.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0023.csv deleted file mode 100644 index e772f0252777fbfe89e4ce17286759f5369adb47..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0023.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.788030,103,84,74,101 -sports ball,0.707112,297,436,86,43 -chair,0.654212,478,206,163,233 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0024.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0024.csv deleted file mode 100644 index ddab64e61e7befdca657180dd4b483aa2d61292e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0024.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.904092,88,72,83,115 -tvmonitor,0.893758,200,70,63,116 -chair,0.821487,474,205,167,214 -chair,0.776018,449,107,40,66 -book,0.590785,142,191,92,36 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0025.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0025.csv deleted file mode 100644 index 607ce30264734ff22640f9ec9842548d58ee212f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0025.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -tvmonitor,0.894847,196,70,49,119 -teddy bear,0.887727,54,79,85,122 -chair,0.839651,472,141,169,244 -bowl,0.724955,331,415,83,64 -chair,0.642681,-1,222,80,249 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0026.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0026.csv deleted file mode 100644 index 39313cd9b78996203954418fd07e4235724eb40b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0026.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.956077,2,94,90,120 -chair,0.833243,445,152,180,228 -mouse,0.745801,77,270,38,21 -bowl,0.503701,319,421,83,59 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0027.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0027.csv deleted file mode 100644 index fcf21ac432e837ff06353059ac4f2f372192eb57..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0027.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.981039,85,261,38,22 -chair,0.929443,432,130,167,219 -keyboard,0.882909,99,205,46,55 -teddy bear,0.644617,1,92,66,125 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0028.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0028.csv deleted file mode 100644 index bebee24abef8d9b3d6c33484bfba3f2a6d513c5c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0028.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.969620,104,287,39,22 -chair,0.865850,434,163,155,209 -keyboard,0.755108,102,231,70,51 -teddy bear,0.535001,-1,114,58,119 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0029.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0029.csv deleted file mode 100644 index 89b7782fe8cd05ef6121dd881f5d9a621eb39dd7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0029.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.992161,190,274,36,21 -teddy bear,0.940446,14,101,99,119 -chair,0.867481,-1,283,167,197 -keyboard,0.862832,174,215,73,55 -book,0.592142,213,182,53,25 -chair,0.523947,499,153,136,208 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0030.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0030.csv deleted file mode 100644 index cbd86fb47f2ec02520082db4f694aa04d8cf0f2f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0030.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.984722,239,244,35,21 -chair,0.970274,2,249,191,231 -teddy bear,0.680452,22,77,111,120 -chair,0.675579,539,118,99,209 -tvmonitor,0.549494,279,61,68,113 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0031.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0031.csv deleted file mode 100644 index a36bf84d49f9618e0daf5e031357bdd29329e874..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0031.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.984592,219,276,35,22 -keyboard,0.976352,173,220,85,52 -chair,0.917676,1,297,179,181 -chair,0.813675,507,118,100,202 -tvmonitor,0.757510,235,88,80,116 -teddy bear,0.717264,0,126,83,118 -tvmonitor,0.683940,159,85,39,74 -mouse,0.517078,128,192,24,11 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0032.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0032.csv deleted file mode 100644 index f8ff5211dee768e590c125a9e42547d037e3519b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0032.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.992929,193,273,37,24 -keyboard,0.963473,131,220,104,51 -chair,0.869201,479,93,83,198 -tvmonitor,0.861603,99,74,54,90 -tvmonitor,0.770101,184,75,106,129 -keyboard,0.696463,81,158,53,32 -chair,0.645142,1,309,173,170 -book,0.554015,87,188,78,47 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0033.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0033.csv deleted file mode 100644 index d5fd5b3a2b65c8fe4a25cab0b7a9518ba3ee5685..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0033.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.991998,156,266,40,25 -mouse,0.880259,11,181,32,13 -keyboard,0.868838,79,205,121,58 -chair,0.852375,442,59,73,203 -tvmonitor,0.674498,129,47,121,143 -bottle,0.628045,211,176,28,66 -book,0.523286,28,173,82,45 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0034.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0034.csv deleted file mode 100644 index c8bdb4b916ff16dc6fc9319ad5c0404c1397be86..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0034.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.986446,147,318,45,31 -keyboard,0.971920,43,255,136,60 -tvmonitor,0.809121,0,93,39,98 -bottle,0.794709,200,217,30,68 -chair,0.744132,431,82,50,75 -tvmonitor,0.730553,91,82,144,162 -book,0.641214,52,197,85,44 -book,0.555855,2,237,73,49 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0035.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0035.csv deleted file mode 100644 index 56cdec749399c972df1b27284dd2cacd8573676d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0035.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.976882,83,342,50,37 -tvmonitor,0.882500,4,81,178,178 -keyboard,0.871566,0,276,125,67 -bottle,0.866682,140,228,37,81 -chair,0.587082,383,88,36,79 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0036.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0036.csv deleted file mode 100644 index 3dabc0044f38fb70f8c36d2c15b89a824cab6aa0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0036.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.973950,52,373,52,42 -bottle,0.883179,108,254,36,81 -chair,0.663597,362,99,23,76 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0037.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0037.csv deleted file mode 100644 index 96248af70786c4b590084846a7051868c5a70e0a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0037.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.993808,42,406,56,50 -bottle,0.980036,94,276,43,90 -tvmonitor,0.784195,-2,123,146,188 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0038.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0038.csv deleted file mode 100644 index 1e27c7c9c136c6b316274a000dd80b0578dfd6dd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0038.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.986761,66,275,47,89 -mouse,0.969147,15,416,59,56 -book,0.594914,118,212,110,53 -refrigerator,0.580960,322,1,106,95 -book,0.524686,195,201,104,61 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0039.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0039.csv deleted file mode 100644 index 1a638adba228ce020aa25241d72dbdc84217a16d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0039.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.986236,119,263,44,96 -mouse,0.972827,69,416,58,63 -tvmonitor,0.851170,-1,75,172,221 -keyboard,0.713300,1,344,93,82 -bowl,0.685524,272,182,56,37 -book,0.634608,259,189,134,66 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0040.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0040.csv deleted file mode 100644 index f4b6811d87d324937989dcbe73a64350b360c264..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0040.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.957150,185,257,46,106 -mouse,0.911916,128,417,62,63 -keyboard,0.812038,-1,323,160,96 -tvmonitor,0.775998,0,35,235,266 -cup,0.734770,354,187,62,41 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0041.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0041.csv deleted file mode 100644 index 4754199f604a32265f3a87925f4049aee9f8a828..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0041.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.984894,-4,301,218,130 -tvmonitor,0.959247,26,30,279,280 -bottle,0.942808,246,267,45,115 -cup,0.679165,436,203,61,45 -mouse,0.663779,183,434,60,45 -book,0.648429,0,211,86,70 -book,0.531909,341,211,136,79 -book,0.509473,405,207,174,85 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0042.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0042.csv deleted file mode 100644 index a6dd5f6164b36bcf0588507a221bd44b755f76e0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0042.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.976407,280,273,43,123 -keyboard,0.966962,1,300,235,149 -tvmonitor,0.952347,55,22,289,297 -book,0.806716,0,210,113,73 -book,0.633650,374,219,154,85 -cup,0.603149,482,211,69,49 -book,0.558447,459,225,176,86 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0043.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0043.csv deleted file mode 100644 index 67e553149bf37de4deb6d20cd23ac3bad6c72f1b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0043.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.991141,4,309,256,152 -bottle,0.988393,305,283,43,125 -tvmonitor,0.970371,75,21,296,321 -book,0.778317,5,211,130,72 -bowl,0.548918,518,221,82,48 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0044.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0044.csv deleted file mode 100644 index 7dcb9ee2974e903b12cc921ce5f4bd393d5341e3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0044.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.987591,333,289,43,124 -keyboard,0.987158,18,305,266,158 -tvmonitor,0.973989,109,13,304,312 -book,0.895736,30,205,129,73 -book,0.712317,-1,243,74,92 -book,0.532727,448,228,173,125 -mouse,0.525104,0,393,14,55 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0045.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0045.csv deleted file mode 100644 index 81d4154b50dfcb863d28170cec74bf4e3729ba20..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0045.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.989469,373,288,49,127 -keyboard,0.978571,56,286,268,172 -book,0.950365,66,185,128,73 -book,0.756474,0,211,108,112 -book,0.580215,-1,273,114,74 -tvmonitor,0.570498,161,7,319,319 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0046.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0046.csv deleted file mode 100644 index e6b7a633fac640d36c1694a1bad29dace1815c45..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0046.csv +++ /dev/null @@ -1,12 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.994249,-1,161,53,24 -keyboard,0.992726,136,243,281,208 -keyboard,0.990268,-2,76,105,74 -bottle,0.982657,468,274,76,142 -mouse,0.925691,70,156,63,25 -tvmonitor,0.912880,251,-1,388,325 -book,0.904989,27,167,164,109 -tvmonitor,0.891693,33,0,98,92 -book,0.794541,153,143,128,73 -book,0.705981,57,231,135,54 -mouse,0.518463,79,320,49,50 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0047.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0047.csv deleted file mode 100644 index 2e241329f425d6d60973c15e8f783e0b5b484a30..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0047.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.986461,108,155,50,23 -keyboard,0.956256,242,256,288,217 -tvmonitor,0.956031,367,-4,271,377 -book,0.931906,139,169,159,100 -book,0.857453,258,149,127,73 -mouse,0.856831,185,321,47,50 -tvmonitor,0.668790,152,-1,93,97 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0048.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0048.csv deleted file mode 100644 index dba924887f79876464b677d5210a74831b08afcf..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0048.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.970629,161,179,48,23 -tvmonitor,0.932175,414,-5,225,377 -book,0.913494,307,176,123,73 -book,0.881489,190,194,154,101 -keyboard,0.847220,287,286,345,195 -tvmonitor,0.586018,203,1,101,121 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0049.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0049.csv deleted file mode 100644 index 58e94365638add60f8c81f7d0dfc7cb10493f035..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0049.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.996182,357,306,282,170 -keyboard,0.995689,217,118,99,69 -mouse,0.991718,224,195,48,22 -tvmonitor,0.937791,486,-3,153,375 -book,0.933482,256,215,156,95 -book,0.927526,374,196,131,75 -teddy bear,0.856052,-1,49,124,222 -chair,0.526166,-3,148,193,293 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0050.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0050.csv deleted file mode 100644 index 5bf319c604ebe003bcca7cf17d7e06d9128e5597..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0050.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997539,412,311,226,168 -keyboard,0.997217,214,141,107,68 -mouse,0.993241,243,221,47,23 -book,0.951588,288,228,160,106 -book,0.855667,400,203,115,77 -tvmonitor,0.827005,504,5,135,358 -mouse,0.770092,312,218,52,25 -tvmonitor,0.727272,257,12,107,143 -book,0.536002,318,295,133,47 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0051.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0051.csv deleted file mode 100644 index c4b9c2779aee96c781448349ffdedcd03caf1430..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0051.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.998304,182,151,125,66 -mouse,0.987546,241,230,46,24 -keyboard,0.986786,443,291,196,150 -tvmonitor,0.945330,493,5,145,311 -book,0.936693,305,225,152,102 -tvmonitor,0.928863,219,22,111,138 -book,0.828512,396,190,106,71 -mouse,0.664809,312,218,44,26 -chair,0.569753,-1,163,216,311 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0052.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0052.csv deleted file mode 100644 index 0163e791900ebe3149ad91208ac9ad99d4cd317a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0052.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997656,151,154,135,58 -mouse,0.992243,238,226,42,28 -keyboard,0.991058,463,263,176,96 -tvmonitor,0.955044,169,17,125,135 -book,0.927136,314,203,151,112 -tvmonitor,0.927015,470,-4,170,276 -book,0.651802,387,167,93,64 -chair,0.625205,0,206,212,266 -mouse,0.571924,309,206,38,26 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0053.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0053.csv deleted file mode 100644 index 06c44e82f45673307e76074e2533d050e7f29289..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0053.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.997503,194,215,42,29 -keyboard,0.995452,76,148,151,54 -keyboard,0.995075,433,229,206,78 -tvmonitor,0.942724,416,-1,224,216 -book,0.926410,280,183,142,98 -tvmonitor,0.864124,76,4,155,131 -book,0.608683,261,128,100,58 -cell phone,0.504619,267,187,33,36 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0054.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0054.csv deleted file mode 100644 index 97cf2fe0c3ebc3fc4c16bc112763dc038c835a48..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0054.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.998064,233,222,43,33 -keyboard,0.996474,95,147,166,63 -keyboard,0.992272,503,241,137,76 -book,0.892637,337,189,150,108 -tvmonitor,0.892488,468,-2,172,221 -tvmonitor,0.731381,91,1,172,135 -book,0.594573,297,130,103,58 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0055.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0055.csv deleted file mode 100644 index 1228443060e5afe91aea622dbbcaabd2d3b4cf1f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0055.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.997529,183,272,51,44 -keyboard,0.995232,484,272,154,80 -keyboard,0.989084,7,191,207,65 -tvmonitor,0.892294,0,-1,208,170 -tvmonitor,0.839755,436,0,209,225 -book,0.794489,306,231,161,129 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0056.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0056.csv deleted file mode 100644 index 6bad592b6927f86d2622b29f3b67739a34f49d94..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0056.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.997361,126,309,52,53 -keyboard,0.992701,446,275,191,90 -keyboard,0.991297,1,232,143,61 -tvmonitor,0.963257,387,0,253,214 -tvmonitor,0.862737,-1,16,142,190 -book,0.677432,273,250,152,133 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0057.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0057.csv deleted file mode 100644 index 1ad1148afbac5b9944b00a350f408f7493cdae2c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0057.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.997904,49,329,66,66 -keyboard,0.980856,0,237,76,71 -keyboard,0.977580,415,265,226,122 -tvmonitor,0.926325,343,-2,300,196 -tvmonitor,0.720451,0,0,64,229 -book,0.652749,243,257,148,157 -orange,0.602857,481,415,69,55 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0058.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0058.csv deleted file mode 100644 index 7a0ecc437177259fcf5f9df943f13e78540b25f7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0058.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.998642,24,335,79,74 -keyboard,0.963408,0,218,72,83 -keyboard,0.961810,443,333,197,114 -tvmonitor,0.956909,377,-2,262,275 -book,0.787308,273,284,141,179 -tvmonitor,0.721229,1,0,67,219 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0059.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0059.csv deleted file mode 100644 index 56bfe1ad86066a5a4137ee662e8928546756a12d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0059.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.990767,119,307,78,69 -keyboard,0.932575,0,128,193,141 -tvmonitor,0.776644,-2,-1,203,163 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0060.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0060.csv deleted file mode 100644 index bd8544564a0d5fc5972a6dc8cc6b5b8ef7b6e8e5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0060.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.966170,187,292,78,65 -tvmonitor,0.911748,64,-2,228,136 -keyboard,0.845111,25,113,245,130 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0061.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0061.csv deleted file mode 100644 index 7126e117d332869917911aaceeede403715e435a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0061.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.997089,274,310,79,60 -keyboard,0.995719,140,115,221,151 -tvmonitor,0.866134,188,-2,245,161 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0062.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0062.csv deleted file mode 100644 index f7bbefa6b1f68310c08f1d68d2ac6ac29ec1da41..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0062.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.976677,211,111,230,164 -mouse,0.966137,351,327,80,61 -tvmonitor,0.525676,279,-3,273,169 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0063.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0063.csv deleted file mode 100644 index 6bd3d4146fdb150056c7c5d6dfe040bd262a955a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0063.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.841019,294,125,234,188 -tvmonitor,0.698901,365,1,272,271 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0064.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0064.csv deleted file mode 100644 index 6bd0f82e111476005f4a18637a786ff57a7ebed1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0064.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.841598,496,423,98,57 -tvmonitor,0.770743,433,-2,207,291 -teddy bear,0.646202,0,-6,251,493 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0065.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0065.csv deleted file mode 100644 index 0b252df315fc24a2d3fc1e5eee865776d933d386..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0065.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.969177,426,177,212,243 -teddy bear,0.808670,8,4,344,464 -tvmonitor,0.753566,506,-3,135,277 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0066.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0066.csv deleted file mode 100644 index 09b7629e22c2c9e581f79efd8d75a96e1fd19a72..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0066.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.950157,4,8,351,457 -keyboard,0.882067,449,177,191,291 -tvmonitor,0.652187,527,-1,112,221 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0067.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0067.csv deleted file mode 100644 index 8e41fc81561e142292df729110764275a8e6cf32..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0067.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.986617,7,-8,348,482 -keyboard,0.956846,494,165,148,195 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0068.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0068.csv deleted file mode 100644 index c3f05f23049ee9b32bb05089de86fd7b95c84b8e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0068.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.979545,6,-6,353,481 -keyboard,0.853897,523,168,117,180 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0069.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0069.csv deleted file mode 100644 index 67bb2395ab7b2d336730400fc1dcccd3b4e52ddc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0069.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.979980,14,-12,390,497 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0070.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0070.csv deleted file mode 100644 index 34767e3cb7ca257d2b265c9e73097d43971057ad..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0070.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.959864,18,-15,391,508 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0071.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0071.csv deleted file mode 100644 index 3b5117f1d49d4c5d50e8162cdd515c88f0e7fbbe..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0071.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.964417,13,-17,406,501 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0072.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0072.csv deleted file mode 100644 index 6a79750ba1496370d929a4c477c7367635107a46..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0072.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.963384,12,-9,410,490 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0073.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0073.csv deleted file mode 100644 index 427889ba6db7835124377eb56ff58da3dd06f1f9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0073.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.897331,53,-18,395,501 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0074.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0074.csv deleted file mode 100644 index 3af8179582f511f8d7006356fa6bce4b5a7fd625..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0074.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.907018,57,-17,397,502 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0075.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0075.csv deleted file mode 100644 index 43eb2fbdb8adb6669748435e67a84e97016eea75..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0075.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.891879,104,-21,363,507 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0076.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0076.csv deleted file mode 100644 index e2be25476a7146a99dc45df0d0cec2a8661e6acc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0076.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.976047,158,-4,392,483 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0077.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0077.csv deleted file mode 100644 index a53ec1f9096aad7904abcb2b4215280945b60a30..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0077.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.919677,193,18,394,454 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0078.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0078.csv deleted file mode 100644 index 6bf0fb6eca5c2fa315fa671bc8687dfeda420535..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0078.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.880899,204,45,384,421 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0079.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0079.csv deleted file mode 100644 index d7610205de7d60c87e0a705b780fea9c86faaef7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0079.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.949446,211,70,375,395 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0080.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0080.csv deleted file mode 100644 index 2b85834a9a5c0a87f1b8f9098695ccc103fb91ba..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0080.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.943422,220,102,340,370 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0081.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0081.csv deleted file mode 100644 index d2dc2186d48bf1000b3c5e23247c24f1474967af..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0081.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.964526,210,102,334,370 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0082.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0082.csv deleted file mode 100644 index 2538406c76912cf339679dcfc521c2a9070f0a9a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0082.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.964247,218,99,337,370 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0083.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0083.csv deleted file mode 100644 index 854cc88592081a0cecabac8690631fa0988e0a95..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0083.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.911169,258,112,303,348 -keyboard,0.603885,593,192,47,63 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0084.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0084.csv deleted file mode 100644 index d22c3a137808c633fcc1fa48ebfc41cbe196aae2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0084.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.982134,542,175,99,66 -teddy bear,0.890726,259,88,280,354 -tvmonitor,0.714671,581,10,59,170 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0085.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0085.csv deleted file mode 100644 index b6e90285aa0df9eef12ba20e678d2958aa398805..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0085.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.988527,487,152,152,83 -teddy bear,0.951176,248,95,257,274 -tvmonitor,0.924297,513,11,127,160 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0086.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0086.csv deleted file mode 100644 index f36987988211d421ed2a0a4bdf3e231fd088bd73..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0086.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.995563,433,150,167,55 -mouse,0.967109,596,214,35,24 -teddy bear,0.945592,223,108,259,254 -tvmonitor,0.841869,447,3,190,169 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0087.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0087.csv deleted file mode 100644 index 985fdae43a912c6aaff94077f492b510122e47b8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0087.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997224,398,158,152,46 -tvmonitor,0.956237,405,31,159,121 -mouse,0.895689,560,209,29,24 -teddy bear,0.787820,217,112,252,264 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0088.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0088.csv deleted file mode 100644 index b5b7393e71b5207ad52b0e6fe14d29d2697e6941..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0088.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997284,385,172,138,36 -tvmonitor,0.969575,385,46,144,121 -mouse,0.944910,542,216,25,21 -teddy bear,0.822062,214,145,249,241 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0089.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0089.csv deleted file mode 100644 index 7c3e7855ed90bd6a7670bd7e6c31eda462caae7b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0089.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.995163,355,194,130,33 -tvmonitor,0.948096,349,70,138,107 -mouse,0.946513,511,230,21,20 -chair,0.928286,211,259,241,218 -teddy bear,0.703841,207,163,243,218 -mouse,0.503965,551,212,25,21 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0090.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0090.csv deleted file mode 100644 index 352713e6ec1c76266e04fc01c7b958baf90e892c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0090.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.995661,318,222,132,33 -tvmonitor,0.987442,299,96,137,120 -book,0.886623,556,217,82,46 -mouse,0.865009,478,251,22,20 -teddy bear,0.812260,185,225,263,236 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0091.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0091.csv deleted file mode 100644 index 8bfadec2715b211839539f68a12aab4e871ad45e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0091.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.990059,298,213,136,34 -tvmonitor,0.912814,278,92,145,109 -mouse,0.885176,462,241,23,20 -chair,0.851148,169,308,252,171 -book,0.501083,496,184,141,72 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0092.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0092.csv deleted file mode 100644 index 32e460a81bc197f0f623f1bedd3abf8f743b7cce..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0092.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.988408,291,198,129,39 -chair,0.955053,166,302,250,173 -tvmonitor,0.827685,267,77,148,118 -book,0.571689,486,181,141,64 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0093.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0093.csv deleted file mode 100644 index c7366edc7600b9b90fb6ec0b6a281b8cb7447f77..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0093.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.990000,283,197,132,39 -tvmonitor,0.980704,260,74,137,116 -tvmonitor,0.739980,537,32,103,153 -mouse,0.739738,444,227,21,23 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0094.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0094.csv deleted file mode 100644 index 17923a729d61feb4c10d2f73ae5a0abaa5d1b4cb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0094.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.994190,243,199,132,36 -tvmonitor,0.986626,211,75,148,118 -mouse,0.912320,405,225,22,20 -tvmonitor,0.838532,494,36,144,135 -book,0.826020,470,190,93,46 -teddy bear,0.712100,116,215,275,250 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0095.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0095.csv deleted file mode 100644 index ad8177426db25521f2d8d2640e056d25459b0115..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0095.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.999044,172,174,146,41 -tvmonitor,0.966439,124,41,168,134 -mouse,0.919518,349,198,27,21 -book,0.872374,402,153,102,43 -tvmonitor,0.811700,418,1,169,135 -teddy bear,0.749336,63,200,302,268 -keyboard,0.725887,484,146,116,42 -bottle,0.582120,569,90,27,53 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0096.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0096.csv deleted file mode 100644 index 9fc3f0d62dac10bcd3db27cb0841f6ea75bcacd4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0096.csv +++ /dev/null @@ -1,12 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997820,147,181,154,57 -mouse,0.980764,332,203,29,23 -keyboard,0.961634,467,133,107,49 -tvmonitor,0.936243,87,47,179,148 -book,0.930847,386,149,96,50 -tvmonitor,0.886054,392,-2,162,136 -bottle,0.821694,541,77,23,58 -mouse,0.748815,579,139,35,18 -book,0.746661,338,136,84,39 -chair,0.706589,529,121,110,343 -teddy bear,0.647153,53,225,313,244 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0097.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0097.csv deleted file mode 100644 index 7ec7d4c26fd01e7f50e0e95b34aebf5324abcbb0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0097.csv +++ /dev/null @@ -1,13 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.995570,120,180,161,68 -mouse,0.987830,314,199,31,23 -keyboard,0.979041,445,125,107,47 -tvmonitor,0.962779,366,-1,154,129 -book,0.958160,369,142,93,50 -bottle,0.887575,515,66,23,56 -tvmonitor,0.875259,48,38,197,163 -book,0.691024,316,124,88,45 -mouse,0.630964,330,169,33,19 -chair,0.597831,522,226,117,219 -teddy bear,0.575661,26,231,329,219 -mouse,0.559132,559,125,30,18 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0098.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0098.csv deleted file mode 100644 index 1d7d2080b18df953a085cc0c34b2e65e10e7fdb1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0098.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997698,93,166,174,75 -mouse,0.991263,297,185,34,23 -book,0.955696,348,122,99,50 -tvmonitor,0.941328,342,-1,147,113 -bottle,0.902354,488,43,22,60 -keyboard,0.893120,427,105,94,46 -tvmonitor,0.856400,5,12,221,184 -chair,0.822685,492,108,147,314 -book,0.660147,296,106,82,45 -teddy bear,0.629646,24,219,259,210 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0099.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0099.csv deleted file mode 100644 index 5bce6e45c55d0f31b063eba9e2ae097ab278c62a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0099.csv +++ /dev/null @@ -1,12 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.996960,97,154,170,90 -mouse,0.990371,301,173,33,21 -book,0.946725,343,107,96,54 -chair,0.915786,487,39,154,360 -tvmonitor,0.901429,-2,8,216,195 -bottle,0.893618,467,28,19,57 -tvmonitor,0.892278,327,0,137,97 -keyboard,0.844573,420,86,82,48 -teddy bear,0.690435,82,210,296,217 -mouse,0.663089,215,208,66,32 -mouse,0.568964,509,84,29,16 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0100.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0100.csv deleted file mode 100644 index dd7d657a152697fd28d2e01cec108ad04a6b26c5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0100.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.996251,96,147,170,98 -mouse,0.995156,298,161,36,22 -bottle,0.935691,437,13,18,60 -tvmonitor,0.929137,304,0,129,91 -chair,0.907215,468,53,172,293 -tvmonitor,0.878736,-1,0,206,194 -book,0.872986,332,94,92,49 -keyboard,0.852359,401,72,77,45 -teddy bear,0.651166,151,193,285,237 -mouse,0.579405,478,67,30,15 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0101.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0101.csv deleted file mode 100644 index d25b6c1903f67fcc23a8be4aa55751b52d7b056e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0101.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997536,99,130,165,110 -mouse,0.996214,297,138,37,21 -chair,0.979816,464,7,175,297 -book,0.861515,316,67,101,46 -tvmonitor,0.833843,-3,1,198,211 -tvmonitor,0.817126,278,-1,122,70 -mouse,0.601536,451,33,30,14 -teddy bear,0.587897,218,163,279,214 -keyboard,0.562098,380,39,72,45 -book,0.502167,318,94,97,33 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0102.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0102.csv deleted file mode 100644 index cd9dec13358f26531090646a24a3b9186287b9bc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0102.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997353,152,122,146,101 -mouse,0.989065,331,127,38,20 -tvmonitor,0.923724,304,-1,106,64 -book,0.874115,344,64,97,46 -tvmonitor,0.850173,22,-2,206,182 -keyboard,0.696262,402,35,63,40 -teddy bear,0.547217,324,142,263,200 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0103.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0103.csv deleted file mode 100644 index 8163762205e8f2bd4656ea9f405007982362c765..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0103.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.992513,191,128,132,94 -mouse,0.988567,355,131,35,19 -tvmonitor,0.787498,316,-1,96,72 -bottle,0.705409,422,0,18,43 -mouse,0.689560,464,38,28,16 -teddy bear,0.570712,328,139,319,300 -tvmonitor,0.526028,73,2,178,183 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0104.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0104.csv deleted file mode 100644 index 01b2e614afcc75d5dac8365390adb364ddb2c4c4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0104.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.993996,275,137,117,84 -mouse,0.983882,424,141,36,19 -tvmonitor,0.926945,387,-1,86,88 -tvmonitor,0.768773,184,0,146,183 -bottle,0.652326,482,8,19,50 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0105.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0105.csv deleted file mode 100644 index 66ccc53d0950c7f1c71866b557f324eb35499c5a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0105.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.996592,338,154,110,89 -mouse,0.992854,477,157,39,18 -tvmonitor,0.916802,257,17,122,189 -tvmonitor,0.910868,423,0,81,105 -mouse,0.909910,558,70,25,15 -bottle,0.585695,511,26,20,47 -book,0.535185,471,100,89,37 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0106.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0106.csv deleted file mode 100644 index fe75e7b91e44df4a95e7efc1e4ac85584784fb0b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0106.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.995654,398,145,108,91 -mouse,0.990071,531,148,39,18 -tvmonitor,0.828425,331,6,98,185 -mouse,0.826751,591,60,29,15 -tvmonitor,0.798658,466,-2,75,92 -book,0.656281,519,90,88,33 -keyboard,0.509139,420,111,53,38 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0107.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0107.csv deleted file mode 100644 index c79cebbb54a693e602a8f5cbeed9c59ada928e66..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0107.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.987102,410,141,88,85 -mouse,0.978396,522,140,39,18 -tvmonitor,0.932645,348,6,78,183 -mouse,0.765684,564,58,26,14 -bottle,0.669386,521,15,21,48 -chair,0.622972,41,76,84,80 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0108.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0108.csv deleted file mode 100644 index 0ad359640049d2255d7817a94ddc3f238c5453f6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0108.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.966437,494,114,36,16 -keyboard,0.944315,402,116,68,80 -tvmonitor,0.925464,337,-1,70,165 -tvmonitor,0.703639,418,0,52,63 -mouse,0.675864,519,39,24,13 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0109.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0109.csv deleted file mode 100644 index 2930515fefae15314ef5a2b59201ed970c38fb62..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0109.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.936371,456,92,34,16 -tvmonitor,0.684495,310,0,66,146 -bottle,0.670627,119,84,68,160 -keyboard,0.613848,388,100,51,70 -mouse,0.602097,458,21,22,14 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0110.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0110.csv deleted file mode 100644 index de29f6a8b972d28bd6a43eb72a96decc26e799a4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0110.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bowl,0.901394,323,371,117,107 -mouse,0.882690,464,85,33,15 -bottle,0.712161,179,170,49,82 -chair,0.704787,64,15,87,101 -keyboard,0.604854,408,97,47,67 -bottle,0.602876,149,97,48,101 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0111.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0111.csv deleted file mode 100644 index 9a316f3dfda401058315f01baa4302d7e082b534..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0111.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.941823,10,35,89,111 -bowl,0.921416,311,367,114,111 -chair,0.851310,463,1,80,125 -bottle,0.800953,169,173,52,89 -mouse,0.781015,417,97,30,14 -keyboard,0.765873,375,109,46,56 -tvmonitor,0.740846,304,2,52,160 -cup,0.732113,14,185,40,44 -bowl,0.701947,0,230,55,33 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0112.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0112.csv deleted file mode 100644 index f3ab3012a659fdfbe19bc9e8a8276b04b0c752ed..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0112.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bowl,0.872484,326,351,107,119 -chair,0.856789,-1,44,94,120 -chair,0.797391,437,11,80,113 -tvmonitor,0.580046,300,2,55,152 -teddy bear,0.535700,525,37,115,205 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0113.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0113.csv deleted file mode 100644 index 9aa2842cacf392ac61adb3de08a9e95097a924d1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0113.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.952016,446,24,74,108 -keyboard,0.940411,383,120,53,48 -chair,0.923624,10,59,102,115 -bowl,0.918963,359,352,103,120 -mouse,0.892737,421,110,27,13 -bottle,0.848654,231,119,43,136 -tvmonitor,0.598462,324,15,58,142 -cup,0.517698,121,176,29,24 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0114.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0114.csv deleted file mode 100644 index 0f71acf88de7673cb630087a819ad824d2e3c020..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0114.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.952780,239,113,55,139 -laptop,0.929003,314,15,129,150 -mouse,0.893135,405,102,28,13 -cup,0.861550,67,205,41,41 -chair,0.845010,1,71,89,105 -bowl,0.822241,379,342,103,98 -chair,0.738432,415,18,77,94 -bowl,0.563083,75,243,47,34 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0115.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0115.csv deleted file mode 100644 index 841d9deb899fefdce33b6eb3a5a1a92fe26e8b57..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0115.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -laptop,0.979908,243,51,133,134 -bottle,0.764694,194,149,54,125 -teddy bear,0.758541,430,45,145,140 -keyboard,0.650963,316,140,51,42 -chair,0.637017,328,47,76,82 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0116.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0116.csv deleted file mode 100644 index 1c1f23ebfb557d5d2499b5f5c3a53588ce40c40a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0116.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.886961,125,50,35,91 -chair,0.649584,327,19,65,67 -bottle,0.621302,225,99,47,122 -mouse,0.562381,337,91,23,13 -chair,0.556069,412,32,156,295 -teddy bear,0.548584,459,14,113,129 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0117.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0117.csv deleted file mode 100644 index 228d11961cff3aae64b9e9c136f66aaf33640059..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0117.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.913542,117,68,40,90 -bottle,0.846079,149,93,24,55 -teddy bear,0.654156,426,-1,129,118 -bottle,0.623591,81,0,34,43 -bottle,0.528616,105,0,38,39 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0118.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0118.csv deleted file mode 100644 index c0b9566c5de4a0321982a41e98166ab0cb1caf8c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0118.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.887259,115,71,41,90 -bottle,0.762994,269,98,50,118 -teddy bear,0.744194,439,0,100,115 -bottle,0.592962,152,96,23,57 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0119.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0119.csv deleted file mode 100644 index 8e247e94776e9929251f257b7d8aefb1076f5f2b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0119.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.837201,441,38,80,101 -bottle,0.831190,290,126,50,115 -bottle,0.713512,120,107,45,95 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0120.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0120.csv deleted file mode 100644 index 23578db47acaa4918a5d664a3a3edbb1058eacea..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0120.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -cup,0.969409,174,267,31,40 -bottle,0.928067,149,34,33,70 -bottle,0.775592,176,154,29,56 -bottle,0.754805,203,156,22,51 -bottle,0.725005,352,154,40,109 -teddy bear,0.695578,472,76,85,97 -bowl,0.676720,212,292,42,33 -bottle,0.602451,123,34,39,74 -chair,0.552979,-3,261,151,147 -bottle,0.543496,226,160,21,52 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0121.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0121.csv deleted file mode 100644 index b21952b3549362fdc3597aa8978baf4b49882426..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0121.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.949800,350,111,38,109 -cup,0.922582,171,235,36,45 -knife,0.884717,103,254,56,33 -bottle,0.868802,83,0,52,77 -bottle,0.836064,143,117,34,64 -chair,0.625454,2,260,218,219 -bottle,0.615429,174,114,28,61 -teddy bear,0.597755,441,38,83,93 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0122.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0122.csv deleted file mode 100644 index 213910af413991c0af2f6a491beef5bfc938fa25..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0122.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.884274,373,114,34,111 -bottle,0.793660,158,127,33,64 -bottle,0.776791,187,123,25,62 -bottle,0.736872,94,7,46,81 -knife,0.712312,130,257,57,35 -bottle,0.700056,116,9,40,75 -chair,0.661728,3,265,241,208 -bottle,0.502302,148,111,25,78 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0123.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0123.csv deleted file mode 100644 index ce3ee70f46bb100c7aca48dc9e013088032dfc94..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0123.csv +++ /dev/null @@ -1,15 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.891865,374,102,32,106 -bottle,0.880272,85,-1,50,82 -bottle,0.843739,176,115,28,59 -bottle,0.808967,199,120,15,48 -bottle,0.792428,212,130,19,52 -bottle,0.782619,41,12,38,61 -book,0.740257,18,114,38,73 -cup,0.686684,217,222,31,41 -chair,0.674686,-1,237,250,239 -spoon,0.651309,143,243,52,32 -bottle,0.614934,20,9,43,77 -bottle,0.590446,139,111,34,71 -bottle,0.580967,155,118,31,61 -bottle,0.537435,0,-1,38,85 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0124.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0124.csv deleted file mode 100644 index 308969f5ecc06ff9887b006a60fd038a70a94c7d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0124.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.929072,374,76,31,103 -chair,0.924973,4,227,251,247 -book,0.898446,0,105,27,75 -bowl,0.831694,280,216,40,28 -bottle,0.828486,162,111,26,47 -bottle,0.810163,197,114,21,48 -cup,0.771551,227,200,30,43 -bottle,0.702990,181,102,18,50 -bottle,0.651468,144,109,28,55 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0125.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0125.csv deleted file mode 100644 index 73d97656f4c7896169e02a57e25a09ab98f6df10..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0125.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.929553,321,96,34,98 -chair,0.816352,-4,286,220,193 -bottle,0.770832,96,142,30,54 -bottle,0.762161,131,146,26,50 -person,0.693264,557,1,66,69 -bottle,0.661111,113,136,26,50 -bottle,0.596342,74,141,36,60 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0126.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0126.csv deleted file mode 100644 index 3a9fcea31550502489ab4cedaf5376c67de463b2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0126.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.918341,286,64,37,106 -bottle,0.913501,76,130,33,55 -cup,0.840980,166,211,34,44 -spoon,0.744079,88,251,37,44 -bottle,0.683450,17,126,40,64 -person,0.665286,475,0,46,41 -bottle,0.636932,36,130,34,54 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0127.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0127.csv deleted file mode 100644 index cb851b830be86f1f65bf243604c4ebd71f82251e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0127.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.986830,270,59,40,104 -cup,0.973837,168,220,36,47 -cup,0.899897,114,219,35,35 -bottle,0.786341,37,142,40,59 -spoon,0.637487,89,270,32,51 -bottle,0.585662,8,134,31,47 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0128.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0128.csv deleted file mode 100644 index 905e11422a5285f79dd2217313ac8afa65e98fb5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0128.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.986147,215,47,43,118 -cup,0.975396,132,223,42,50 -bottle,0.872400,24,137,48,70 -cup,0.743198,67,230,40,38 -knife,0.675210,61,288,22,58 -cup,0.666992,76,158,39,41 -chair,0.500141,-1,345,123,134 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0129.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0129.csv deleted file mode 100644 index a5f1f6810956d657e68b05209d47f4da9cfdb470..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0129.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.989257,221,47,50,117 -cup,0.966823,88,247,41,39 -cup,0.960745,166,234,45,55 -bottle,0.863279,22,150,52,74 -knife,0.733612,103,310,11,66 -cup,0.592613,79,168,42,44 -chair,0.541943,-1,384,164,94 -person,0.531906,256,0,47,21 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0130.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0130.csv deleted file mode 100644 index afc9ed261c66b8a85448c2770ffbe8ec6463f3e6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0130.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.971135,202,36,54,125 -knife,0.944997,106,333,20,72 -cup,0.934203,79,263,47,41 -cup,0.861223,170,242,48,59 -cup,0.753204,51,179,47,45 -chair,0.544201,-1,417,177,62 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0131.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0131.csv deleted file mode 100644 index 61b5169f266394573537494c36c4babf12d4ade7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0131.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -knife,0.976854,143,353,40,80 -bottle,0.961518,204,27,60,138 -cup,0.931166,208,247,50,62 -cup,0.862812,104,278,46,44 -bottle,0.780370,0,175,50,91 -cup,0.696548,52,189,51,51 -spoon,0.513593,276,230,66,22 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0132.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0132.csv deleted file mode 100644 index a0ebd5a1955e6128da392b16f052d6ef88e39249..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0132.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -knife,0.984781,257,356,59,101 -cup,0.973504,335,248,56,68 -cup,0.916037,215,271,81,49 -bottle,0.889368,74,146,73,102 -bottle,0.882256,325,3,46,155 -cup,0.828649,153,170,48,55 -spoon,0.599262,406,235,73,15 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0133.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0133.csv deleted file mode 100644 index 7330379d1cc1698aaaa832c0bbe9d993635cbec7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0133.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -knife,0.989795,374,314,72,99 -cup,0.892251,264,131,43,54 -cup,0.883950,464,213,59,75 -cup,0.863724,335,231,83,47 -bottle,0.858639,97,136,61,94 -scissors,0.789477,10,283,209,197 -bottle,0.703620,448,-1,39,132 -scissors,0.661726,0,344,38,136 -bottle,0.553078,0,156,26,128 -spoon,0.509513,524,214,88,17 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0134.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0134.csv deleted file mode 100644 index 5b3a5d6f3634306a1858a2c83d37153718b11a67..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0134.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.993499,26,285,106,93 -cup,0.977328,529,172,61,68 -knife,0.962128,445,263,76,85 -bottle,0.916255,184,99,41,91 -cup,0.827923,405,188,73,45 -cup,0.795283,329,100,40,51 -bottle,0.777982,9,78,103,160 -bottle,0.762441,103,102,68,124 -scissors,0.690112,143,227,166,122 -bowl,0.527379,582,170,58,31 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0135.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0135.csv deleted file mode 100644 index a2cd19f8394976ffe1ba0117a7210eaecd7121bd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0135.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.993365,169,262,84,75 -book,0.933422,0,319,127,159 -bottle,0.918718,154,63,73,162 -bottle,0.907029,231,80,51,132 -cup,0.897216,510,182,55,41 -bottle,0.834854,293,92,32,87 -cup,0.697444,425,98,37,49 -scissors,0.638979,278,212,146,108 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0136.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0136.csv deleted file mode 100644 index 821ad774f86b5e8b5f274c9c7c338e9221831599..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0136.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.993703,234,287,75,73 -bottle,0.987953,215,100,57,150 -bottle,0.977538,285,123,41,113 -cup,0.947123,547,206,49,38 -bottle,0.935421,331,126,30,80 -bottle,0.901309,47,-1,84,98 -cup,0.819891,454,132,33,45 -book,0.793753,1,348,192,130 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0137.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0137.csv deleted file mode 100644 index bee0023bb41805208550d9c1673428397f6c9765..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0137.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.991875,316,325,65,66 -bottle,0.932568,393,179,27,74 -bottle,0.925020,154,2,75,141 -bottle,0.741503,358,180,35,100 -cup,0.679018,505,186,32,43 -book,0.631016,116,376,164,105 -bottle,0.618654,345,176,21,81 -bottle,0.617655,295,149,44,127 -cup,0.567961,602,259,36,35 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0138.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0138.csv deleted file mode 100644 index 50e0abcf7016afeb01b25e6f3c372ec06f09929c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0138.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.954241,399,294,55,54 -bottle,0.875598,9,-1,98,168 -bottle,0.872747,425,157,34,95 -bottle,0.816133,239,0,34,118 -bottle,0.725227,258,1,65,120 -book,0.705993,234,340,131,108 -bottle,0.673849,374,138,36,135 -bottle,0.658476,360,153,24,88 -bottle,0.530977,411,159,22,74 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0139.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0139.csv deleted file mode 100644 index 98816e65f84586a5f735073cb3b2008134421f0a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0139.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.918763,422,289,57,55 -book,0.846506,264,329,124,113 -bottle,0.803975,381,150,27,87 -bottle,0.563004,430,155,27,76 -book,0.555847,59,216,163,165 -cup,0.510297,581,166,34,42 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0140.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0140.csv deleted file mode 100644 index e45313ccd1c205929e8b1cd249b3c3b76a59565f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0140.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.967444,439,287,54,52 -book,0.812808,282,322,123,110 -book,0.669970,85,203,151,166 -bottle,0.656755,396,145,29,90 -cup,0.591553,598,168,35,41 -bottle,0.541549,495,156,24,72 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0141.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0141.csv deleted file mode 100644 index 0b13d87db4e4213a603063e2ed2f92a6c514160e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0141.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -book,0.879281,358,311,119,116 -bottle,0.798459,403,0,50,109 -book,0.763706,188,193,119,148 -scissors,0.760124,514,290,55,48 -bottle,0.667816,523,156,26,75 -bottle,0.656672,182,1,70,127 -bottle,0.646596,497,122,34,75 -bottle,0.615565,381,-1,33,100 -bottle,0.611417,476,144,26,89 -bottle,0.532552,544,150,36,92 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0142.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0142.csv deleted file mode 100644 index 46f6f0257626d45cbbb9f00cbe9dc846fdc8d675..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0142.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.969691,347,-3,50,148 -bottle,0.968720,300,-1,44,138 -bottle,0.806624,526,-1,46,132 -book,0.580290,327,211,113,154 -book,0.509786,500,344,138,135 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0143.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0143.csv deleted file mode 100644 index 858bd2b021568c70770f3eec66df752ab2400349..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0143.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.947318,338,17,43,135 -bottle,0.941929,382,16,54,144 -bottle,0.871363,563,2,58,151 -bottle,0.722885,592,2,48,156 -sports ball,0.666290,156,1,193,158 -book,0.561201,528,365,112,115 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0144.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0144.csv deleted file mode 100644 index 5eb713d03af2a0e9a5cf2ef0724a5ce1849bb8ba..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0144.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.946772,400,27,50,141 -bottle,0.906269,356,25,40,127 -bottle,0.669507,609,15,31,158 -bottle,0.649078,576,6,57,160 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0145.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0145.csv deleted file mode 100644 index a4b45ef9ad914cdad5720b4934922684ea29f656..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0145.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sports ball,0.874030,185,2,190,165 -bottle,0.856616,590,12,51,167 -bottle,0.742552,365,23,42,138 -bottle,0.723210,406,28,58,141 -book,0.570041,545,387,95,93 -book,0.504106,373,240,123,149 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0146.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0146.csv deleted file mode 100644 index 7547eb929bd09f56d30564d0085d4514ca70b25e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0146.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.917078,417,37,54,142 -bottle,0.876055,599,17,41,161 -bottle,0.797019,371,37,44,134 -book,0.755267,550,392,91,88 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0147.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0147.csv deleted file mode 100644 index c09ba0590b437f266e865f7a5910b697d6481810..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0147.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.812827,428,37,52,138 -book,0.708550,558,392,83,88 -bottle,0.657987,383,32,40,130 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0148.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0148.csv deleted file mode 100644 index 213f7b1addbcb0229089300a41c78a446f6bd183..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0148.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.901680,391,35,43,122 -bottle,0.868428,434,41,59,133 -book,0.650006,564,397,77,83 -bottle,0.624850,617,34,23,148 -sports ball,0.585831,212,-1,191,175 -book,0.526532,397,245,114,154 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0149.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0149.csv deleted file mode 100644 index c0ef8c80a35de5faaaa02d5ba984c44809514f1f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0149.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.874706,442,42,56,141 -bottle,0.852566,399,40,42,128 -book,0.795620,401,244,123,163 -book,0.583777,568,401,73,79 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0150.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0150.csv deleted file mode 100644 index fa77ee0ea3a0f422cc19b811735fe5352d366681..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0150.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.974614,453,49,59,139 -chair,0.774216,401,254,131,158 -sports ball,0.606134,238,2,183,177 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0151.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0151.csv deleted file mode 100644 index 535857f0a3d537bccdc20f9b85c7f5b545c0edfd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0151.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.935947,461,52,61,136 -bottle,0.856780,420,49,44,122 -book,0.557304,414,254,123,161 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0152.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0152.csv deleted file mode 100644 index 16d518746a36a862320b815635d9c30b6f8f52f6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0152.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.955280,467,47,61,138 -bottle,0.822057,427,45,44,126 -book,0.554674,411,255,129,155 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0153.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0153.csv deleted file mode 100644 index b485bb872b4ff1562c489a725dd49ba6630e62dc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0153.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.972677,469,49,61,139 -bottle,0.698220,430,44,43,125 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0154.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0154.csv deleted file mode 100644 index b42fa59983ca3d87590edb393d912d9569088ecc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0154.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.932403,447,39,64,143 -bottle,0.810613,409,32,49,127 -book,0.768136,524,400,116,80 -book,0.638897,381,238,132,153 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0155.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0155.csv deleted file mode 100644 index 14a6cb7f46d31f869475731598ad8008aa3910a8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0155.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.942333,442,41,63,132 -bottle,0.911747,409,36,46,112 -book,0.512381,419,241,69,141 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0156.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0156.csv deleted file mode 100644 index 04adf6b862bddda376556ed37fad5f6a523aad0e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0156.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.913022,383,30,59,130 -bottle,0.834029,553,57,85,147 -bottle,0.774042,351,21,51,123 -book,0.690203,410,359,135,117 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0157.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0157.csv deleted file mode 100644 index f9d0f5a3c89f3736316452c091439df544c89e04..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0157.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.913321,233,18,41,96 -book,0.836898,289,320,124,96 -toothbrush,0.774430,417,47,58,138 -bottle,0.738016,449,205,61,111 -bottle,0.707602,490,241,51,83 -bottle,0.641050,264,25,41,118 -toothbrush,0.599837,530,259,34,59 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0158.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0158.csv deleted file mode 100644 index c9566f4ff295150b6d373697edea0bd6960de3e2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0158.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -book,0.941570,264,302,120,89 -bottle,0.765629,417,184,51,107 -toothbrush,0.594362,371,25,61,132 -bottle,0.531955,458,213,42,84 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0159.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0159.csv deleted file mode 100644 index efcff84e3551bcd9e543eccef10800d150dd3118..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0159.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.969833,56,14,45,115 -bottle,0.963007,266,6,30,125 -bottle,0.960050,252,13,19,115 -bottle,0.953225,94,20,46,115 -bottle,0.870411,331,148,27,101 -bottle,0.863152,363,170,30,74 -book,0.780809,202,282,104,70 -bottle,0.734264,394,178,22,57 -book,0.603213,89,188,65,111 -book,0.545869,146,184,31,114 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0160.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0160.csv deleted file mode 100644 index 7a478cdf3f6e38d1c9283feb385f2e15f56bd2ef..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0160.csv +++ /dev/null @@ -1,18 +0,0 @@ -Class,Confidence,X,Y,Width,Height -cup,0.975610,546,223,30,36 -bottle,0.946214,56,47,51,114 -book,0.926577,186,288,92,58 -chair,0.921832,389,272,221,207 -cup,0.872473,481,230,27,22 -bottle,0.852239,221,27,32,114 -bottle,0.841315,352,177,17,53 -bottle,0.838362,17,46,50,112 -book,0.787852,88,205,53,107 -book,0.775168,122,199,36,111 -bottle,0.761960,330,169,20,70 -bottle,0.760969,204,32,20,108 -bottle,0.757467,294,153,23,93 -book,0.746963,60,209,45,109 -bottle,0.526843,319,171,15,69 -chair,0.522868,3,432,200,48 -scissors,0.500843,304,265,37,31 diff --git a/target/classes/vslam/BoundedInfo/KeyFrame_0161.csv b/target/classes/vslam/BoundedInfo/KeyFrame_0161.csv deleted file mode 100644 index 635a8665c2863a5ab16a8f5b5873702f4f0fad9c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/BoundedInfo/KeyFrame_0161.csv +++ /dev/null @@ -1,13 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.947614,356,248,195,223 -bottle,0.943112,49,78,42,93 -book,0.930138,175,283,79,48 -bottle,0.919142,192,57,33,99 -book,0.860701,93,210,52,96 -bottle,0.851505,10,78,45,87 -book,0.836864,57,216,60,96 -bottle,0.773903,314,183,17,46 -cup,0.743238,484,217,23,28 -bottle,0.731948,177,62,21,92 -book,0.678295,45,225,39,89 -bottle,0.656152,294,176,21,60 diff --git a/target/classes/vslam/KeyFramePoints/KeyFramePoints_0002.csv b/target/classes/vslam/KeyFramePoints/KeyFramePoints_0002.csv deleted file mode 100644 index 0a4fbe06635fef1a61d2b0ef0260fc2adb6fee59..0000000000000000000000000000000000000000 --- a/target/classes/vslam/KeyFramePoints/KeyFramePoints_0002.csv +++ /dev/null @@ -1,158 +0,0 @@ -291,75,1 -329.8,166.6,3 -185.32,240.04,8 -303,254,9 -232.6,253,10 -229,262.6,12 -297.4,303.4,13 -295,185.8,18 -238,206,20 -282,372,21 -285.4,75.4,23 -243,195,24 -335,425,27 -329,426,39 -223,180,43 -184.6,304.6,47 -187,233.8,48 -245,190,53 -238,190,55 -181,212.68,61 -168.04,127.72,70 -177.4,141.4,71 -235,257.8,81 -282,183,82 -193,185.8,93 -400,174,94 -341,424,95 -237.16,193.96,96 -396,312,97 -281.8,371.8,99 -295,302.2,102 -326,424,103 -185.32,301.96,106 -238.6,199.72,107 -158.248,279.208,109 -183.88,304.84,112 -330.76,425.8,113 -234,228,116 -322.12,185.32,120 -293.32,195.4,122 -169.48,268.84,125 -257.32,208.36,126 -319.24,215.56,127 -301.96,263.08,128 -319,267,129 -327.4,398.2,131 -329.32,166.6,132 -301.96,253,133 -166.888,129.5632,134 -336.52,159.4,135 -237.16,263.08,137 -180.712,244.648,143 -326.44,397,149 -272,74,2 -194,165,4 -259,209.8,5 -255,216,6 -182,218,7 -303,264,11 -241,439,14 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8c4ece7be009a3705b802813b4ad6fb04a36e0d1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperAddLoopConnections.m +++ /dev/null @@ -1,94 +0,0 @@ -function [isLoopClosed, mapPoints, vSetKeyFrames] = helperAddLoopConnections(... - mapPoints, vSetKeyFrames, loopCandidates, currKeyFrameId, currFeatures, ... - loopEdgeNumMatches) -%helperAddLoopConnections add connections between the current key frame and -% the valid loop candidate key frames. A loop candidate is valid if it has -% enough covisible map points with the current key frame. - -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -loopClosureEdge = zeros(0, 2, 'uint32'); - -numCandidates = size(loopCandidates,1); -if isSimMode - [index3d1, index2d1] = findWorldPointsInView(mapPoints, currKeyFrameId); -else - [index3d1Cg, index2d1Cg] = findWorldPointsInView(mapPoints, currKeyFrameId); - index2d1 = index2d1Cg{1}; - index3d1 = index3d1Cg{1}; -end - -validFeatures1 = currFeatures.Features(index2d1, :); - -for k = 1 : numCandidates - if isSimMode() - [index3d2, index2d2] = findWorldPointsInView(mapPoints, loopCandidates(k)); - else - [index3d2Cg, index2d2Cg] = findWorldPointsInView(mapPoints, loopCandidates(k)); - index2d2 = index2d2Cg{1}; - index3d2 = index3d2Cg{1}; - end - allFeatures2 = vSetKeyFrames.Views.Features{loopCandidates(k)}; - - validFeatures2 = allFeatures2(index2d2, :); - - indexPairs = matchFeatures(binaryFeatures(validFeatures1), binaryFeatures(validFeatures2), ... - 'Unique', true, 'MaxRatio', 0.9, 'MatchThreshold', 40); - - % Check if all the candidate key frames have strong connection with the - % current keyframe - if size(indexPairs, 1) < loopEdgeNumMatches - continue - end - - % Estimate the relative pose of the current key frame with respect to the - % loop candidate keyframe with the highest similarity score - worldPoints1 = mapPoints.WorldPoints(index3d1(indexPairs(:, 1)), :); - worldPoints2 = mapPoints.WorldPoints(index3d2(indexPairs(:, 2)), :); - - tform1 = pose2extr(vSetKeyFrames.Views.AbsolutePose(end)); - tform2 = pose2extr(vSetKeyFrames.Views.AbsolutePose(loopCandidates(k))); - - worldPoints1InCamera1 = transformPointsForward(tform1, worldPoints1) ; - worldPoints2InCamera2 = transformPointsForward(tform2, worldPoints2) ; - - w = warning('off','all'); - if isSimMode() - [tform, inlierIndex] = estgeotform3d(... - worldPoints1InCamera1, worldPoints2InCamera2, 'similarity', 'MaxDistance', 0.1); - else - [tform, inlierIndex] = estgeotform3d(... - worldPoints1InCamera1, worldPoints2InCamera2, 'rigid', 'MaxDistance', 0.1); - end - warning(w); - - % Add connection between the current key frame and the loop key frame - inlierIndexVals = inlierIndex(:); - indexPairs1 = indexPairs(inlierIndexVals, 1); - indexPairs2 = indexPairs(inlierIndexVals, 2); - index2dPairs = index2d2(indexPairs2); - index2d1Pairs = index2d1(indexPairs1); - matches = uint32([index2dPairs, index2d1Pairs]); - vSetKeyFrames = addConnection(vSetKeyFrames, loopCandidates(k), currKeyFrameId, tform, 'Matches', matches); - if isSimMode() - disp(['Loop edge added between keyframe: ', num2str(loopCandidates(k)), ' and ', num2str(currKeyFrameId)]); - end - - % Fuse co-visible map points - matchedIndex3d1 = index3d1(indexPairs1); - matchedIndex3d2 = index3d2(indexPairs2); - - mapPoints = updateWorldPoints(mapPoints, matchedIndex3d1, mapPoints.WorldPoints(matchedIndex3d2, :)); - - loopClosureEdge = [loopClosureEdge; loopCandidates(k), currKeyFrameId]; -end -isLoopClosed = ~isempty(loopClosureEdge); -end - -function tf = isSimMode() -tf = isempty(coder.target); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperAddNewKeyFrame.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperAddNewKeyFrame.m deleted file mode 100644 index 8171da4598e2f5e654d532de5f2eafe794b88a54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperAddNewKeyFrame.m +++ /dev/null @@ -1,54 +0,0 @@ -function [mapPoints, vSetKeyFrames] = helperAddNewKeyFrame(mapPoints, vSetKeyFrames,... - cameraPose, currFeatures, currPoints, mapPointsIndices, featureIndices, keyFramesIndices) -%helperAddNewKeyFrame add key frames to the key frame set -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -viewId = vSetKeyFrames.Views.ViewId(end)+1; - -vSetKeyFrames = addView(vSetKeyFrames, viewId, cameraPose,... - 'Features', currFeatures.Features, ... - 'Points', currPoints); - -viewsAbsPoses = vSetKeyFrames.Views.AbsolutePose; - -for i = 1:numel(keyFramesIndices) - localKeyFrameId = keyFramesIndices(i); - if isSimMode() - [index3d, index2d] = findWorldPointsInView(mapPoints, localKeyFrameId); - else - [index3dCg, index2dCg] = findWorldPointsInView(mapPoints, localKeyFrameId); - index3d = index3dCg{1}; - index2d = index2dCg{1}; - end - [~, ia, ib] = intersect(index3d, mapPointsIndices, 'stable'); - - prePose = viewsAbsPoses(localKeyFrameId); - relPose = rigidtform3d(prePose.R' * cameraPose.R, ... - (cameraPose.Translation-prePose.Translation)*prePose.R); - - if numel(ia) > 5 - if isSimMode() - vSetKeyFrames = addConnection(vSetKeyFrames, localKeyFrameId, viewId, relPose, ... - 'Matches', [index2d(ia),featureIndices(ib)]); - else - coder.varsize('matches', [inf 2], [1, 0]); - fIndices = featureIndices(ib(:)); - matches = [index2d(ia), fIndices]; - vSetKeyFrames = addConnection(vSetKeyFrames, localKeyFrameId, viewId, relPose, ... - 'Matches', matches); - end - end -end - -mapPoints = addCorrespondences(mapPoints, viewId, mapPointsIndices, ... - featureIndices); -end - -function tf = isSimMode() - tf = isempty(coder.target); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperCheckLoopClosure.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperCheckLoopClosure.m deleted file mode 100644 index 7cff3e85c2f308126c160e6d73176923a5b38914..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperCheckLoopClosure.m +++ /dev/null @@ -1,58 +0,0 @@ -function [isDetected, loopKeyFrameIds] = helperCheckLoopClosure(vSetKeyFrames, ... - currKeyframeId, imageDatabase, currImg, loopEdgeNumMatches) -%helperCheckLoopClosure detect loop candidates key frames by retrieving -% visually similar images from the feature database. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -% Retrieve all the visually similar key frames -[candidateViewIds, similarityscores] = retrieveImages(currImg, imageDatabase); - -% Compute similarity between the current key frame and its strongly-connected -% key frames. The minimum similarity score is used as a baseline to find -% loop candidate key frames, which are visually similar to but not connected -% to the current key frame -covisViews = connectedViews(vSetKeyFrames, currKeyframeId); -covisViewsIds = covisViews.ViewId; -strongCovisViews = connectedViews(vSetKeyFrames, currKeyframeId, 'MinNumMatches', loopEdgeNumMatches); -strongCovisViewIds = strongCovisViews.ViewId; - -% Retrieve the top 10 similar connected key frames -[~,~,scores] = evaluateImageRetrieval(currImg, imageDatabase, strongCovisViewIds, 'NumResults', 10); -minScore = min(scores); - -[loopKeyFrameIds,ia] = setdiff(candidateViewIds, covisViewsIds, 'stable'); - -% Scores of non-connected key frames -candidateScores = similarityscores(ia); % Descending - -if ~isempty(ia) - bestScore = candidateScores(1); - - % Score must be higher than the 75% of the best score - isValid = candidateScores > max(bestScore*0.75, minScore); - - loopKeyFrameIds = loopKeyFrameIds(isValid); -else - loopKeyFrameIds = zeros(coder.ignoreConst(0), coder.ignoreConst(0), class(loopKeyFrameIds)); -end - -% Loop candidates need to be consecutively detected -minNumCandidates = 3; % At least 3 candidates are found -if size(loopKeyFrameIds,1) >= minNumCandidates - groups = nchoosek(loopKeyFrameIds, minNumCandidates); - consecutiveGroups = groups(max(groups,[],2) - min(groups,[],2) < 4, :); - if ~isempty(consecutiveGroups) % Consecutive candidates are found - loopKeyFrameIds = consecutiveGroups(1,:); - isDetected = true; - else - isDetected = false; - end -else - isDetected = false; -end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperCreateNewMapPoints.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperCreateNewMapPoints.m deleted file mode 100644 index 1731749fa36785ad66beb4aa0763f71a1c072255..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperCreateNewMapPoints.m +++ /dev/null @@ -1,205 +0,0 @@ -function [mapPoints, vSetKeyFrames, recentPointIdx] = helperCreateNewMapPoints(... - mapPoints, vSetKeyFrames, currKeyFrameId, intrinsics, scaleFactor, minNumMatches, minParallax) -%helperCreateNewMapPoints creates new map points by triangulating matched -% feature points in the current key frame and the connected key frames. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -% Get connected key frames -KcViews = connectedViews(vSetKeyFrames, currKeyFrameId, 'MinNumMatches', minNumMatches); -KcIDs = KcViews.ViewId; - -% Retreive data of the current key frame -views = vSetKeyFrames.Views; -currPose = views.AbsolutePose(currKeyFrameId); -currFeatures = views.Features{currKeyFrameId}; -currPoints = views.Points{currKeyFrameId}; -currLocations = currPoints.Location; -currScales = currPoints.Scale; - -% Camera projection matrix -currCamMatrix = cameraProjection(intrinsics, pose2extr(currPose)); - -recentPointIdx = zeros(0, 1); -for i = 1:numel(KcIDs) - kfPose = views.AbsolutePose(KcIDs(i)); - if isSimMode() - [kfIndex3d, kfIndex2d] = findWorldPointsInView(mapPoints, KcIDs(i)); - else - [kfIndex3dCg, kfIndex2dCg] = findWorldPointsInView(mapPoints, KcIDs(i)); - kfIndex3d = kfIndex3dCg{1}; - kfIndex2d = kfIndex2dCg{1}; - end - xyzPoints = mapPoints.WorldPoints(kfIndex3d,:); - medianDepth = median(vecnorm(xyzPoints - kfPose.Translation, 2, 2)); - - % Skip the key frame is the change of view is small - isViewClose = norm(kfPose.Translation - currPose.Translation)/medianDepth < 0.01; - - if isViewClose - continue - end - - % Retrieve data of the connected key frame - kfFeatures = views.Features{KcIDs(i)}; - kfPoints = views.Points{KcIDs(i)}; - kfLocations = kfPoints.Location; - kfScales = kfPoints.Scale; - - % currIndex2d changes in each iteration as new map points are created - if isSimMode() - [~, currIndex2d] = findWorldPointsInView(mapPoints, currKeyFrameId); - else - [~, currIndex2dCg] = findWorldPointsInView(mapPoints, currKeyFrameId); - currIndex2d = currIndex2dCg{1}; - end - % Only use unmatched feature points - uIndices1 = setdiff(uint32(1:size(kfFeatures,1))', kfIndex2d, 'stable'); - uIndices2 = setdiff(uint32(1:size(currFeatures,1))', currIndex2d, 'stable'); - - uFeatures1 = kfFeatures(uIndices1, :); - uFeatures2 = currFeatures(uIndices2, :); - - uLocations1 = kfLocations(uIndices1, :); - uLocations2 = currLocations(uIndices2, :); - - uScales1 = kfScales(uIndices1); - uScales2 = currScales(uIndices2); - - indexPairs = matchFeatures(binaryFeatures(uFeatures1), binaryFeatures(uFeatures2),... - 'Unique', true, 'MaxRatio', 0.7, 'MatchThreshold', 40); - - if isempty(indexPairs) - continue - end - - matchedPoints1 = uLocations1(indexPairs(:,1), :); - matchedPoints2 = uLocations2(indexPairs(:,2), :); - - % Epipole in the current key frame - epiPole = world2img(kfPose.Translation, pose2extr(currPose), intrinsics); - distToEpipole = vecnorm(matchedPoints2 - epiPole, 2, 2); - - % Compute fundamental matrix - F = computeF(intrinsics, kfPose, currPose); - - % Epipolar line in the second image - epiLine = epipolarLine(F, matchedPoints2); - distToLine = abs(sum(epiLine.* [matchedPoints1, ones(size(matchedPoints1,1), 1)], 2))./... - sqrt(sum(epiLine(:,1:2).^2, 2)); - isValid = distToLine < 2*uScales2(indexPairs(:,2)) & ... - distToEpipole > 10*uScales2(indexPairs(:,2)); - - indexPairs = indexPairs(isValid, :); - matchedPoints1 = matchedPoints1(isValid, :); - matchedPoints2 = matchedPoints2(isValid, :); - - % Parallax check - isLarge = isLargeParalalx(matchedPoints1, matchedPoints2, kfPose, ... - currPose, intrinsics, minParallax); - - matchedPoints1 = matchedPoints1(isLarge, :); - matchedPoints2 = matchedPoints2(isLarge, :); - indexPairs = indexPairs(isLarge, :); - - kfCamMatrix = cameraProjection(intrinsics, pose2extr(kfPose)); - - % Triangulate two views to create new world points - [xyzPoints, reprojectionErrors, validIdx] = triangulate(matchedPoints1, ... - matchedPoints2, kfCamMatrix, currCamMatrix); - - % Filtering by view direction and reprojection error - inlier = filterTriangulatedMapPoints(xyzPoints, kfPose, currPose, ... - uScales1(indexPairs(:,1)), uScales2(indexPairs(:,2)), ... - reprojectionErrors, scaleFactor, validIdx); - - % Add new map points and update connections - if any(inlier) - xyzPoints = xyzPoints(inlier,:); - indexPairs = indexPairs(inlier, :); - - mIndices1 = uIndices1(indexPairs(:, 1)); - mIndices2 = uIndices2(indexPairs(:, 2)); - - [mapPoints, indices] = addWorldPoints(mapPoints, xyzPoints); - recentPointIdx = [recentPointIdx; indices]; %#ok - - % Add new observations - mapPoints = addCorrespondences(mapPoints, KcIDs(i),indices, mIndices1); - mapPoints = addCorrespondences(mapPoints, currKeyFrameId, indices, mIndices2); - - % Update connections with new feature matches - if isSimMode() - [~,ia] = intersect(vSetKeyFrames.Connections{:,1:2}, ... - [KcIDs(i), currKeyFrameId], 'row', 'stable'); - oldMatches = vSetKeyFrames.Connections.Matches{ia}; - else - connections = vSetKeyFrames.Connections; - [~,ia] = intersect([connections.ViewId1, connections.ViewId2], ... - [KcIDs(i), currKeyFrameId], 'row', 'stable'); - oldMatches = connections.Matches{ia}; - end - newMatches = [oldMatches; mIndices1, mIndices2]; - vSetKeyFrames = updateConnection(vSetKeyFrames, KcIDs(i), currKeyFrameId, ... - 'Matches', newMatches); - end -end -end - -function F = computeF(intrinsics, pose1, pose2) -R1 = pose1.R; -t1 = pose1.Translation'; - -R2 = pose2.R; -t2 = pose2.Translation'; - -R12 = R1'*R2; -t12 = R1'*(t2-t1); - -% Skew symmetric matrix -t12x = [0, -t12(3), t12(2) - t12(3), 0, -t12(1) - -t12(2) t12(1), 0]; - -F = intrinsics.K'\ t12x * R12 / intrinsics.K; -end - -function inlier = filterTriangulatedMapPoints(xyzPoints, pose1, pose2, ... - scales1, scales2, reprojectionErrors, scaleFactor, isInFront) - -camToPoints1= xyzPoints - pose1.Translation; -camToPoints2= xyzPoints - pose2.Translation; - -% Check scale consistency and reprojection errors -distances1 = vecnorm(camToPoints1, 2, 2); -distances2 = vecnorm(camToPoints2, 2, 2); -ratioDist = distances1./distances2; -ratioScale = scales2./scales1; - -ratioFactor = 1.5 * scaleFactor; - -isInScale = (ratioDist./ratioScale < ratioFactor | ... - ratioScale./ratioDist < ratioFactor); - -maxError = sqrt(6); -isSmallError= reprojectionErrors < maxError*min(scales1, scales2); -inlier = isInScale & isSmallError & isInFront; -end - -function isLarge = isLargeParalalx(points1, points2, pose1, pose2, intrinsics, minParallax) - -% Parallax check -ray1 = [points1, ones(size(points1(:,1)))]/intrinsics.K' *pose1.R'; -ray2 = [points2, ones(size(points1(:,2)))]/intrinsics.K' *pose2.R'; - -cosParallax = sum(ray1 .* ray2, 2) ./(vecnorm(ray1, 2, 2) .* vecnorm(ray2, 2, 2)); -isLarge = cosParallax < cosd(minParallax) & cosParallax > 0; -end - -function tf = isSimMode() - tf = isempty(coder.target); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperImportGroundTruth.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperImportGroundTruth.m deleted file mode 100644 index 8c9488ba53b88a69711a59deed543ca532bae1e8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperImportGroundTruth.m +++ /dev/null @@ -1,57 +0,0 @@ -function camPoses = helperImportGroundTruth(fileName, imds) -%helperImportGroundTruth Import ground truth camera poses from a .txt file -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Copyright 2023 The MathWorks Inc. - -% Set up the Import Options and import the data -opts = delimitedTextImportOptions("NumVariables", 9); - -% Specify range and delimiter -opts.DataLines = [4, Inf]; -opts.Delimiter = " "; - -% Specify column names and types -opts.VariableNames = ["timestamp", "tx", "ty", "tz", "qx", "qy", "qz", "qw", "Var9"]; -opts.SelectedVariableNames = ["timestamp", "tx", "ty", "tz", "qx", "qy", "qz", "qw"]; -opts.VariableTypes = ["double", "double", "double", "double", "double", "double", "double", "double", "string"]; - -% Specify file level properties -opts.ExtraColumnsRule = "ignore"; -opts.EmptyLineRule = "read"; -opts.ConsecutiveDelimitersRule = "join"; -opts.LeadingDelimitersRule = "ignore"; - -% Specify variable properties -opts = setvaropts(opts, "Var9", "WhitespaceRule", "preserve"); -opts = setvaropts(opts, "Var9", "EmptyFieldRule", "auto"); - -% Import the data -groundtruth = readtable(fileName, opts); - -% Initialize the output -camPoses = repmat(rigidtform3d, 1, numel(imds.Files)); - -firstT = [groundtruth(1,:).tx groundtruth(1,:).ty groundtruth(1,:).tz]; -firstR = quat2rotm([groundtruth(1,:).qw groundtruth(1,:).qx groundtruth(1,:).qy groundtruth(1,:).qz]); - -% Find the ground truth data corresponding to the image based on the timestamp -[~,imageTS] = fileparts(imds.Files); -imgTimestamp = str2double(imageTS); -index = interp1(groundtruth.timestamp, 1:numel(groundtruth.timestamp), imgTimestamp, 'nearest', 'extrap'); - -for i=1:numel(imds.Files) - groundtruth_raw = groundtruth(index(i),:); - - % Transform all the camera poses to the coordinate system of the first camera - % Rotation - q = [groundtruth_raw.qw groundtruth_raw.qx groundtruth_raw.qy groundtruth_raw.qz]; - camPoses(i).R = firstR'*quat2rotm(q); - - % Translation - camPoses(i).Translation = ([groundtruth_raw.tx groundtruth_raw.ty groundtruth_raw.tz]-firstT) * firstR; -end -end - diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperMonoVisualSLAM.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperMonoVisualSLAM.m deleted file mode 100644 index 24abc6bc55ccf40ce6a91a017d17b88e0ec1d499..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperMonoVisualSLAM.m +++ /dev/null @@ -1,31 +0,0 @@ -function [xyzPoint, camPoses] = helperMonoVisualSLAM(image) - -% Copyright 2023 The MathWorks Inc. - -%#codegen - -persistent vslam xyzPointsInternal camPosesInternal - -if isempty(vslam) - % Create a monovslam class to process the image data - focalLength = [535.4, 539.2]; % in units of pixels - principalPoint = [320.1, 247.6]; % in units of pixels - imageSize = [480, 640]; % in units of pixels - intrinsics = cameraIntrinsics(focalLength, principalPoint, imageSize); - - vslam = monovslam(intrinsics); -end - -% Process each image frame -addFrame(vslam, image); - -% Get 3-D map points and camera poses -if isempty(xyzPointsInternal) || hasNewKeyFrame(vslam) - xyzPointsInternal = mapPoints(vslam); - camPosesInternal = poses(vslam); -end - -xyzPoint = xyzPointsInternal; - -% Convert camera poses to homogeneous transformation matrices -camPoses = cat(3, camPosesInternal.A); \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperORBFeatureExtractorFunction.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperORBFeatureExtractorFunction.m deleted file mode 100644 index d8c77bf675b0e62057d8b72b15581914ba951f22..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperORBFeatureExtractorFunction.m +++ /dev/null @@ -1,25 +0,0 @@ -function [features, featureMetrics]= helperORBFeatureExtractorFunction(I) -% helperORBFeatureExtractorFunction Implements the ORB feature extraction -% used in bagOfFeatures. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2021 The MathWorks, Inc. - -numPoints = 1000; - -% Detect ORB features -Igray = im2gray(I); - -points = detectORBFeatures(Igray, 'ScaleFactor', 1.2, 'NumLevels', 8); - -% Select a subset of features, uniformly distributed throughout the image -points = selectUniform(points, numPoints, size(Igray, 1:2)); - -% Extract features -features = extractFeatures(Igray, points); - -% Compute the Feature Metric. Use the variance of features as the metric -featureMetrics = var(single(features.Features),[],2); - diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLastKeyFrame.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLastKeyFrame.m deleted file mode 100644 index 467ff8188bc13a55f385e8062267d67f5d77ff54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLastKeyFrame.m +++ /dev/null @@ -1,106 +0,0 @@ -%helperTrackLastKeyFrame Estimate the camera pose by tracking the last key frame -% [currPose, mapPointIdx, featureIdx] = helperTrackLastKeyFrameStereo(mapPoints, -% views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor) estimates -% the camera pose of the current frame by matching features with the -% previous key frame. -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Inputs -% ------ -% mapPoints - A helperMapPoints objects storing map points -% views - View attributes of key frames -% currFeatures - Features in the current frame -% currPoints - Feature points in the current frame -% lastKeyFrameId - ViewId of the last key frame -% intrinsics - Camera intrinsics -% scaleFactor - scale factor of features -% -% Outputs -% ------- -% currPose - Estimated camera pose of the current frame -% mapPointIdx - Indices of map points observed in the current frame -% featureIdx - Indices of features corresponding to mapPointIdx - -% Copyright 2019-2022 The MathWorks, Inc. - -function [currPose, mapPointIdx, featureIdx] = helperTrackLastKeyFrame(... - mapPoints, views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor) - -% Match features from the previous key frame with known world locations -[index3d, index2d] = findWorldPointsInView(mapPoints, lastKeyFrameId); -lastKeyFrameFeatures = views.Features{lastKeyFrameId}(index2d,:); -lastKeyFramePoints = views.Points{lastKeyFrameId}(index2d); - -indexPairs = matchFeatures(currFeatures, binaryFeatures(lastKeyFrameFeatures),... - 'Unique', true, 'MaxRatio', 0.9, 'MatchThreshold', 40); - -% Estimate the camera pose -matchedImagePoints = currPoints.Location(indexPairs(:,1),:); -matchedWorldPoints = mapPoints.WorldPoints(index3d(indexPairs(:,2)), :); - -matchedImagePoints = cast(matchedImagePoints, 'like', matchedWorldPoints); -[currPose, inlier, status] = estworldpose(... - matchedImagePoints, matchedWorldPoints, intrinsics, ... - 'Confidence', 95, 'MaxReprojectionError', 3, 'MaxNumTrials', 1e4); - -if status - currPose=[]; - mapPointIdx=[]; - featureIdx=[]; - return -end - -% Refine camera pose only -currPose = bundleAdjustmentMotion(matchedWorldPoints(inlier,:), ... - matchedImagePoints(inlier,:), currPose, intrinsics, ... - 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-15, 'MaxIteration', 20); - -% Search for more matches with the map points in the previous key frame -xyzPoints = mapPoints.WorldPoints(index3d,:); - -[projectedPoints, isInImage] = world2img(xyzPoints, pose2extr(currPose), intrinsics); -projectedPoints = projectedPoints(isInImage, :); - -minScales = max(1, lastKeyFramePoints.Scale(isInImage)/scaleFactor); -maxScales = lastKeyFramePoints.Scale(isInImage)*scaleFactor; -r = 4; -searchRadius = r*lastKeyFramePoints.Scale(isInImage); - -indexPairs = matchFeaturesInRadius(binaryFeatures(lastKeyFrameFeatures(isInImage,:)), ... - binaryFeatures(currFeatures.Features), currPoints, projectedPoints, searchRadius, ... - 'MatchThreshold', 40, 'MaxRatio', 0.8, 'Unique', true); - -if size(indexPairs, 1) < 20 - indexPairs = matchFeaturesInRadius(binaryFeatures(lastKeyFrameFeatures(isInImage,:)), ... - binaryFeatures(currFeatures.Features), currPoints, projectedPoints, 2*searchRadius, ... - 'MatchThreshold', 40, 'MaxRatio', 1, 'Unique', true); -end - -if size(indexPairs, 1) < 10 - currPose=[]; - mapPointIdx=[]; - featureIdx=[]; - return -end - -% Filter by scales -isGoodScale = currPoints.Scale(indexPairs(:, 2)) >= minScales(indexPairs(:, 1)) & ... - currPoints.Scale(indexPairs(:, 2)) <= maxScales(indexPairs(:, 1)); -indexPairs = indexPairs(isGoodScale, :); - -% Obtain the index of matched map points and features -tempIdx = find(isInImage); % Convert to linear index -mapPointIdx = index3d(tempIdx(indexPairs(:,1))); -featureIdx = indexPairs(:,2); - -% Refine the camera pose again -matchedWorldPoints = mapPoints.WorldPoints(mapPointIdx, :); -matchedImagePoints = currPoints.Location(featureIdx, :); - -currPose = bundleAdjustmentMotion(matchedWorldPoints, matchedImagePoints, ... - currPose, intrinsics, 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-15, 'MaxIteration', 20); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLocalMap.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLocalMap.m deleted file mode 100644 index d64da7a28ae032e7fd6db8a0e0b689a2c90d06a6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLocalMap.m +++ /dev/null @@ -1,221 +0,0 @@ -function [localKeyFrameIds, currPose, mapPointIdx, featureIdx, isKeyFrame] = ... - helperTrackLocalMap(mapPoints, vSetKeyFrames, mapPointIdx, ... - featureIdx, currPose, currFeatures, currPoints, intrinsics, scaleFactor, numLevels, ... - newKeyFrameAdded, lastKeyFrameIndex, currFrameIndex, numSkipFrames, numPointsKeyFrame) -%helperTrackLocalMap Refine camera pose by tracking the local map -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Inputs -% ------ -% mapPoints - A worldpointset object storing map points -% vSetKeyFrames - An imageviewset storing key frames -% mapPointsIndices - Indices of map points observed in the current frame -% featureIndices - Indices of features in the current frame -% corresponding to map points denoted by mapPointsIndices -% currPose - Current camera pose -% currFeatures - ORB Features in the current frame -% currPoints - Feature points in the current frame -% intrinsics - Camera intrinsics -% scaleFactor - scale factor of features -% numLevels - number of levels in feature exatraction -% newKeyFrameAdded - A boolean scalar indicating if a new key frame is -% added recently -% lastKeyFrameIndex - Frame index of the last key frame -% currFrameIndex - Frame index of the current frame -% numSkipFrames - Largest number of frames to skip -% numPointsKeyFrame - Minimum number of points tracked by a key frame -% -% Outputs -% ------- -% localKeyFrameIds - ViewIds of the local key frames -% currPose - Refined camera pose of the current frame -% mapPointIdx - Indices of map points observed in the current frame -% featureIdx - Indices of features in the current frame corresponding -% to mapPointIdx -% isKeyFrame - A boolean scalar indicating if the current frame is -% a key frame - -% Copyright 2019-2022 The MathWorks, Inc. - -persistent numPointsRefKeyFrame localPointsIndices localKeyFrameIdsInternal - -if isempty(numPointsRefKeyFrame) || newKeyFrameAdded - [localPointsIndices, localKeyFrameIdsInternal, numPointsRefKeyFrame] = ... - updateRefKeyFrameAndLocalPoints(mapPoints, vSetKeyFrames, mapPointIdx); -end - -% Project the map into the frame and search for more map point correspondences -newMapPointIdx = setdiff(localPointsIndices, mapPointIdx, 'stable'); -localFeatures = getFeatures(mapPoints, vSetKeyFrames.Views, newMapPointIdx); -[projectedPoints, inlierIndex, predictedScales, viewAngles] = removeOutlierMapPoints(mapPoints, ... - currPose, intrinsics, newMapPointIdx, scaleFactor, numLevels); - -newMapPointIdx = newMapPointIdx(inlierIndex); -localFeatures = localFeatures(inlierIndex,:); - -unmatchedfeatureIdx = setdiff(cast((1:size( currFeatures.Features, 1)).', 'uint32'), ... - featureIdx,'stable'); -unmatchedFeatures = currFeatures.Features(unmatchedfeatureIdx, :); -unmatchedValidPoints= currPoints(unmatchedfeatureIdx); - -% Search radius depends on scale and view direction -searchRadius = 4*ones(size(localFeatures, 1), 1); -searchRadius(viewAngles<3) = 2.5; -searchRadius = searchRadius.*predictedScales; - -indexPairs = matchFeaturesInRadius(binaryFeatures(localFeatures),... - binaryFeatures(unmatchedFeatures), unmatchedValidPoints, projectedPoints, ... - searchRadius, 'MatchThreshold', 40, 'MaxRatio', 0.9, 'Unique', true); - -% Filter by scales -isGoodScale = currPoints.Scale(indexPairs(:, 2)) >= ... - max(1, predictedScales(indexPairs(:, 1))/scaleFactor) & ... - currPoints.Scale(indexPairs(:, 2)) <= predictedScales(indexPairs(:, 1)); -indexPairs = indexPairs(isGoodScale, :); - -% Refine camera pose with more 3D-to-2D correspondences -mapPointIdx = [newMapPointIdx(indexPairs(:,1)); mapPointIdx]; -featureIdx = [unmatchedfeatureIdx(indexPairs(:,2)); featureIdx]; -matchedMapPoints = mapPoints.WorldPoints(mapPointIdx,:); -matchedImagePoints = currPoints.Location(featureIdx,:); - -isKeyFrame = checkKeyFrame(numPointsRefKeyFrame, lastKeyFrameIndex, ... - currFrameIndex, mapPointIdx, numSkipFrames, numPointsKeyFrame); - -localKeyFrameIds = localKeyFrameIdsInternal; - -if isKeyFrame - % Refine camera pose only if the current frame is a key frame - currPose = bundleAdjustmentMotion(matchedMapPoints, matchedImagePoints, ... - currPose, intrinsics, 'PointsUndistorted', true, ... - 'AbsoluteTolerance', 1e-7, 'RelativeTolerance', 1e-16,'MaxIteration', 20); -end -end - -function [localPointsIndices, localKeyFrameIds, numPointsRefKeyFrame] = ... - updateRefKeyFrameAndLocalPoints(mapPoints, vSetKeyFrames, pointIndices) - -if vSetKeyFrames.NumViews == 1 - localKeyFrameIds = vSetKeyFrames.Views.ViewId; - localPointsIndices = (1:mapPoints.Count)'; - numPointsRefKeyFrame = mapPoints.Count; - return -end - -% The reference key frame has the most covisible map points -viewIds = findViewsOfWorldPoint(mapPoints, pointIndices); -refKeyFrameId = mode(vertcat(viewIds{:})); - -localKeyFrames = connectedViews(vSetKeyFrames, refKeyFrameId, "MaxDistance", 2); -localKeyFrameIds = [localKeyFrames.ViewId; refKeyFrameId]; - -pointIdx = findWorldPointsInView(mapPoints, localKeyFrameIds); -if iscell(pointIdx) - numPointsRefKeyFrame = numel(pointIdx{localKeyFrameIds==refKeyFrameId}); - localPointsIndices = sort(vertcat(pointIdx{:})); -else - numPointsRefKeyFrame = numel(pointIdx); - localPointsIndices = sort(pointIdx); -end -end - -function features = getFeatures(mapPoints, views, mapPointIdx) - -% Efficiently retrieve features and image points corresponding to map points -% denoted by mapPointIdx -allIndices = zeros(1, numel(mapPointIdx)); - -% ViewId and offset pair -count = []; % (ViewId, NumFeatures) -viewsFeatures = views.Features; - -for i = 1:numel(mapPointIdx) - index3d = mapPointIdx(i); - - viewId = double(mapPoints.RepresentativeViewId(index3d)); - - if isempty(count) - count = [viewId, size(viewsFeatures{viewId},1)]; - elseif ~any(count(:,1) == viewId) - count = [count; viewId, size(viewsFeatures{viewId},1)]; - end - - idx = find(count(:,1)==viewId); - - if idx > 1 - offset = sum(count(1:idx-1,2)); - else - offset = 0; - end - allIndices(i) = mapPoints.RepresentativeFeatureIndex(index3d) + offset; -end - -uIds = count(:,1); - -% Concatenating features and indexing once is faster than accessing via a for loop -allFeatures = vertcat(viewsFeatures{uIds}); -features = allFeatures(allIndices, :); -end - -function [projectedPoints, inliers, predictedScales, viewAngles] = removeOutlierMapPoints(... - mapPoints, pose, intrinsics, localPointsIndices, scaleFactor, ... - numLevels) - -% 1) Points within the image bounds -xyzPoints = mapPoints.WorldPoints(localPointsIndices, :); -[projectedPoints, isInImage] = world2img(xyzPoints, pose2extr(pose), intrinsics); - -if isempty(projectedPoints) - error('Tracking failed. Try inserting new key frames more frequently.') -end - -% 2) Parallax less than 60 degrees -cameraNormVector = [0 0 1] * pose.Rotation; -cameraToPoints = xyzPoints - pose.Translation; -viewDirection = mapPoints.ViewingDirection(localPointsIndices, :); -validByView = sum(viewDirection.*cameraToPoints, 2) > ... - cosd(60)*(vecnorm(cameraToPoints, 2, 2)); - -% 3) Distance from map point to camera center is in the range of scale -% invariant depth -minDist = mapPoints.DistanceLimits(localPointsIndices,1)/scaleFactor; -maxDist = mapPoints.DistanceLimits(localPointsIndices,2)*scaleFactor; -dist = vecnorm(xyzPoints - pose.Translation, 2, 2); - -validByDistance = dist > minDist & dist < maxDist; - -inliers = isInImage & validByView & validByDistance; - -% Predicted scales -level= ceil(log(maxDist ./ dist)./log(scaleFactor)); -level(level<0) = 0; -level(level>=numLevels-1) = numLevels-1; -predictedScales = scaleFactor.^level; - -% View angles -viewAngles = acosd(sum(cameraNormVector.*cameraToPoints, 2) ./ ... - vecnorm(cameraToPoints, 2, 2)); - -predictedScales = predictedScales(inliers); -viewAngles = viewAngles(inliers); - -projectedPoints = projectedPoints(inliers, :); -end - -function isKeyFrame = checkKeyFrame(numPointsRefKeyFrame, lastKeyFrameIndex, ... - currFrameIndex, mapPointsIndices, numSkipFrames, numPointsKeyFrame) - -% More than numSkipFrames frames have passed from last key frame insertion -tooManyNonKeyFrames = currFrameIndex > lastKeyFrameIndex + numSkipFrames; - -% Track less than numPointsKeyFrame map points -tooFewMapPoints = numel(mapPointsIndices) < numPointsKeyFrame; - -% Tracked map points are fewer than 90% of points tracked by -% the reference key frame -tooFewTrackedPoints = numel(mapPointsIndices) < 0.9 * numPointsRefKeyFrame; - -isKeyFrame = (tooManyNonKeyFrames || tooFewMapPoints) && tooFewTrackedPoints; -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMatchedFeatures.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMatchedFeatures.m deleted file mode 100644 index ff223197e98f091b99e2d4ea5cb42411f276b9c3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMatchedFeatures.m +++ /dev/null @@ -1,50 +0,0 @@ -classdef helperVisualizeMatchedFeatures < handle -%helperVisualizeMatchedFeatures show the matched features in a frame -% -% This is an example helper class that is subject to change or removal -% in future releases. - -% Copyright 2019-2020 The MathWorks, Inc. - - properties (Access = private) - Image - - Feature - end - - methods (Access = public) - - function obj = helperVisualizeMatchedFeatures(I, featurePoints) - locations= featurePoints.Location; - - % Plot image - hFig = figure; - hAxes = newplot(hFig); - - % Set figure visibility and position - hFig.Visible = 'on'; - movegui(hFig, [300 220]); - - % Show the image - obj.Image = imshow(I, 'Parent', hAxes, 'Border', 'tight'); - title(hAxes, 'Matched Features in Current Frame'); - hold(hAxes, 'on'); - - % Plot features - plot(featurePoints, hAxes, 'ShowOrientation',false, ... - 'ShowScale',false); - obj.Feature = findobj(hAxes.Parent,'Type','Line'); - end - - function updatePlot(obj, I, featurePoints) - locations = featurePoints.Location; - obj.Image.CData = I; - obj.Feature.XData = locations(:,1); - obj.Feature.YData = locations(:,2); - drawnow limitrate - end - end -end - - - diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMotionAndStructure.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMotionAndStructure.m deleted file mode 100644 index b064c0480c02a1f23f6c64ff7d6a4dfe3c723953..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMotionAndStructure.m +++ /dev/null @@ -1,156 +0,0 @@ -classdef helperVisualizeMotionAndStructure < handle -%helperVisualizeMatchedFeatures show map points and camera trajectory -% -% This is an example helper class that is subject to change or removal -% in future releases. - -% Copyright 2019-2022 The MathWorks, Inc. - - properties - XLim = [-1.5 1.5] - - YLim = [-1 0.5] - - ZLim = [-0.5 2] - - Axes - end - - properties (Access = private) - MapPointsPlot - - EstimatedTrajectory - - OptimizedTrajectory - - CameraPlot - end - - methods (Access = public) - function obj = helperVisualizeMotionAndStructure(vSetKeyFrames, mapPoints, varargin) - - if nargin > 2 - obj.XLim = varargin{1}; - obj.YLim = varargin{2}; - obj.ZLim = varargin{3}; - end - - [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints); - - obj.MapPointsPlot = pcplayer(obj.XLim, obj.YLim, obj.ZLim, ... - 'VerticalAxis', 'y', 'VerticalAxisDir', 'down'); - - obj.Axes = obj.MapPointsPlot.Axes; - obj.MapPointsPlot.view(xyzPoints); - obj.Axes.Children.DisplayName = 'Map points'; - - hold(obj.Axes, 'on'); - - % Set figure position on the screen - movegui(obj.Axes.Parent, [1000 200]); - - % Plot camera trajectory - obj.EstimatedTrajectory = plot3(obj.Axes, trajectory(:,1), trajectory(:,2), ... - trajectory(:,3), 'r', 'LineWidth', 2 , 'DisplayName', 'Estimated trajectory'); - - % Plot the current cameras - obj.CameraPlot = plotCamera(currPose, 'Parent', obj.Axes, 'Size', 0.05); - end - - function updatePlot(obj, vSetKeyFrames, mapPoints) - - [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints); - - % Update the point cloud - obj.MapPointsPlot.view(xyzPoints); - - % Update the camera trajectory - set(obj.EstimatedTrajectory, 'XData', trajectory(:,1), 'YData', ... - trajectory(:,2), 'ZData', trajectory(:,3)); - - % Update the current camera pose since the first camera is fixed - obj.CameraPlot.AbsolutePose = currPose.AbsolutePose; - obj.CameraPlot.Label = num2str(currPose.ViewId); - - drawnow limitrate - end - - function plotOptimizedTrajectory(obj, poses) - - % Delete the camera plot - delete(obj.CameraPlot); - - % Plot the optimized trajectory - trans = vertcat(poses.AbsolutePose.Translation); - obj.OptimizedTrajectory = plot3(obj.Axes, trans(:, 1), trans(:, 2), trans(:, 3), 'm', ... - 'LineWidth', 2, 'DisplayName', 'Optimized trajectory'); - end - - function plotActualTrajectory(obj, gTruth, optimizedPoses) - estimatedCams = vertcat(optimizedPoses.AbsolutePose.Translation); - actualCams = vertcat(gTruth.Translation); - scale = median(vecnorm(actualCams, 2, 2))/ median(vecnorm(estimatedCams, 2, 2)); - - % Update the plot based on the ground truth - updatePlotScale(obj, scale); - - % Plot the ground truth - plot3(obj.Axes, actualCams(:,1), actualCams(:,2), actualCams(:,3), ... - 'g','LineWidth',2, 'DisplayName', 'Actual trajectory'); - - drawnow limitrate - end - - function showLegend(obj) - % Add a legend to the axes - hLegend = legend(obj.Axes, 'Location', 'northeast', ... - 'TextColor', [1 1 1], 'FontWeight', 'bold'); - end - end - - methods (Access = private) - function [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints) - camPoses = poses(vSetKeyFrames); - currPose = camPoses(end,:); % Contains both ViewId and Pose - - % Ensure the rotation matrix is a rigid transformation - R = double(currPose.AbsolutePose.R); - t = double(currPose.AbsolutePose.Translation); - [U, ~, V] = svd(R); - currPose.AbsolutePose.A = eye(4); - currPose.AbsolutePose.A(1:3, 4) = t; - currPose.AbsolutePose.A(1:3, 1:3) = U * V'; - - trajectory = vertcat(camPoses.AbsolutePose.Translation); - xyzPoints = mapPoints.WorldPoints; - - % Only plot the points within the limit - inPlotRange = xyzPoints(:, 1) > obj.XLim(1) & ... - xyzPoints(:, 1) < obj.XLim(2) & xyzPoints(:, 2) > obj.YLim(1) & ... - xyzPoints(:, 2) < obj.YLim(2) & xyzPoints(:, 3) > obj.ZLim(1) & ... - xyzPoints(:, 3) < obj.ZLim(2); - xyzPoints = xyzPoints(inPlotRange, :); - end - - function updatePlotScale(obj, scale) - % Update the map points and camera trajectory based on the - % ground truth scale - obj.Axes.XLim = obj.Axes.XLim * scale; - obj.Axes.YLim = obj.Axes.YLim * scale; - obj.Axes.ZLim = obj.Axes.ZLim * scale; - - % Map points - obj.Axes.Children(end).XData = obj.Axes.Children(end).XData * scale; - obj.Axes.Children(end).YData = obj.Axes.Children(end).YData * scale; - obj.Axes.Children(end).ZData = obj.Axes.Children(end).ZData * scale; - - % Estiamted and optimized Camera trajectory - obj.EstimatedTrajectory.XData = obj.EstimatedTrajectory.XData * scale; - obj.EstimatedTrajectory.YData = obj.EstimatedTrajectory.YData * scale; - obj.EstimatedTrajectory.ZData = obj.EstimatedTrajectory.ZData * scale; - obj.OptimizedTrajectory.XData = obj.OptimizedTrajectory.XData * scale; - obj.OptimizedTrajectory.YData = obj.OptimizedTrajectory.YData * scale; - obj.OptimizedTrajectory.ZData = obj.OptimizedTrajectory.ZData * scale; - end - end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/orbslamGroundTruth.mat b/target/classes/vslam/Mathworks_VSLAM_Example/orbslamGroundTruth.mat deleted file mode 100644 index ea1360e39c14cb70268bf6d6d4202b51eaf02014..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_Example/orbslamGroundTruth.mat and /dev/null differ diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/VisualSLAMWithAnRGBDCameraExample.mlx b/target/classes/vslam/Mathworks_VSLAM_RGBD/VisualSLAMWithAnRGBDCameraExample.mlx deleted file mode 100644 index b2a042f3ed3d1de4c0281552531e4780e2c16187..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_RGBD/VisualSLAMWithAnRGBDCameraExample.mlx and /dev/null differ diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/bagOfFeaturesDataSLAM.mat b/target/classes/vslam/Mathworks_VSLAM_RGBD/bagOfFeaturesDataSLAM.mat deleted file mode 100644 index bba0c9c9f9fced2771381f71adc28636701665c9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_RGBD/bagOfFeaturesDataSLAM.mat and /dev/null differ diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddLoopConnectionsStereo.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddLoopConnectionsStereo.m deleted file mode 100644 index 5ddcc506b3caa8b678b41692fdd27289826c70d7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddLoopConnectionsStereo.m +++ /dev/null @@ -1,81 +0,0 @@ -function [isLoopClosed, mapPoints, vSetKeyFrames] = helperAddLoopConnectionsStereo(... - mapPoints, vSetKeyFrames, loopCandidates, currKeyFrameId, currFeatures, ... - currPoints, loopEdgeNumMatches, varargin) -%helperAddLoopConnectionsStereo add connections between the current key frame and -% the valid loop candidate key frames. A loop candidate is valid if it has -% enough covisible map points with the current key frame. - -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2022 The MathWorks, Inc. - -if nargin > 7 - maxDistance = varargin{1}; -else - maxDistance = 4; -end - -loopClosureEdge = []; - -numCandidates = size(loopCandidates,2); -[index3d1, index2d1] = findWorldPointsInView(mapPoints, currKeyFrameId); -validFeatures1 = currFeatures.Features(index2d1, :); -validPoints1 = currPoints(index2d1, :); - -for k = 1 : numCandidates - [index3d2, index2d2] = findWorldPointsInView(mapPoints, loopCandidates(k)); - allFeatures2 = vSetKeyFrames.Views.Features{loopCandidates(k)}; - allPoints2 = vSetKeyFrames.Views.Points{loopCandidates(k)}; - validFeatures2 = allFeatures2(index2d2, :); - validPoints2 = allPoints2(index2d2, :); - - indexPairs = matchFeatures(binaryFeatures(validFeatures1), binaryFeatures(validFeatures2), ... - 'Unique', true, 'MaxRatio', 0.9, 'MatchThreshold', 40); - - % Orientation consistency check - orientation1 = validPoints1.Orientation(indexPairs(:,1)); - orientation2 = validPoints2.Orientation(indexPairs(:,2)); - [N, ~, bin] = histcounts(abs(orientation1 - orientation2), 0:pi/30:2*pi); - [~, ia] = maxk(N, 3); % Select the top 3 bins - isConsistent = ismember(bin, ia); - - indexPairs = indexPairs(isConsistent, :); - - % Check if all the candidate key frames have strong connection with the - % current keyframe - if size(indexPairs, 1) < loopEdgeNumMatches - continue - end - - % Estimate the relative pose of the current key frame with respect to the - % loop candidate keyframe with the highest similarity score - - worldPoints1 = mapPoints.WorldPoints(index3d1(indexPairs(:, 1)), :); - worldPoints2 = mapPoints.WorldPoints(index3d2(indexPairs(:, 2)), :); - - tform1 = pose2extr(vSetKeyFrames.Views.AbsolutePose(end)); - tform2 = pose2extr(vSetKeyFrames.Views.AbsolutePose(loopCandidates(k))); - - worldPoints1InCamera1 = transformPointsForward(tform1, worldPoints1); - worldPoints2InCamera2 = transformPointsForward(tform2, worldPoints2); - - w = warning('off','all'); - [tform, inlierIndex] = estgeotform3d(worldPoints1InCamera1, ... - worldPoints2InCamera2, 'rigid', 'MaxNumTrials', 1e4, 'MaxDistance', maxDistance); - warning(w); - - % Add connection between the current key frame and the loop key frame - matches = uint32([index2d2(indexPairs(inlierIndex, 2)), index2d1(indexPairs(inlierIndex, 1))]); - vSetKeyFrames = addConnection(vSetKeyFrames, loopCandidates(k), currKeyFrameId, tform, 'Matches', matches); - disp(['Loop edge added between keyframe: ', num2str(loopCandidates(k)), ' and ', num2str(currKeyFrameId)]); - - % Fuse co-visible map points - matchedIndex3d1 = index3d1(indexPairs(inlierIndex, 1)); - matchedIndex3d2 = index3d2(indexPairs(inlierIndex, 2)); - mapPoints = updateWorldPoints(mapPoints, matchedIndex3d1, mapPoints.WorldPoints(matchedIndex3d2, :)); - - loopClosureEdge = [loopClosureEdge; loopCandidates(k), currKeyFrameId]; -end -isLoopClosed = ~isempty(loopClosureEdge); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddNewKeyFrame.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddNewKeyFrame.m deleted file mode 100644 index 8171da4598e2f5e654d532de5f2eafe794b88a54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddNewKeyFrame.m +++ /dev/null @@ -1,54 +0,0 @@ -function [mapPoints, vSetKeyFrames] = helperAddNewKeyFrame(mapPoints, vSetKeyFrames,... - cameraPose, currFeatures, currPoints, mapPointsIndices, featureIndices, keyFramesIndices) -%helperAddNewKeyFrame add key frames to the key frame set -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -viewId = vSetKeyFrames.Views.ViewId(end)+1; - -vSetKeyFrames = addView(vSetKeyFrames, viewId, cameraPose,... - 'Features', currFeatures.Features, ... - 'Points', currPoints); - -viewsAbsPoses = vSetKeyFrames.Views.AbsolutePose; - -for i = 1:numel(keyFramesIndices) - localKeyFrameId = keyFramesIndices(i); - if isSimMode() - [index3d, index2d] = findWorldPointsInView(mapPoints, localKeyFrameId); - else - [index3dCg, index2dCg] = findWorldPointsInView(mapPoints, localKeyFrameId); - index3d = index3dCg{1}; - index2d = index2dCg{1}; - end - [~, ia, ib] = intersect(index3d, mapPointsIndices, 'stable'); - - prePose = viewsAbsPoses(localKeyFrameId); - relPose = rigidtform3d(prePose.R' * cameraPose.R, ... - (cameraPose.Translation-prePose.Translation)*prePose.R); - - if numel(ia) > 5 - if isSimMode() - vSetKeyFrames = addConnection(vSetKeyFrames, localKeyFrameId, viewId, relPose, ... - 'Matches', [index2d(ia),featureIndices(ib)]); - else - coder.varsize('matches', [inf 2], [1, 0]); - fIndices = featureIndices(ib(:)); - matches = [index2d(ia), fIndices]; - vSetKeyFrames = addConnection(vSetKeyFrames, localKeyFrameId, viewId, relPose, ... - 'Matches', matches); - end - end -end - -mapPoints = addCorrespondences(mapPoints, viewId, mapPointsIndices, ... - featureIndices); -end - -function tf = isSimMode() - tf = isempty(coder.target); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCheckLoopClosure.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCheckLoopClosure.m deleted file mode 100644 index 7cff3e85c2f308126c160e6d73176923a5b38914..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCheckLoopClosure.m +++ /dev/null @@ -1,58 +0,0 @@ -function [isDetected, loopKeyFrameIds] = helperCheckLoopClosure(vSetKeyFrames, ... - currKeyframeId, imageDatabase, currImg, loopEdgeNumMatches) -%helperCheckLoopClosure detect loop candidates key frames by retrieving -% visually similar images from the feature database. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -% Retrieve all the visually similar key frames -[candidateViewIds, similarityscores] = retrieveImages(currImg, imageDatabase); - -% Compute similarity between the current key frame and its strongly-connected -% key frames. The minimum similarity score is used as a baseline to find -% loop candidate key frames, which are visually similar to but not connected -% to the current key frame -covisViews = connectedViews(vSetKeyFrames, currKeyframeId); -covisViewsIds = covisViews.ViewId; -strongCovisViews = connectedViews(vSetKeyFrames, currKeyframeId, 'MinNumMatches', loopEdgeNumMatches); -strongCovisViewIds = strongCovisViews.ViewId; - -% Retrieve the top 10 similar connected key frames -[~,~,scores] = evaluateImageRetrieval(currImg, imageDatabase, strongCovisViewIds, 'NumResults', 10); -minScore = min(scores); - -[loopKeyFrameIds,ia] = setdiff(candidateViewIds, covisViewsIds, 'stable'); - -% Scores of non-connected key frames -candidateScores = similarityscores(ia); % Descending - -if ~isempty(ia) - bestScore = candidateScores(1); - - % Score must be higher than the 75% of the best score - isValid = candidateScores > max(bestScore*0.75, minScore); - - loopKeyFrameIds = loopKeyFrameIds(isValid); -else - loopKeyFrameIds = zeros(coder.ignoreConst(0), coder.ignoreConst(0), class(loopKeyFrameIds)); -end - -% Loop candidates need to be consecutively detected -minNumCandidates = 3; % At least 3 candidates are found -if size(loopKeyFrameIds,1) >= minNumCandidates - groups = nchoosek(loopKeyFrameIds, minNumCandidates); - consecutiveGroups = groups(max(groups,[],2) - min(groups,[],2) < 4, :); - if ~isempty(consecutiveGroups) % Consecutive candidates are found - loopKeyFrameIds = consecutiveGroups(1,:); - isDetected = true; - else - isDetected = false; - end -else - isDetected = false; -end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCreateNewMapPointsStereo.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCreateNewMapPointsStereo.m deleted file mode 100644 index c66582c070cc9b01fcf8964b53f70b124810d02d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCreateNewMapPointsStereo.m +++ /dev/null @@ -1,257 +0,0 @@ -function [mapPoints, vSetKeyFrames, recentPointIdx, stereoMapPointsIndices] = helperCreateNewMapPointsStereo(... - mapPoints, vSetKeyFrames, currKeyFrameId, intrinsics, scaleFactor, minNumMatches, minParallax, ... - unmatchedFeatureIdx, stereoMapPointsIndices) -%helperCreateNewMapPointsStereo creates new map points by triangulating matched -% feature points in the current key frame and the connected key frames. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2022 The MathWorks, Inc. - -% Get connected key frames -KcViews = connectedViews(vSetKeyFrames, currKeyFrameId, minNumMatches); -KcIDs = KcViews.ViewId; - -% Retreive data of the current key frame -currPose = vSetKeyFrames.Views.AbsolutePose(currKeyFrameId); -currFeatures = vSetKeyFrames.Views.Features{currKeyFrameId}; -currPoints = vSetKeyFrames.Views.Points{currKeyFrameId}; -currLocations = currPoints.Location; -currScales = currPoints.Scale; - -% Camera projection matrix -currCamMatrix = cameraProjection(intrinsics, pose2extr(currPose)); - -recentPointIdx = []; - -for i = numel(KcIDs):-1:1 - - kfPose = vSetKeyFrames.Views.AbsolutePose(KcIDs(i)); - [~, kfIndex2d] = findWorldPointsInView(mapPoints, KcIDs(i)); - kfCamMatrix = cameraProjection(intrinsics, pose2extr(kfPose)); - - % Skip the key frame is the change of view is small - isViewClose = norm(kfPose.Translation - currPose.Translation) < 0.2; %baseline - if isViewClose - continue - end - - % Retrieve data of the connected key frame - kfFeatures = vSetKeyFrames.Views.Features{KcIDs(i)}; - kfPoints = vSetKeyFrames.Views.Points{KcIDs(i)}; - kfLocations = kfPoints.Location; - kfScales = kfPoints.Scale; - - % currIndex2d changes in each iteration as new map points are created - [~, currIndex2d] = findWorldPointsInView(mapPoints, currKeyFrameId); - - % Only use unmatched feature points - uIndices1 = setdiff(uint32(1:size(kfFeatures,1))', kfIndex2d); - uIndices2 = [setdiff(uint32(1:size(currFeatures,1))', currIndex2d); unmatchedFeatureIdx]; - - uFeatures1 = kfFeatures(uIndices1, :); - uFeatures2 = currFeatures(uIndices2, :); - - uLocations1 = kfLocations(uIndices1, :); - uLocations2 = currLocations(uIndices2, :); - - uScales1 = kfScales(uIndices1); - uScales2 = currScales(uIndices2); - - indexPairs = matchFeatures(binaryFeatures(uFeatures1), binaryFeatures(uFeatures2),... - 'Unique', true, 'MaxRatio', 0.7, 'MatchThreshold', 40); - - if isempty(indexPairs) - continue - end - - % Created from stereo - [~, ia, ib] = intersect(unmatchedFeatureIdx, uIndices2(indexPairs(:, 2))); - - isNewPointStereo = ~isempty(ia); - - if isNewPointStereo - sIndices1 = uIndices1(indexPairs(ib, 1)); - sIndices2 = unmatchedFeatureIdx(ia); - - % Update the indices - unmatchedFeatureIdx = setdiff(unmatchedFeatureIdx, sIndices2); - - % Filtering by view direction and reprojection error - xyzPoints = mapPoints.WorldPoints(stereoMapPointsIndices(ia), :); - - % Compute reprojection errors - [points1proj, isInFrontOfCam1] = projectPoints(xyzPoints, kfCamMatrix); - [points2proj, isInFrontOfCam2] = projectPoints(xyzPoints, currCamMatrix); - points1 = uLocations1(indexPairs(ib, 1), :)'; - points2 = uLocations2(indexPairs(ib, 2), :)'; - errors1 = hypot(points1(1,:)-points1proj(1,:), ... - points1(2,:) - points1proj(2,:)); - errors2 = hypot(points2(1,:)-points2proj(1,:), ... - points2(2,:) - points2proj(2,:)); - - reprojectionErrors = mean([errors1; errors2])'; - - isValid = checkEpipolarConstraint(intrinsics, currPose, kfPose, points1', points2', indexPairs(ib, :), uScales2); - - validIdx = isInFrontOfCam1 & isInFrontOfCam2 & isValid; - - inlier = filterTriangulatedMapPoints(xyzPoints, kfPose, currPose, ... - uScales1(indexPairs(ib, 1)), uScales2(indexPairs(ib, 2)), ... - reprojectionErrors, scaleFactor, validIdx); - - if any(inlier) - mapPoints = addCorrespondences(mapPoints, KcIDs(i), stereoMapPointsIndices(ia(inlier)), sIndices1(inlier)); - recentPointIdx = union(recentPointIdx, stereoMapPointsIndices(ia(inlier))); - recentPointIdx = recentPointIdx(:); - end - - % Created from triangulation - isNotPicked = true(size(indexPairs, 1), 1); - isNotPicked(ib(inlier)) = false; - indexPairs = indexPairs(isNotPicked, :); - end - - if isempty(indexPairs) - continue - end - - % Need to determine which way the new world points are created - matchedPoints1 = uLocations1(indexPairs(:,1), :); - matchedPoints2 = uLocations2(indexPairs(:,2), :); - - % Check epipolar constraint - isValid = checkEpipolarConstraint(intrinsics, currPose, kfPose, matchedPoints1, matchedPoints2, indexPairs, uScales2); - - indexPairs = indexPairs(isValid, :); - matchedPoints1 = matchedPoints1(isValid, :); - matchedPoints2 = matchedPoints2(isValid, :); - - % Parallax check - isLarge = isLargeParalalx(matchedPoints1, matchedPoints2, kfPose, ... - currPose, intrinsics, minParallax); - - matchedPoints1 = matchedPoints1(isLarge, :); - matchedPoints2 = matchedPoints2(isLarge, :); - indexPairs = indexPairs(isLarge, :); - - % Triangulate two views to create new world points - [xyzPoints, reprojectionErrors, validIdx] = triangulate(matchedPoints1, ... - matchedPoints2, kfCamMatrix, currCamMatrix); - - % Filtering by view direction and reprojection error - inlier = filterTriangulatedMapPoints(xyzPoints, kfPose, currPose, ... - uScales1(indexPairs(:,1)), uScales2(indexPairs(:,2)), ... - reprojectionErrors, scaleFactor, validIdx); - - % Add new map points and update connections - addedMatches = []; - if any(inlier) - xyzPoints = xyzPoints(inlier,:); - indexPairs = indexPairs(inlier, :); - - mIndices1 = uIndices1(indexPairs(:, 1)); - mIndices2 = uIndices2(indexPairs(:, 2)); - - [mapPoints, indices] = addWorldPoints(mapPoints, xyzPoints); - recentPointIdx = [recentPointIdx; indices]; %#ok - - % Add new observations - mapPoints = addCorrespondences(mapPoints, KcIDs(i),indices, mIndices1); - mapPoints = addCorrespondences(mapPoints, currKeyFrameId, indices, mIndices2); - - addedMatches = [mIndices1, mIndices2]; % Triangulation - end - - if isNewPointStereo - addedMatches = [sIndices1, sIndices2; addedMatches]; - end - - % Update connections with new feature matches - [~,ia] = intersect(vSetKeyFrames.Connections{:,1:2}, ... - [KcIDs(i), currKeyFrameId], 'row', 'stable'); - oldMatches = vSetKeyFrames.Connections.Matches{ia}; - newMatches = [oldMatches; addedMatches]; - vSetKeyFrames = updateConnection(vSetKeyFrames, KcIDs(i), currKeyFrameId, ... - 'Matches', newMatches); - -end - -stereoMapPointsIndices = setdiff(stereoMapPointsIndices, recentPointIdx); -end - -function F = computeF(intrinsics, pose1, pose2) -R1 = pose1.R; -t1 = pose1.Translation'; - -R2 = pose2.R; -t2 = pose2.Translation'; - -R12 = R1'*R2; -t12 = R1'*(t2-t1); - -% Skew symmetric matrix -t12x = [0, -t12(3), t12(2) - t12(3), 0, -t12(1) - -t12(2) t12(1), 0]; - -F = intrinsics.K'\ t12x * R12 / intrinsics.K; -end - -function inlier = filterTriangulatedMapPoints(xyzPoints, pose1, pose2, ... - scales1, scales2, reprojectionErrors, scaleFactor, isInFront) - -camToPoints1= xyzPoints - pose1.Translation; -camToPoints2= xyzPoints - pose2.Translation; - -% Check scale consistency and reprojection errors -distances1 = vecnorm(camToPoints1, 2, 2); -distances2 = vecnorm(camToPoints2, 2, 2); -ratioDist = distances1./distances2; -ratioScale = scales2./scales1; - -ratioFactor = 1.5 * scaleFactor; - -isInScale = (ratioDist./ratioScale < ratioFactor | ... - ratioScale./ratioDist < ratioFactor); - -maxError = sqrt(6); -isSmallError= reprojectionErrors < maxError*min(scales1, scales2); -inlier = isInScale & isSmallError & isInFront; -end - -function isLarge = isLargeParalalx(points1, points2, pose1, pose2, intrinsics, minParallax) - -% Parallax check -K = intrinsics.IntrinsicMatrix; -ray1 = [points1, ones(size(points1(:,1)))]/K *pose1.Rotation; -ray2 = [points2, ones(size(points1(:,2)))]/K *pose2.Rotation; - -cosParallax = sum(ray1 .* ray2, 2) ./(vecnorm(ray1, 2, 2) .* vecnorm(ray2, 2, 2)); -isLarge = cosParallax < cosd(minParallax) & cosParallax > 0; -end - -%-------------------------------------------------------------------------- -function [points2d, isInFrontOfCamera] = projectPoints(points3d, P) -points3dHomog = [points3d, ones(size(points3d, 1), 1, 'like', points3d)]'; -points2dHomog = P * points3dHomog; -isInFrontOfCamera = points2dHomog(3, :)' > 0; -points2d = bsxfun(@rdivide, points2dHomog(1:2, :), points2dHomog(3, :)); -end - -function isValid = checkEpipolarConstraint(intrinsics, currPose, kfPose, matchedPoints1, matchedPoints2, indexPairs, uScales2) -% Epipole in the current key frame -epiPole = world2img(kfPose.Translation, pose2extr(currPose), intrinsics); -distToEpipole = vecnorm(matchedPoints2 - epiPole, 2, 2); - -% Compute fundamental matrix -F = computeF(intrinsics, kfPose, currPose); - -% Epipolar line in the second image -epiLine = epipolarLine(F, matchedPoints2); -distToLine = abs(sum(epiLine.* [matchedPoints1, ones(size(matchedPoints1,1), 1)], 2))./... - sqrt(sum(epiLine(:,1:2).^2, 2)); -isValid = distToLine < 2*uScales2(indexPairs(:,2)) & ... - distToEpipole > 10*uScales2(indexPairs(:,2)); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperLocalBundleAdjustmentStereo.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperLocalBundleAdjustmentStereo.m deleted file mode 100644 index 1272b7951bbf8e6d80da44cd4b1a590038d46e4c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperLocalBundleAdjustmentStereo.m +++ /dev/null @@ -1,49 +0,0 @@ -function [mapPoints, vSetKeyFrames, newPointIdx, stereoMapPointsIndices] = helperLocalBundleAdjustmentStereo(mapPoints, ... - vSetKeyFrames, currKeyFrameId, intrinsics, newPointIdx, stereoMapPointsIndices) -%helperLocalBundleAdjustmentStereo refine the pose of the current key frame and -% the map of the surrrounding scene. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2020-2022 The MathWorks, Inc. - -if currKeyFrameId > 2 - - [refinedViews, dist] = connectedViews(vSetKeyFrames, currKeyFrameId, MaxDistance=2); - refinedKeyFrameIds = refinedViews.ViewId; - - % Always fix the first two key frames - fixedViewIds = refinedKeyFrameIds(dist==2); - fixedViewIds = fixedViewIds(1:min(10, numel(fixedViewIds))); - - % Always fix the first two key frames - fixedViewIds = [fixedViewIds; intersect(refinedKeyFrameIds, [1 2])]; - - refinedKeyFrameIds = [refinedKeyFrameIds; currKeyFrameId]; - -else - refinedKeyFrameIds = [1 2]; - fixedViewIds = 1; -end - -% Refine local key frames and map points -[mapPoints, vSetKeyFrames, mapPointIdx, reprojectionErrors] = bundleAdjustment(... - mapPoints, vSetKeyFrames, refinedKeyFrameIds, intrinsics, 'FixedViewIDs', fixedViewIds, ... - 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-16, 'Solver', 'preconditioned-conjugate-gradient', ... - 'MaxIteration', 10); - -maxError = 6; -isInlier = reprojectionErrors < maxError; -outlierIdx = mapPointIdx(~isInlier); -newPointIdx = setdiff(newPointIdx, outlierIdx); - -% Update map points and key frames -if ~isempty(outlierIdx) - mapPoints = removeWorldPoints(mapPoints, outlierIdx); -end - -newPointIdx = newPointIdx - arrayfun(@(x) nnz(x>outlierIdx), newPointIdx); -stereoMapPointsIndices = stereoMapPointsIndices - arrayfun(@(x) nnz(x>outlierIdx), stereoMapPointsIndices); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperORBFeatureExtractorFunction.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperORBFeatureExtractorFunction.m deleted file mode 100644 index d8c77bf675b0e62057d8b72b15581914ba951f22..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperORBFeatureExtractorFunction.m +++ /dev/null @@ -1,25 +0,0 @@ -function [features, featureMetrics]= helperORBFeatureExtractorFunction(I) -% helperORBFeatureExtractorFunction Implements the ORB feature extraction -% used in bagOfFeatures. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2021 The MathWorks, Inc. - -numPoints = 1000; - -% Detect ORB features -Igray = im2gray(I); - -points = detectORBFeatures(Igray, 'ScaleFactor', 1.2, 'NumLevels', 8); - -% Select a subset of features, uniformly distributed throughout the image -points = selectUniform(points, numPoints, size(Igray, 1:2)); - -% Extract features -features = extractFeatures(Igray, points); - -% Compute the Feature Metric. Use the variance of features as the metric -featureMetrics = var(single(features.Features),[],2); - diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLastKeyFrame.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLastKeyFrame.m deleted file mode 100644 index 467ff8188bc13a55f385e8062267d67f5d77ff54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLastKeyFrame.m +++ /dev/null @@ -1,106 +0,0 @@ -%helperTrackLastKeyFrame Estimate the camera pose by tracking the last key frame -% [currPose, mapPointIdx, featureIdx] = helperTrackLastKeyFrameStereo(mapPoints, -% views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor) estimates -% the camera pose of the current frame by matching features with the -% previous key frame. -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Inputs -% ------ -% mapPoints - A helperMapPoints objects storing map points -% views - View attributes of key frames -% currFeatures - Features in the current frame -% currPoints - Feature points in the current frame -% lastKeyFrameId - ViewId of the last key frame -% intrinsics - Camera intrinsics -% scaleFactor - scale factor of features -% -% Outputs -% ------- -% currPose - Estimated camera pose of the current frame -% mapPointIdx - Indices of map points observed in the current frame -% featureIdx - Indices of features corresponding to mapPointIdx - -% Copyright 2019-2022 The MathWorks, Inc. - -function [currPose, mapPointIdx, featureIdx] = helperTrackLastKeyFrame(... - mapPoints, views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor) - -% Match features from the previous key frame with known world locations -[index3d, index2d] = findWorldPointsInView(mapPoints, lastKeyFrameId); -lastKeyFrameFeatures = views.Features{lastKeyFrameId}(index2d,:); -lastKeyFramePoints = views.Points{lastKeyFrameId}(index2d); - -indexPairs = matchFeatures(currFeatures, binaryFeatures(lastKeyFrameFeatures),... - 'Unique', true, 'MaxRatio', 0.9, 'MatchThreshold', 40); - -% Estimate the camera pose -matchedImagePoints = currPoints.Location(indexPairs(:,1),:); -matchedWorldPoints = mapPoints.WorldPoints(index3d(indexPairs(:,2)), :); - -matchedImagePoints = cast(matchedImagePoints, 'like', matchedWorldPoints); -[currPose, inlier, status] = estworldpose(... - matchedImagePoints, matchedWorldPoints, intrinsics, ... - 'Confidence', 95, 'MaxReprojectionError', 3, 'MaxNumTrials', 1e4); - -if status - currPose=[]; - mapPointIdx=[]; - featureIdx=[]; - return -end - -% Refine camera pose only -currPose = bundleAdjustmentMotion(matchedWorldPoints(inlier,:), ... - matchedImagePoints(inlier,:), currPose, intrinsics, ... - 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-15, 'MaxIteration', 20); - -% Search for more matches with the map points in the previous key frame -xyzPoints = mapPoints.WorldPoints(index3d,:); - -[projectedPoints, isInImage] = world2img(xyzPoints, pose2extr(currPose), intrinsics); -projectedPoints = projectedPoints(isInImage, :); - -minScales = max(1, lastKeyFramePoints.Scale(isInImage)/scaleFactor); -maxScales = lastKeyFramePoints.Scale(isInImage)*scaleFactor; -r = 4; -searchRadius = r*lastKeyFramePoints.Scale(isInImage); - -indexPairs = matchFeaturesInRadius(binaryFeatures(lastKeyFrameFeatures(isInImage,:)), ... - binaryFeatures(currFeatures.Features), currPoints, projectedPoints, searchRadius, ... - 'MatchThreshold', 40, 'MaxRatio', 0.8, 'Unique', true); - -if size(indexPairs, 1) < 20 - indexPairs = matchFeaturesInRadius(binaryFeatures(lastKeyFrameFeatures(isInImage,:)), ... - binaryFeatures(currFeatures.Features), currPoints, projectedPoints, 2*searchRadius, ... - 'MatchThreshold', 40, 'MaxRatio', 1, 'Unique', true); -end - -if size(indexPairs, 1) < 10 - currPose=[]; - mapPointIdx=[]; - featureIdx=[]; - return -end - -% Filter by scales -isGoodScale = currPoints.Scale(indexPairs(:, 2)) >= minScales(indexPairs(:, 1)) & ... - currPoints.Scale(indexPairs(:, 2)) <= maxScales(indexPairs(:, 1)); -indexPairs = indexPairs(isGoodScale, :); - -% Obtain the index of matched map points and features -tempIdx = find(isInImage); % Convert to linear index -mapPointIdx = index3d(tempIdx(indexPairs(:,1))); -featureIdx = indexPairs(:,2); - -% Refine the camera pose again -matchedWorldPoints = mapPoints.WorldPoints(mapPointIdx, :); -matchedImagePoints = currPoints.Location(featureIdx, :); - -currPose = bundleAdjustmentMotion(matchedWorldPoints, matchedImagePoints, ... - currPose, intrinsics, 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-15, 'MaxIteration', 20); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLocalMap.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLocalMap.m deleted file mode 100644 index d64da7a28ae032e7fd6db8a0e0b689a2c90d06a6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLocalMap.m +++ /dev/null @@ -1,221 +0,0 @@ -function [localKeyFrameIds, currPose, mapPointIdx, featureIdx, isKeyFrame] = ... - helperTrackLocalMap(mapPoints, vSetKeyFrames, mapPointIdx, ... - featureIdx, currPose, currFeatures, currPoints, intrinsics, scaleFactor, numLevels, ... - newKeyFrameAdded, lastKeyFrameIndex, currFrameIndex, numSkipFrames, numPointsKeyFrame) -%helperTrackLocalMap Refine camera pose by tracking the local map -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Inputs -% ------ -% mapPoints - A worldpointset object storing map points -% vSetKeyFrames - An imageviewset storing key frames -% mapPointsIndices - Indices of map points observed in the current frame -% featureIndices - Indices of features in the current frame -% corresponding to map points denoted by mapPointsIndices -% currPose - Current camera pose -% currFeatures - ORB Features in the current frame -% currPoints - Feature points in the current frame -% intrinsics - Camera intrinsics -% scaleFactor - scale factor of features -% numLevels - number of levels in feature exatraction -% newKeyFrameAdded - A boolean scalar indicating if a new key frame is -% added recently -% lastKeyFrameIndex - Frame index of the last key frame -% currFrameIndex - Frame index of the current frame -% numSkipFrames - Largest number of frames to skip -% numPointsKeyFrame - Minimum number of points tracked by a key frame -% -% Outputs -% ------- -% localKeyFrameIds - ViewIds of the local key frames -% currPose - Refined camera pose of the current frame -% mapPointIdx - Indices of map points observed in the current frame -% featureIdx - Indices of features in the current frame corresponding -% to mapPointIdx -% isKeyFrame - A boolean scalar indicating if the current frame is -% a key frame - -% Copyright 2019-2022 The MathWorks, Inc. - -persistent numPointsRefKeyFrame localPointsIndices localKeyFrameIdsInternal - -if isempty(numPointsRefKeyFrame) || newKeyFrameAdded - [localPointsIndices, localKeyFrameIdsInternal, numPointsRefKeyFrame] = ... - updateRefKeyFrameAndLocalPoints(mapPoints, vSetKeyFrames, mapPointIdx); -end - -% Project the map into the frame and search for more map point correspondences -newMapPointIdx = setdiff(localPointsIndices, mapPointIdx, 'stable'); -localFeatures = getFeatures(mapPoints, vSetKeyFrames.Views, newMapPointIdx); -[projectedPoints, inlierIndex, predictedScales, viewAngles] = removeOutlierMapPoints(mapPoints, ... - currPose, intrinsics, newMapPointIdx, scaleFactor, numLevels); - -newMapPointIdx = newMapPointIdx(inlierIndex); -localFeatures = localFeatures(inlierIndex,:); - -unmatchedfeatureIdx = setdiff(cast((1:size( currFeatures.Features, 1)).', 'uint32'), ... - featureIdx,'stable'); -unmatchedFeatures = currFeatures.Features(unmatchedfeatureIdx, :); -unmatchedValidPoints= currPoints(unmatchedfeatureIdx); - -% Search radius depends on scale and view direction -searchRadius = 4*ones(size(localFeatures, 1), 1); -searchRadius(viewAngles<3) = 2.5; -searchRadius = searchRadius.*predictedScales; - -indexPairs = matchFeaturesInRadius(binaryFeatures(localFeatures),... - binaryFeatures(unmatchedFeatures), unmatchedValidPoints, projectedPoints, ... - searchRadius, 'MatchThreshold', 40, 'MaxRatio', 0.9, 'Unique', true); - -% Filter by scales -isGoodScale = currPoints.Scale(indexPairs(:, 2)) >= ... - max(1, predictedScales(indexPairs(:, 1))/scaleFactor) & ... - currPoints.Scale(indexPairs(:, 2)) <= predictedScales(indexPairs(:, 1)); -indexPairs = indexPairs(isGoodScale, :); - -% Refine camera pose with more 3D-to-2D correspondences -mapPointIdx = [newMapPointIdx(indexPairs(:,1)); mapPointIdx]; -featureIdx = [unmatchedfeatureIdx(indexPairs(:,2)); featureIdx]; -matchedMapPoints = mapPoints.WorldPoints(mapPointIdx,:); -matchedImagePoints = currPoints.Location(featureIdx,:); - -isKeyFrame = checkKeyFrame(numPointsRefKeyFrame, lastKeyFrameIndex, ... - currFrameIndex, mapPointIdx, numSkipFrames, numPointsKeyFrame); - -localKeyFrameIds = localKeyFrameIdsInternal; - -if isKeyFrame - % Refine camera pose only if the current frame is a key frame - currPose = bundleAdjustmentMotion(matchedMapPoints, matchedImagePoints, ... - currPose, intrinsics, 'PointsUndistorted', true, ... - 'AbsoluteTolerance', 1e-7, 'RelativeTolerance', 1e-16,'MaxIteration', 20); -end -end - -function [localPointsIndices, localKeyFrameIds, numPointsRefKeyFrame] = ... - updateRefKeyFrameAndLocalPoints(mapPoints, vSetKeyFrames, pointIndices) - -if vSetKeyFrames.NumViews == 1 - localKeyFrameIds = vSetKeyFrames.Views.ViewId; - localPointsIndices = (1:mapPoints.Count)'; - numPointsRefKeyFrame = mapPoints.Count; - return -end - -% The reference key frame has the most covisible map points -viewIds = findViewsOfWorldPoint(mapPoints, pointIndices); -refKeyFrameId = mode(vertcat(viewIds{:})); - -localKeyFrames = connectedViews(vSetKeyFrames, refKeyFrameId, "MaxDistance", 2); -localKeyFrameIds = [localKeyFrames.ViewId; refKeyFrameId]; - -pointIdx = findWorldPointsInView(mapPoints, localKeyFrameIds); -if iscell(pointIdx) - numPointsRefKeyFrame = numel(pointIdx{localKeyFrameIds==refKeyFrameId}); - localPointsIndices = sort(vertcat(pointIdx{:})); -else - numPointsRefKeyFrame = numel(pointIdx); - localPointsIndices = sort(pointIdx); -end -end - -function features = getFeatures(mapPoints, views, mapPointIdx) - -% Efficiently retrieve features and image points corresponding to map points -% denoted by mapPointIdx -allIndices = zeros(1, numel(mapPointIdx)); - -% ViewId and offset pair -count = []; % (ViewId, NumFeatures) -viewsFeatures = views.Features; - -for i = 1:numel(mapPointIdx) - index3d = mapPointIdx(i); - - viewId = double(mapPoints.RepresentativeViewId(index3d)); - - if isempty(count) - count = [viewId, size(viewsFeatures{viewId},1)]; - elseif ~any(count(:,1) == viewId) - count = [count; viewId, size(viewsFeatures{viewId},1)]; - end - - idx = find(count(:,1)==viewId); - - if idx > 1 - offset = sum(count(1:idx-1,2)); - else - offset = 0; - end - allIndices(i) = mapPoints.RepresentativeFeatureIndex(index3d) + offset; -end - -uIds = count(:,1); - -% Concatenating features and indexing once is faster than accessing via a for loop -allFeatures = vertcat(viewsFeatures{uIds}); -features = allFeatures(allIndices, :); -end - -function [projectedPoints, inliers, predictedScales, viewAngles] = removeOutlierMapPoints(... - mapPoints, pose, intrinsics, localPointsIndices, scaleFactor, ... - numLevels) - -% 1) Points within the image bounds -xyzPoints = mapPoints.WorldPoints(localPointsIndices, :); -[projectedPoints, isInImage] = world2img(xyzPoints, pose2extr(pose), intrinsics); - -if isempty(projectedPoints) - error('Tracking failed. Try inserting new key frames more frequently.') -end - -% 2) Parallax less than 60 degrees -cameraNormVector = [0 0 1] * pose.Rotation; -cameraToPoints = xyzPoints - pose.Translation; -viewDirection = mapPoints.ViewingDirection(localPointsIndices, :); -validByView = sum(viewDirection.*cameraToPoints, 2) > ... - cosd(60)*(vecnorm(cameraToPoints, 2, 2)); - -% 3) Distance from map point to camera center is in the range of scale -% invariant depth -minDist = mapPoints.DistanceLimits(localPointsIndices,1)/scaleFactor; -maxDist = mapPoints.DistanceLimits(localPointsIndices,2)*scaleFactor; -dist = vecnorm(xyzPoints - pose.Translation, 2, 2); - -validByDistance = dist > minDist & dist < maxDist; - -inliers = isInImage & validByView & validByDistance; - -% Predicted scales -level= ceil(log(maxDist ./ dist)./log(scaleFactor)); -level(level<0) = 0; -level(level>=numLevels-1) = numLevels-1; -predictedScales = scaleFactor.^level; - -% View angles -viewAngles = acosd(sum(cameraNormVector.*cameraToPoints, 2) ./ ... - vecnorm(cameraToPoints, 2, 2)); - -predictedScales = predictedScales(inliers); -viewAngles = viewAngles(inliers); - -projectedPoints = projectedPoints(inliers, :); -end - -function isKeyFrame = checkKeyFrame(numPointsRefKeyFrame, lastKeyFrameIndex, ... - currFrameIndex, mapPointsIndices, numSkipFrames, numPointsKeyFrame) - -% More than numSkipFrames frames have passed from last key frame insertion -tooManyNonKeyFrames = currFrameIndex > lastKeyFrameIndex + numSkipFrames; - -% Track less than numPointsKeyFrame map points -tooFewMapPoints = numel(mapPointsIndices) < numPointsKeyFrame; - -% Tracked map points are fewer than 90% of points tracked by -% the reference key frame -tooFewTrackedPoints = numel(mapPointsIndices) < 0.9 * numPointsRefKeyFrame; - -isKeyFrame = (tooManyNonKeyFrames || tooFewMapPoints) && tooFewTrackedPoints; -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMatchedFeaturesRGBD.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMatchedFeaturesRGBD.m deleted file mode 100644 index 5aec70402a9a02803db91acb4e292a4e577e49cb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMatchedFeaturesRGBD.m +++ /dev/null @@ -1,56 +0,0 @@ -classdef helperVisualizeMatchedFeaturesRGBD < handle -%helperVisualizeMatchedFeaturesRGBD show the matched features in a frame -% -% This is an example helper class that is subject to change or removal -% in future releases. - -% Copyright 2021 The MathWorks, Inc. - - properties (Access = private) - Image - - Feature - end - - methods (Access = public) - - function obj = helperVisualizeMatchedFeaturesRGBD(I1, I2, points) - - % Plot image - hFig = figure; - hAxes = newplot(hFig); - - % Set figure visibility and position - hFig.Visible = 'on'; - movegui(hFig, [200 200]); - - % Show the image and features - obj.Image = showMatchedFeatures(I1, I2, points, ... - points, 'montage', 'Parent', hAxes, ... - 'PlotOptions', {'g+','g+',''}); - title(hAxes, 'Matched Features in Current Frame'); - hold(hAxes, 'on'); - - obj.Feature = findobj(hAxes.Parent,'Type','Line'); - end - - function updatePlot(obj, I1, I2, points) - - % Color and depth image - obj.Image.CData = imfuse(I1, I2, 'montage'); - - % Connecting lines - obj.Feature(1).XData = NaN; - obj.Feature(1).YData = NaN; - - % Right image - obj.Feature(2).XData = points.Location(:,1) + size(I1, 2); - obj.Feature(2).YData = points.Location(:,2); - - % Left image - obj.Feature(3).XData = points.Location(:,1); - obj.Feature(3).YData = points.Location(:,2); - drawnow limitrate - end - end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMotionAndStructure.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMotionAndStructure.m deleted file mode 100644 index b064c0480c02a1f23f6c64ff7d6a4dfe3c723953..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMotionAndStructure.m +++ /dev/null @@ -1,156 +0,0 @@ -classdef helperVisualizeMotionAndStructure < handle -%helperVisualizeMatchedFeatures show map points and camera trajectory -% -% This is an example helper class that is subject to change or removal -% in future releases. - -% Copyright 2019-2022 The MathWorks, Inc. - - properties - XLim = [-1.5 1.5] - - YLim = [-1 0.5] - - ZLim = [-0.5 2] - - Axes - end - - properties (Access = private) - MapPointsPlot - - EstimatedTrajectory - - OptimizedTrajectory - - CameraPlot - end - - methods (Access = public) - function obj = helperVisualizeMotionAndStructure(vSetKeyFrames, mapPoints, varargin) - - if nargin > 2 - obj.XLim = varargin{1}; - obj.YLim = varargin{2}; - obj.ZLim = varargin{3}; - end - - [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints); - - obj.MapPointsPlot = pcplayer(obj.XLim, obj.YLim, obj.ZLim, ... - 'VerticalAxis', 'y', 'VerticalAxisDir', 'down'); - - obj.Axes = obj.MapPointsPlot.Axes; - obj.MapPointsPlot.view(xyzPoints); - obj.Axes.Children.DisplayName = 'Map points'; - - hold(obj.Axes, 'on'); - - % Set figure position on the screen - movegui(obj.Axes.Parent, [1000 200]); - - % Plot camera trajectory - obj.EstimatedTrajectory = plot3(obj.Axes, trajectory(:,1), trajectory(:,2), ... - trajectory(:,3), 'r', 'LineWidth', 2 , 'DisplayName', 'Estimated trajectory'); - - % Plot the current cameras - obj.CameraPlot = plotCamera(currPose, 'Parent', obj.Axes, 'Size', 0.05); - end - - function updatePlot(obj, vSetKeyFrames, mapPoints) - - [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints); - - % Update the point cloud - obj.MapPointsPlot.view(xyzPoints); - - % Update the camera trajectory - set(obj.EstimatedTrajectory, 'XData', trajectory(:,1), 'YData', ... - trajectory(:,2), 'ZData', trajectory(:,3)); - - % Update the current camera pose since the first camera is fixed - obj.CameraPlot.AbsolutePose = currPose.AbsolutePose; - obj.CameraPlot.Label = num2str(currPose.ViewId); - - drawnow limitrate - end - - function plotOptimizedTrajectory(obj, poses) - - % Delete the camera plot - delete(obj.CameraPlot); - - % Plot the optimized trajectory - trans = vertcat(poses.AbsolutePose.Translation); - obj.OptimizedTrajectory = plot3(obj.Axes, trans(:, 1), trans(:, 2), trans(:, 3), 'm', ... - 'LineWidth', 2, 'DisplayName', 'Optimized trajectory'); - end - - function plotActualTrajectory(obj, gTruth, optimizedPoses) - estimatedCams = vertcat(optimizedPoses.AbsolutePose.Translation); - actualCams = vertcat(gTruth.Translation); - scale = median(vecnorm(actualCams, 2, 2))/ median(vecnorm(estimatedCams, 2, 2)); - - % Update the plot based on the ground truth - updatePlotScale(obj, scale); - - % Plot the ground truth - plot3(obj.Axes, actualCams(:,1), actualCams(:,2), actualCams(:,3), ... - 'g','LineWidth',2, 'DisplayName', 'Actual trajectory'); - - drawnow limitrate - end - - function showLegend(obj) - % Add a legend to the axes - hLegend = legend(obj.Axes, 'Location', 'northeast', ... - 'TextColor', [1 1 1], 'FontWeight', 'bold'); - end - end - - methods (Access = private) - function [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints) - camPoses = poses(vSetKeyFrames); - currPose = camPoses(end,:); % Contains both ViewId and Pose - - % Ensure the rotation matrix is a rigid transformation - R = double(currPose.AbsolutePose.R); - t = double(currPose.AbsolutePose.Translation); - [U, ~, V] = svd(R); - currPose.AbsolutePose.A = eye(4); - currPose.AbsolutePose.A(1:3, 4) = t; - currPose.AbsolutePose.A(1:3, 1:3) = U * V'; - - trajectory = vertcat(camPoses.AbsolutePose.Translation); - xyzPoints = mapPoints.WorldPoints; - - % Only plot the points within the limit - inPlotRange = xyzPoints(:, 1) > obj.XLim(1) & ... - xyzPoints(:, 1) < obj.XLim(2) & xyzPoints(:, 2) > obj.YLim(1) & ... - xyzPoints(:, 2) < obj.YLim(2) & xyzPoints(:, 3) > obj.ZLim(1) & ... - xyzPoints(:, 3) < obj.ZLim(2); - xyzPoints = xyzPoints(inPlotRange, :); - end - - function updatePlotScale(obj, scale) - % Update the map points and camera trajectory based on the - % ground truth scale - obj.Axes.XLim = obj.Axes.XLim * scale; - obj.Axes.YLim = obj.Axes.YLim * scale; - obj.Axes.ZLim = obj.Axes.ZLim * scale; - - % Map points - obj.Axes.Children(end).XData = obj.Axes.Children(end).XData * scale; - obj.Axes.Children(end).YData = obj.Axes.Children(end).YData * scale; - obj.Axes.Children(end).ZData = obj.Axes.Children(end).ZData * scale; - - % Estiamted and optimized Camera trajectory - obj.EstimatedTrajectory.XData = obj.EstimatedTrajectory.XData * scale; - obj.EstimatedTrajectory.YData = obj.EstimatedTrajectory.YData * scale; - obj.EstimatedTrajectory.ZData = obj.EstimatedTrajectory.ZData * scale; - obj.OptimizedTrajectory.XData = obj.OptimizedTrajectory.XData * scale; - obj.OptimizedTrajectory.YData = obj.OptimizedTrajectory.YData * scale; - obj.OptimizedTrajectory.ZData = obj.OptimizedTrajectory.ZData * scale; - end - end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/orbslamGroundTruth.mat b/target/classes/vslam/Mathworks_VSLAM_RGBD/orbslamGroundTruth.mat deleted file mode 100644 index ea1360e39c14cb70268bf6d6d4202b51eaf02014..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_RGBD/orbslamGroundTruth.mat and /dev/null differ diff --git a/target/classes/vslam/README.md b/target/classes/vslam/README.md deleted file mode 100644 index 3a958ebcebb9cd8a0278721e6c043284b4e5cad3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/README.md +++ /dev/null @@ -1,18 +0,0 @@ - -## Notes - -Notes from Rohan: -- could use MATLAB coder to move MATLAB code to C/C++ code - - not sure if this is possible for Java code as well - - Prof. mentioned wanting Java code s.t. other students can read and critique codebase -- use MATLAB functions, create new MATLAB objects for data structures / database system -- dataset used by MATLAB example: https://cvg.cit.tum.de/data/datasets/rgbd-dataset - - -#### Performing VSLAM using online dataset - -- Open up MATLAB console -- Install necessary Mathworks Library: Vision, Visual SLAM (users will be queried to download necessary packages) -- In MATLAB console, set imagesPath to 'rgbd_dataset_freiburg3_long_office_household/rgb' -- Run the vslam_implementation.m script with the imagesPath as input -- Use output of worldPointSet for figuring out which key features belong to which objects diff --git a/target/classes/vslam/extractPointsByViewId.m b/target/classes/vslam/extractPointsByViewId.m deleted file mode 100644 index 22dc739f5f31b73d47d098c401d0c5a38656e6a5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/extractPointsByViewId.m +++ /dev/null @@ -1,41 +0,0 @@ -function extractPointsByViewId(viewId, worldPointSet) - % Define directories and file paths - keyFramesDir = './KeyFrames'; - keyFramePointsDir = './KeyFramePoints'; - - % Construct filename for the image - imageFilename = sprintf('%s/KeyFrame_%04d.png', keyFramesDir, viewId); - - % Load and display the image - currImage = imread(imageFilename); - figure; - imshow(currImage); - title(['Image for View ID: ', num2str(viewId)]); - hold on; - - % Load corresponding CSV file for world point indices and pixel locations - csvFilename = sprintf('%s/KeyFramePoints_%04d.csv', keyFramePointsDir, viewId); - dataMatrix = readmatrix(csvFilename); - - % Extract pixel locations and indices of world points - pixelLocations = dataMatrix(:, 1:2); % Assuming first two columns are pixel X, Y - mapPointsIdx = dataMatrix(:, 3); % Assuming third column is mapPointsIdx - - % Extract world points using the indices - worldPoints = worldPointSet.WorldPoints(mapPointsIdx, :); - - % Append world points to the CSV - updatedDataMatrix = [dataMatrix, worldPoints]; % Concatenate world points - writematrix(updatedDataMatrix, csvFilename); % Optionally write back if needed - - % Overlay features on the image - plot(pixelLocations(:,1), pixelLocations(:,2), 'yo', 'MarkerSize', 5, 'LineWidth', 2); - - % Optionally save or display the image - figure; - imshow(currImage); - hold on; - plot(pixelLocations(:,1), pixelLocations(:,2), 'yo', 'MarkerSize', 5, 'LineWidth', 2); - title('Features Overlayed on Image'); -end - diff --git a/target/classes/vslam/extractedPoints.csv b/target/classes/vslam/extractedPoints.csv deleted file mode 100644 index 482821170b96860c836ae47d6f7624d9469d8fb5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/extractedPoints.csv +++ /dev/null @@ -1,365 +0,0 @@ --0.06900241,-0.3507448,1.033868 --0.5094872,-0.335972,1.037024 --0.0517595,-0.3194826,0.964794 --0.26819,-0.2832867,0.93624 --0.451066,-0.2754324,0.9582117 --0.02466401,-0.2934302,1.022113 -0.4340152,-0.2927349,1.012656 --0.4700845,-0.2324494,1.027293 -0.05616835,-0.2302022,1.02122 -0.3103633,-0.2405539,1.076906 -0.3468663,-0.2287515,1.026217 --0.2542701,-0.1819791,0.9472755 -0.2602769,-0.2096001,1.085634 -0.4181629,-0.1918874,1.018657 -0.5108834,-0.1945888,1.10052 -0.1607228,-0.1786381,1.092534 -0.1154751,-0.1575818,1.033309 -0.3628199,-0.1240209,1.042551 -0.3392987,-0.1220983,1.065156 -0.09428331,-0.09280027,1.005206 --0.4141278,-0.08583868,1.030251 -0.18329,-0.09223963,0.997163 -0.1716043,-0.08562668,0.958635 --0.1729519,-0.0776499,1.006449 --0.2845822,-0.06999036,0.8611298 -0.02044802,-0.05811689,0.9738315 -0.01296036,-0.04444205,0.9208867 --0.08239425,-0.03085459,0.9267675 -0.04727431,0.008490545,0.8688331 --0.3606437,0.01618071,0.8629293 -0.2105094,0.1243638,0.933347 -0.231766,0.1069027,0.8321818 --0.1770186,0.139959,0.7958759 -0.2364081,0.1642755,0.8707324 -0.2360844,0.3081827,0.8830881 --0.4306689,-0.3407795,0.8945921 --0.05465219,-0.3774999,0.96435 --0.2250856,-0.3546759,0.9550002 --0.246262,-0.3290255,0.9545395 --0.2260483,-0.3236364,0.9466397 --0.05509534,-0.3003376,0.9892556 --0.4109164,-0.2374692,0.9288879 --0.5153137,-0.2687777,1.098092 --0.5362918,-0.2719595,1.141981 -0.05192059,-0.238798,0.9994154 -0.1607298,-0.2088129,1.080495 -0.09027376,-0.1664593,1.074121 -0.5117261,-0.152272,1.121635 -0.3421884,-0.1492289,1.072462 --0.2698344,-0.07390544,0.8396418 -0.4053755,-0.07456393,0.9178874 -0.0910932,-0.0747536,0.914787 -0.1581096,-0.0611611,0.9377224 --0.1005423,-0.06197135,0.9697764 --0.1423956,-0.01718888,0.889078 -0.493636,0.2370742,0.998692 --0.2270201,0.1787612,0.7168721 --0.02916331,-0.338412,0.9608698 --0.4426665,-0.2671321,0.982818 -0.2466568,-0.2226559,1.124538 -0.2462575,-0.2091596,1.095683 -0.1003007,-0.08707787,1.01655 -0.3871322,-0.08398501,0.9352465 -0.1269614,-0.06724115,0.9209728 --0.2694361,-0.01734548,0.8628417 --0.1826763,0.1571379,0.7704211 -0.09884058,0.231997,0.947727 --0.3231615,0.2712583,0.827448 --0.03420264,-0.3844759,0.9560074 --0.2257674,-0.3436999,0.9292494 --0.4242442,-0.3174223,0.8753457 -0.2805332,-0.1544295,1.103116 -0.1366949,-0.01871451,0.8879513 -0.4166071,-0.2877659,0.9980846 -0.3462467,-0.155378,1.067033 --0.267102,-0.03911924,0.842447 --0.1379147,0.2917985,0.8614042 --0.06394307,-0.3850106,0.9949217 -0.2485076,-0.2154702,1.076664 -0.3474581,0.2785804,0.973517 -0.09086783,-0.05588575,0.9360696 --0.06223369,-0.3731945,0.9987332 --0.3058668,-0.3330749,0.923512 --0.3194951,-0.2781164,0.920142 --0.2412821,-0.2824242,0.9502748 --0.5362516,-0.2704518,1.137176 -0.5133331,-0.1986132,1.103809 --0.2407167,-0.0667384,0.9728302 --0.1780017,-0.06392631,0.980948 -0.1453963,-0.06234509,0.8963837 -0.04186799,-0.05968328,0.9665195 --0.141848,-0.01770822,0.8938537 -0.1555232,0.01132735,0.7962826 -0.2392749,0.1292011,0.8495147 --0.317225,0.2634278,0.7950491 --0.2358509,-0.2750409,0.9541141 -0.4307193,-0.2904671,1.0093 -0.3085175,-0.2394926,1.07031 -0.3428572,-0.2236946,1.018585 -0.2561058,-0.2120067,1.078925 -0.425136,-0.2028808,1.035519 -0.3169505,-0.171614,1.099244 -0.337285,-0.1200175,1.059947 --0.4175623,-0.08743324,1.033202 --0.01069216,-0.085336,1.016277 -0.5365584,-0.09633294,1.07562 --0.2464464,-0.06267948,0.9495894 -0.009706357,-0.05663859,0.9594213 -0.2266814,0.1094883,0.825797 -0.2323674,0.1299975,0.835213 --0.1637864,0.1558638,0.8396296 -0.2045291,0.2266563,1.024981 --0.2588624,0.2894014,0.8415105 --0.2795627,0.2859771,0.8127716 --0.2434675,-0.3227388,0.9361313 --0.3228565,-0.2760262,0.927058 -0.4282402,-0.2952021,1.019851 --0.05229088,-0.2684516,1.003989 -0.05750264,-0.242816,1.032476 --0.2550797,-0.1803353,0.9426121 -0.349949,-0.1501152,1.077408 -0.364328,-0.1230637,1.04259 -0.1332736,-0.1001167,1.037352 -0.1393238,-0.06769709,0.9166197 -0.5090637,-0.06844565,0.9841929 -0.1896564,-0.04798145,0.9069208 -0.2274647,0.02626145,0.8115273 -0.3313511,0.2596697,0.9809458 --0.1559988,0.3005977,0.8606426 --0.06209136,-0.3916617,1.023829 -0.2425683,-0.2107174,1.083649 -0.11261,-0.1564932,1.030488 --0.1686943,-0.07779373,0.9688949 -0.009822373,0.007371004,0.8556352 --0.1761959,0.1407651,0.7920365 -0.2307135,0.1612477,0.8564904 --0.2187958,0.2199828,0.9514446 --0.2821191,0.2795953,0.8400663 --0.2233695,-0.3516035,0.9444437 --0.183986,-0.1838907,0.9441056 -0.1653828,-0.08678392,0.9655206 -0.09907275,-0.05507715,0.935532 --0.05236644,-0.3412952,1.038251 --0.2497024,-0.06357522,0.9638004 -0.1918641,-0.05735386,0.9079157 --0.2960039,-0.03725029,0.8480514 -0.2565357,0.2127689,0.9803448 -0.2046134,0.3036045,0.8512656 -0.03959246,-0.1758798,1.083882 -0.1312987,-0.1032514,1.035343 -0.5097085,-0.0696622,0.9898168 -0.1562947,0.01338092,0.8065224 -0.3344355,0.2731282,0.9570121 --0.1428414,0.2899679,0.8712013 --0.3221677,0.2686726,0.8178742 -0.2018151,0.3004805,0.8637038 --0.3768963,-0.2517308,0.9167308 --0.2087414,-0.259801,0.9773223 --0.02174715,-0.2387529,0.9503756 --0.5200428,-0.2621163,1.092994 --0.1897668,-0.1821947,0.9355006 --0.01251197,-0.08524455,0.9966073 -0.4079772,-0.07563928,0.9272817 --0.1815553,-0.06450817,0.9733769 --0.03034927,-0.05313706,0.9594299 -0.09135146,-0.05634768,0.9598512 --0.1423813,-0.01816225,0.8952572 -0.2114216,0.1216684,0.9267979 -0.230729,0.1138304,0.839915 -0.5119752,0.2320295,1.020901 --0.2280564,0.180914,0.7241505 -0.3478338,0.249103,0.9437129 -0.2303768,0.3057928,0.878794 -0.4178427,-0.2793739,0.9934466 -0.351016,-0.1223374,1.07408 --0.4167723,-0.08709431,1.025605 --0.1677646,0.160184,0.8640101 -0.04599537,-0.2336768,1.007575 -0.2559456,-0.2103207,1.070717 --0.4705151,-0.118435,1.063128 -0.009801613,-0.05670394,0.9605088 -0.2668202,0.1792605,0.9468367 -0.1585376,-0.06231721,0.9329817 -0.1542538,-0.06129301,0.916054 -0.04737057,-0.1147366,1.05294 -0.1275372,-0.1026819,1.029462 -0.4110928,-0.07276425,0.9163254 -0.0953429,-0.0555375,0.9642707 -0.3036539,0.09963318,0.8840221 --0.06394706,-0.3449335,1.022622 -0.3805089,-0.0438611,0.9386814 --0.2595145,-0.1820738,0.9480324 -0.3955265,-0.08680294,0.9667431 -0.1053762,0.257158,0.9729793 -0.3716389,-0.1227333,1.045853 --0.03229201,-0.05399266,0.9556986 -0.2029226,-0.04673193,0.9079415 -0.2276707,0.11552,0.8404955 -0.5159252,0.2306961,1.029338 --0.4180538,-0.2414638,0.9533334 -0.2872858,-0.1480609,0.8368129 --0.415727,-0.08602455,1.01799 -0.1360853,0.04429527,0.9478176 -0.3405285,0.2766038,0.9696857 -0.4231883,-0.2898793,1.002351 --0.01174978,-0.08815142,1.027534 --0.3930062,-0.2199768,0.8813173 -0.3897037,-0.0882737,0.9498562 -0.3420729,0.2749782,0.9672684 --0.1881284,-0.1834696,0.9391624 -0.2194189,0.02284092,0.7826742 -0.1374939,0.04199801,0.938673 -0.008090999,-0.0556135,0.9385412 --0.2001241,0.2012295,0.7873362 --0.004772666,-0.1164431,0.9870591 --0.2473751,-0.06159194,0.9319729 -0.0179728,-0.04893986,0.9547012 --0.2558832,-0.1774473,0.9309245 -0.352358,-0.1270986,1.037609 -0.4715958,-0.06426462,0.9337447 -0.09555181,-0.06146855,0.972965 --0.1403598,-0.01817375,0.902211 --0.1527963,0.1036686,0.8422352 -0.1976708,-0.05558001,0.930172 -0.2343024,0.1149019,0.8521932 --0.3380554,-0.2673729,1.016717 --0.2767066,-0.1807123,0.9499612 -0.01201001,-0.05878334,0.9654921 -0.4054979,-0.04484414,0.9648999 -0.2479243,0.04419627,0.8256484 -0.2376407,0.119975,0.8692614 -0.4626999,-0.1492064,1.06836 -0.005104779,0.2466353,1.040364 -0.3535894,-0.2304855,1.043343 -0.2760725,-0.1476941,1.105381 --0.2531862,-0.06744567,0.9683442 -0.1586053,0.08767073,0.894982 --0.3088645,-0.0006655821,0.8540156 --0.2408815,-0.00136668,0.789228 -0.1176352,0.2594517,1.003664 --0.3078272,-0.0340562,0.8394636 -0.4794235,-0.08754969,1.059167 -0.09368172,-0.05827027,0.9575018 -0.3888934,-0.2984765,1.06647 --0.1806639,-0.1595708,0.8282026 -0.09065511,-0.1802279,1.017427 -0.2342526,-0.1373423,1.090462 -0.3128547,-0.002355849,0.8007344 -0.3348317,0.01416313,0.8493284 --0.1535044,0.08972955,0.8050805 -0.2352889,0.2416172,0.9417447 -0.3546837,0.2587089,0.9760814 -0.2713401,-0.1518742,1.103099 --0.3142846,-0.002005559,0.8704169 -0.1528147,0.08638745,0.873449 --0.1615119,0.1200627,0.8962712 -0.1158049,-0.1415409,1.032568 --0.131795,-0.05671853,1.001704 --0.05672517,-0.00544187,0.8644754 -0.3446455,-0.2269868,1.026573 -0.2611695,0.1332472,0.9069186 --0.139282,-0.02048167,0.898899 --0.1311982,-0.05038192,0.9204796 -0.1775557,-0.02134528,0.7669008 --0.306838,-0.001666977,0.8548229 --0.224217,-0.006948673,0.8743064 --0.05161691,-0.006450188,0.8951803 -0.3025928,0.06158197,0.8623655 -0.1462712,0.08418168,0.8456649 -0.08586484,-0.02390853,0.8686644 -0.1753121,-0.1655259,1.160361 --0.1610556,0.1174856,0.877206 -0.248744,0.2016371,1.007058 -0.157421,0.1867121,1.078835 --0.009553179,-0.085581,1.013929 --0.02892774,-0.0532833,0.9613039 --0.282928,0.278895,0.8359428 --0.04957639,-0.369127,0.9731228 -0.01702051,-0.04533472,0.9444337 --0.07353064,-0.3075865,1.034926 --0.05724207,-0.3268222,0.9840019 --0.3071938,-0.2704645,0.9740036 -0.4027773,-0.07493064,0.9180254 --0.2705682,-0.03783097,0.8437724 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89b2385d4c0b988c46fee227d08a38f98469a462..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/pointCloudsAll.mat and /dev/null differ diff --git a/target/classes/vslam/vslam_implementation.m b/target/classes/vslam/vslam_implementation.m deleted file mode 100644 index bfe1485ae3071229eee3b22daa230a5c6bfbce34..0000000000000000000000000000000000000000 --- a/target/classes/vslam/vslam_implementation.m +++ /dev/null @@ -1,568 +0,0 @@ - -function worldPointSet = vslam_implementation(imagePath) - % Import dependencies - addpath('./Mathworks_VSLAM_Example/'); - - % Initialize image dataset - imds = imageDatastore(imagePath); - - % Inspect the first image - currFrameIdx = 1; - currI = readimage(imds, currFrameIdx); - himage = imshow(currI); - - % Process the image sequence - worldPointSet = ProcessImageSequence(imds); - - -end - - - -function worldPointSetOutput = ProcessImageSequence(imds) - currFrameIdx = 1; - currI = readimage(imds, currFrameIdx); - - %% Map Initilization - % Set random seed for reproducibility - rng(0); - - % Create a cameraIntrinsics object to store the camera intrinsic parameters. - % The intrinsics for the dataset can be found at the following page: - % https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats - % Note that the images in the dataset are already undistorted, hence there - % is no need to specify the distortion coefficients. - focalLength = [535.4, 539.2]; % in units of pixels - principalPoint = [320.1, 247.6]; % in units of pixels - imageSize = size(currI,[1 2]); % in units of pixels - intrinsics = cameraIntrinsics(focalLength, principalPoint, imageSize); - - % Detect and extract ORB features - scaleFactor = 1.2; - numLevels = 8; - numPoints = 1000; - [preFeatures, prePoints] = helperDetectAndExtractFeatures(currI, scaleFactor, numLevels, numPoints); - - currFrameIdx = currFrameIdx + 1; - firstI = currI; % Preserve the first frame - - isMapInitialized = false; - - % Map initialization loop - while ~isMapInitialized && currFrameIdx < numel(imds.Files) - currI = readimage(imds, currFrameIdx); - - [currFeatures, currPoints] = helperDetectAndExtractFeatures(currI, scaleFactor, numLevels, numPoints); - - currFrameIdx = currFrameIdx + 1; - - % Find putative feature matches - indexPairs = matchFeatures(preFeatures, currFeatures, Unique=true, ... - MaxRatio=0.9, MatchThreshold=40); - - preMatchedPoints = prePoints(indexPairs(:,1),:); - currMatchedPoints = currPoints(indexPairs(:,2),:); - - % If not enough matches are found, check the next frame - minMatches = 100; - if size(indexPairs, 1) < minMatches - continue - end - - preMatchedPoints = prePoints(indexPairs(:,1),:); - currMatchedPoints = currPoints(indexPairs(:,2),:); - - % Compute homography and evaluate reconstruction - [tformH, scoreH, inliersIdxH] = helperComputeHomography(preMatchedPoints, currMatchedPoints); - - % Compute fundamental matrix and evaluate reconstruction - [tformF, scoreF, inliersIdxF] = helperComputeFundamentalMatrix(preMatchedPoints, currMatchedPoints); - - % Select the model based on a heuristic - ratio = scoreH/(scoreH + scoreF); - ratioThreshold = 0.45; - if ratio > ratioThreshold - inlierTformIdx = inliersIdxH; - tform = tformH; - else - inlierTformIdx = inliersIdxF; - tform = tformF; - end - - % Computes the camera location up to scale. Use half of the - % points to reduce computation - inlierPrePoints = preMatchedPoints(inlierTformIdx); - inlierCurrPoints = currMatchedPoints(inlierTformIdx); - [relPose, validFraction] = estrelpose(tform, intrinsics, ... - inlierPrePoints(1:2:end), inlierCurrPoints(1:2:end)); - - % If not enough inliers are found, move to the next frame - if validFraction < 0.9 || numel(relPose)==3 - continue - end - - % Triangulate two views to obtain 3-D map points - minParallax = 1; % In degrees - [isValid, xyzWorldPoints, inlierTriangulationIdx] = helperTriangulateTwoFrames(... - rigidtform3d, relPose, inlierPrePoints, inlierCurrPoints, intrinsics, minParallax); - - if ~isValid - continue - end - - % Get the original index of features in the two key frames - indexPairs = indexPairs(inlierTformIdx(inlierTriangulationIdx),:); - - isMapInitialized = true; - - disp(['Map initialized with frame 1 and frame ', num2str(currFrameIdx-1)]) - end % End of map initialization loop - - %% Store initial key frames and map points - % Create an empty imageviewset object to store key frames - vSetKeyFrames = imageviewset; - - % Create an empty worldpointset object to store 3-D map points - mapPointSet = worldpointset; - - % Add the first key frame. Place the camera associated with the first - % key frame at the origin, oriented along the Z-axis - preViewId = 1; - vSetKeyFrames = addView(vSetKeyFrames, preViewId, rigidtform3d, Points=prePoints,... - Features=preFeatures.Features); - - % Add the second key frame - currViewId = 2; - vSetKeyFrames = addView(vSetKeyFrames, currViewId, relPose, Points=currPoints,... - Features=currFeatures.Features); - - % Add connection between the first and the second key frame - vSetKeyFrames = addConnection(vSetKeyFrames, preViewId, currViewId, relPose, Matches=indexPairs); - - % Add 3-D map points - [mapPointSet, newPointIdx] = addWorldPoints(mapPointSet, xyzWorldPoints); - - % Add observations of the map points - preLocations = prePoints.Location; - currLocations = currPoints.Location; - preScales = prePoints.Scale; - currScales = currPoints.Scale; - - % Add image points corresponding to the map points in the first key frame - mapPointSet = addCorrespondences(mapPointSet, preViewId, newPointIdx, indexPairs(:,1)); - - % Add image points corresponding to the map points in the second key frame - mapPointSet = addCorrespondences(mapPointSet, currViewId, newPointIdx, indexPairs(:,2)); - - % Initialize place recognition database - % Load the bag of features data created offline - bofData = load("bagOfFeaturesDataSLAM.mat"); - - % Initialize the place recognition database - loopDatabase = invertedImageIndex(bofData.bof,SaveFeatureLocations=false); - - % Add features of the first two key frames to the database - addImageFeatures(loopDatabase, preFeatures, preViewId); - addImageFeatures(loopDatabase, currFeatures, currViewId); - - %% Refine and visualize initial reconstruction - % Run full bundle adjustment on the first two key frames - tracks = findTracks(vSetKeyFrames); - cameraPoses = poses(vSetKeyFrames); - - [refinedPoints, refinedAbsPoses] = bundleAdjustment(xyzWorldPoints, tracks, ... - cameraPoses, intrinsics, FixedViewIDs=1, ... - PointsUndistorted=true, AbsoluteTolerance=1e-7,... - RelativeTolerance=1e-15, MaxIteration=20, ... - Solver="preconditioned-conjugate-gradient"); - - % Scale the map and the camera pose using the median depth of map points - medianDepth = median(vecnorm(refinedPoints.')); - refinedPoints = refinedPoints / medianDepth; - - refinedAbsPoses.AbsolutePose(currViewId).Translation = ... - refinedAbsPoses.AbsolutePose(currViewId).Translation / medianDepth; - relPose.Translation = relPose.Translation/medianDepth; - - % Update key frames with the refined poses - vSetKeyFrames = updateView(vSetKeyFrames, refinedAbsPoses); - vSetKeyFrames = updateConnection(vSetKeyFrames, preViewId, currViewId, relPose); - - % Update map points with the refined positions - mapPointSet = updateWorldPoints(mapPointSet, newPointIdx, refinedPoints); - - % Update view direction and depth - mapPointSet = updateLimitsAndDirection(mapPointSet, newPointIdx, vSetKeyFrames.Views); - - % Update representative view - mapPointSet = updateRepresentativeView(mapPointSet, newPointIdx, vSetKeyFrames.Views); - - % Visualize matched features in the current frame - % close(hfeature.Parent.Parent); - featurePlot = helperVisualizeMatchedFeatures(currI, currPoints(indexPairs(:,2))); - - % Visualize initial map points and camera trajectory - mapPlot = helperVisualizeMotionAndStructure(vSetKeyFrames, mapPointSet); - - % Show legend - showLegend(mapPlot); - - %% Tracking - % ViewId of the current key frame - currKeyFrameId = currViewId; - - % ViewId of the last key frame - lastKeyFrameId = currViewId; - - % Index of the last key frame in the input image sequence - lastKeyFrameIdx = currFrameIdx - 1; - - % Indices of all the key frames in the input image sequence - addedFramesIdx = [1; lastKeyFrameIdx]; - - isLoopClosed = false; - - % Main loop (attempt to close loop while iterating over all images in - % dataset) - isLastFrameKeyFrame = true; - while ~isLoopClosed && currFrameIdx < numel(imds.Files) - currI = readimage(imds, currFrameIdx); - - [currFeatures, currPoints] = helperDetectAndExtractFeatures(currI, scaleFactor, numLevels, numPoints); - - % Track the last key frame - % mapPointsIdx: Indices of the map points observed in the current frame - % featureIdx: Indices of the corresponding feature points in the - % current frame - [currPose, mapPointsIdx, featureIdx] = helperTrackLastKeyFrame(mapPointSet, ... - vSetKeyFrames.Views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor); - - % Track the local map and check if the current frame is a key frame. - % A frame is a key frame if both of the following conditions are satisfied: - % - % 1. At least 20 frames have passed since the last key frame or the - % current frame tracks fewer than 100 map points. - % 2. The map points tracked by the current frame are fewer than 90% of - % points tracked by the reference key frame. - % - % Tracking performance is sensitive to the value of numPointsKeyFrame. - % If tracking is lost, try a larger value. - % - % localKeyFrameIds: ViewId of the connected key frames of the current frame - numSkipFrames = 20; - numPointsKeyFrame = 80; - [localKeyFrameIds, currPose, mapPointsIdx, featureIdx, isKeyFrame] = ... - helperTrackLocalMap(mapPointSet, vSetKeyFrames, mapPointsIdx, ... - featureIdx, currPose, currFeatures, currPoints, intrinsics, scaleFactor, numLevels, ... - isLastFrameKeyFrame, lastKeyFrameIdx, currFrameIdx, numSkipFrames, numPointsKeyFrame); - - - % Visualize matched features - updatePlot(featurePlot, currI, currPoints(featureIdx)); - - if ~isKeyFrame - currFrameIdx = currFrameIdx + 1; - isLastFrameKeyFrame = false; - continue - else - isLastFrameKeyFrame = true; - end - - % Update current key frame ID - currKeyFrameId = currKeyFrameId + 1; - - %% Local mapping - % Add the new key frame - [mapPointSet, vSetKeyFrames] = helperAddNewKeyFrame(mapPointSet, vSetKeyFrames, ... - currPose, currFeatures, currPoints, mapPointsIdx, featureIdx, localKeyFrameIds); - - % Remove outlier map points that are observed in fewer than 3 key frames - outlierIdx = setdiff(newPointIdx, mapPointsIdx); - if ~isempty(outlierIdx) - mapPointSet = removeWorldPoints(mapPointSet, outlierIdx); - end - - % Create new map points by triangulation - minNumMatches = 10; - minParallax = 3; - [mapPointSet, vSetKeyFrames, newPointIdx] = helperCreateNewMapPoints(mapPointSet, vSetKeyFrames, ... - currKeyFrameId, intrinsics, scaleFactor, minNumMatches, minParallax); - - % Local bundle adjustment - [refinedViews, dist] = connectedViews(vSetKeyFrames, currKeyFrameId, MaxDistance=2); - refinedKeyFrameIds = refinedViews.ViewId; - fixedViewIds = refinedKeyFrameIds(dist==2); - fixedViewIds = fixedViewIds(1:min(10, numel(fixedViewIds))); - - % Refine local key frames and map points - [mapPointSet, vSetKeyFrames, mapPointIdx] = bundleAdjustment(... - mapPointSet, vSetKeyFrames, [refinedKeyFrameIds; currKeyFrameId], intrinsics, ... - FixedViewIDs=fixedViewIds, PointsUndistorted=true, AbsoluteTolerance=1e-7,... - RelativeTolerance=1e-16, Solver="preconditioned-conjugate-gradient", ... - MaxIteration=10); - - % Update view direction and depth - mapPointSet = updateLimitsAndDirection(mapPointSet, mapPointIdx, vSetKeyFrames.Views); - - % Update representative view - mapPointSet = updateRepresentativeView(mapPointSet, mapPointIdx, vSetKeyFrames.Views); - - % Check if the KeyFrames directory exists; if not, create it - keyFramesDir = './KeyFrames_Mono'; - if ~exist(keyFramesDir, 'dir') - mkdir(keyFramesDir); - end - - % Store feature locations for this key frame - keyFramePointsDir = './KeyFramePoints_Mono'; - if ~exist(keyFramePointsDir, 'dir') - mkdir(keyFramePointsDir); - end - - % Save the current key frame image using currKeyFrameId - filename = sprintf('%s/KeyFrame_%04d.png', keyFramesDir, currKeyFrameId); - imwrite(currI, filename); - - % Save feature points information - saveKeyFramePoints(keyFramePointsDir, currKeyFrameId, currPoints(featureIdx), mapPointsIdx); - - - % Visualize 3D world points and camera trajectory - updatePlot(mapPlot, vSetKeyFrames, mapPointSet); - - %% Loop closure - % Check loop closure after some key frames have been created - if currKeyFrameId > 20 - - % Minimum number of feature matches of loop edges - loopEdgeNumMatches = 50; - - % Detect possible loop closure key frame candidates - [isDetected, validLoopCandidates] = helperCheckLoopClosure(vSetKeyFrames, currKeyFrameId, ... - loopDatabase, currI, loopEdgeNumMatches); - - if isDetected - % Add loop closure connections - [isLoopClosed, mapPointSet, vSetKeyFrames] = helperAddLoopConnections(... - mapPointSet, vSetKeyFrames, validLoopCandidates, currKeyFrameId, ... - currFeatures, loopEdgeNumMatches); - end - end - - % If no loop closure is detected, add current features into the database - if ~isLoopClosed - addImageFeatures(loopDatabase, currFeatures, currKeyFrameId); - end - - % Update IDs and indices - lastKeyFrameId = currKeyFrameId; - lastKeyFrameIdx = currFrameIdx; - addedFramesIdx = [addedFramesIdx; currFrameIdx]; %#ok - currFrameIdx = currFrameIdx + 1; - end % End of main loop - - %% Optimizing - if isLoopClosed - % Optimize the poses - minNumMatches = 20; - vSetKeyFramesOptim = optimizePoses(vSetKeyFrames, minNumMatches, Tolerance=1e-16); - - % Update map points after optimizing the poses - mapPointSet = helperUpdateGlobalMap(mapPointSet, vSetKeyFrames, vSetKeyFramesOptim); - - updatePlot(mapPlot, vSetKeyFrames, mapPointSet); - - % Plot the optimized camera trajectory - optimizedPoses = poses(vSetKeyFramesOptim); - plotOptimizedTrajectory(mapPlot, optimizedPoses) - - % Update legend - showLegend(mapPlot); - - worldPointSetOutput = mapPointSet; - end - -end - - -%% Helper functions -% The following funciton definitions are provied in the -% Mathworks_VSLAM_Example Directory -% helperAddLoopConnections add connections between the current keyframe and the valid loop candidate. -% helperAddNewKeyFrame add key frames to the key frame set. -% helperCheckLoopClosure detect loop candidates key frames by retrieving visually similar images from the database. -% helperCreateNewMapPoints create new map points by triangulation. -% helperORBFeatureExtractorFunction implements the ORB feature extraction used in bagOfFeatures. -% helperTrackLastKeyFrame estimate the current camera pose by tracking the last key frame. -% helperTrackLocalMap refine the current camera pose by tracking the local map. -% helperVisualizeMatchedFeatures show the matched features in a frame. -% helperVisualizeMotionAndStructure show map points and camera trajectory. -% helperImportGroundTruth import camera pose ground truth from the downloaded data. - -% helperDetectAndExtractFeatures detect and extract and ORB features from the image. -function [features, validPoints] = helperDetectAndExtractFeatures(Irgb, ... - scaleFactor, numLevels, numPoints, varargin) - - % In this example, the images are already undistorted. In a general - % workflow, uncomment the following code to undistort the images. - % - % if nargin > 4 - % intrinsics = varargin{1}; - % end - % Irgb = undistortImage(Irgb, intrinsics); - - % Detect ORB features - Igray = im2gray(Irgb); - - points = detectORBFeatures(Igray, ScaleFactor=scaleFactor, NumLevels=numLevels); - - % Select a subset of features, uniformly distributed throughout the image - points = selectUniform(points, numPoints, size(Igray, 1:2)); - - % Extract features - [features, validPoints] = extractFeatures(Igray, points); -end - -% helperComputeHomography compute homography and evaluate reconstruction. -function [H, score, inliersIndex] = helperComputeHomography(matchedPoints1, matchedPoints2) - - [H, inliersLogicalIndex] = estgeotform2d( ... - matchedPoints1, matchedPoints2, "projective", ... - MaxNumTrials=1e3, MaxDistance=4, Confidence=90); - - inlierPoints1 = matchedPoints1(inliersLogicalIndex); - inlierPoints2 = matchedPoints2(inliersLogicalIndex); - - inliersIndex = find(inliersLogicalIndex); - - locations1 = inlierPoints1.Location; - locations2 = inlierPoints2.Location; - xy1In2 = transformPointsForward(H, locations1); - xy2In1 = transformPointsInverse(H, locations2); - error1in2 = sum((locations2 - xy1In2).^2, 2); - error2in1 = sum((locations1 - xy2In1).^2, 2); - - outlierThreshold = 6; - - score = sum(max(outlierThreshold-error1in2, 0)) + ... - sum(max(outlierThreshold-error2in1, 0)); -end - -% helperComputeFundamentalMatrix compute fundamental matrix and evaluate reconstruction. -function [F, score, inliersIndex] = helperComputeFundamentalMatrix(matchedPoints1, matchedPoints2) - - [F, inliersLogicalIndex] = estimateFundamentalMatrix( ... - matchedPoints1, matchedPoints2, Method="RANSAC",... - NumTrials=1e3, DistanceThreshold=4); - - inlierPoints1 = matchedPoints1(inliersLogicalIndex); - inlierPoints2 = matchedPoints2(inliersLogicalIndex); - - inliersIndex = find(inliersLogicalIndex); - - locations1 = inlierPoints1.Location; - locations2 = inlierPoints2.Location; - - % Distance from points to epipolar line - lineIn1 = epipolarLine(F', locations2); - error2in1 = (sum([locations1, ones(size(locations1, 1),1)].* lineIn1, 2)).^2 ... - ./ sum(lineIn1(:,1:2).^2, 2); - lineIn2 = epipolarLine(F, locations1); - error1in2 = (sum([locations2, ones(size(locations2, 1),1)].* lineIn2, 2)).^2 ... - ./ sum(lineIn2(:,1:2).^2, 2); - - outlierThreshold = 4; - - score = sum(max(outlierThreshold-error1in2, 0)) + ... - sum(max(outlierThreshold-error2in1, 0)); -end - -% helperTriangulateTwoFrames triangulate two frames to initialize the map. -function [isValid, xyzPoints, inlierIdx] = helperTriangulateTwoFrames(... - pose1, pose2, matchedPoints1, matchedPoints2, intrinsics, minParallax) - - camMatrix1 = cameraProjection(intrinsics, pose2extr(pose1)); - camMatrix2 = cameraProjection(intrinsics, pose2extr(pose2)); - - [xyzPoints, reprojectionErrors, isInFront] = triangulate(matchedPoints1, ... - matchedPoints2, camMatrix1, camMatrix2); - - % Filter points by view direction and reprojection error - minReprojError = 1; - inlierIdx = isInFront & reprojectionErrors < minReprojError; - xyzPoints = xyzPoints(inlierIdx ,:); - - % A good two-view with significant parallax - ray1 = xyzPoints - pose1.Translation; - ray2 = xyzPoints - pose2.Translation; - cosAngle = sum(ray1 .* ray2, 2) ./ (vecnorm(ray1, 2, 2) .* vecnorm(ray2, 2, 2)); - - % Check parallax - isValid = all(cosAngle < cosd(minParallax) & cosAngle>0); -end - -% helperEstimateTrajectoryError calculate the tracking error. -function rmse = helperEstimateTrajectoryError(gTruth, cameraPoses) - locations = vertcat(cameraPoses.AbsolutePose.Translation); - gLocations = vertcat(gTruth.Translation); - scale = median(vecnorm(gLocations, 2, 2))/ median(vecnorm(locations, 2, 2)); - scaledLocations = locations * scale; - - rmse = sqrt(mean( sum((scaledLocations - gLocations).^2, 2) )); - disp(['Absolute RMSE for key frame trajectory (m): ', num2str(rmse)]); -end - -% helperUpdateGlobalMap update 3-D locations of map points after pose graph optimization -function mapPointSet = helperUpdateGlobalMap(... - mapPointSet, vSetKeyFrames, vSetKeyFramesOptim) - %helperUpdateGlobalMap update map points after pose graph optimization - posesOld = vSetKeyFrames.Views.AbsolutePose; - posesNew = vSetKeyFramesOptim.Views.AbsolutePose; - positionsOld = mapPointSet.WorldPoints; - positionsNew = positionsOld; - indices = 1:mapPointSet.Count; - - % Update world location of each map point based on the new absolute pose of - % the corresponding major view - for i = indices - majorViewIds = mapPointSet.RepresentativeViewId(i); - poseNew = posesNew(majorViewIds).A; - tform = affinetform3d(poseNew/posesOld(majorViewIds).A); - positionsNew(i, :) = transformPointsForward(tform, positionsOld(i, :)); - end - mapPointSet = updateWorldPoints(mapPointSet, indices, positionsNew); -end - -% function saveKeyFramePoints(dirPath, frameIndex, featurePoints) -% % Extract locations and corresponding point indices -% locations = featurePoints.Location; -% indices = (1:size(locations, 1))'; % Create an index array -% dataMatrix = [indices, locations]; -% -% % Define filename for CSV -% csvFilename = sprintf('%s/KeyFramePoints_%04d.csv', dirPath, frameIndex); -% -% % Write matrix to CSV -% writematrix(dataMatrix, csvFilename); -% end - -function saveKeyFramePoints(dirPath, keyFrameId, featurePoints, mapPointsIdx) - % Ensure the directory exists - if ~exist(dirPath, 'dir') - mkdir(dirPath); - end - - % Define the filename for the CSV file - csvFilename = sprintf('%s/KeyFramePoints_%04d.csv', dirPath, keyFrameId); - - % Extract pixel locations from the feature points - pixelLocations = featurePoints.Location; % This should be an Nx2 matrix - - % Combine the indices, pixel locations, and corresponding world points indices into one matrix - dataMatrix = [pixelLocations, mapPointsIdx]; % Concatenate horizontally - - % Write the combined data to a CSV file - writematrix(dataMatrix, csvFilename); -end - - diff --git a/target/classes/vslam/vslam_implementation_rgbd.m b/target/classes/vslam/vslam_implementation_rgbd.m deleted file mode 100755 index 263d176b4dcfca011b8beabec026116903b62e66..0000000000000000000000000000000000000000 --- a/target/classes/vslam/vslam_implementation_rgbd.m +++ /dev/null @@ -1,607 +0,0 @@ -function [worldPointSetOutput, optimizedPoses, pointCloudsAll] = vslam_implementation_rgbd(dataset_name) - - % Import dependencies - addpath('./Mathworks_VSLAM_RGBD/'); - - % Define the base folder for datasets - datasetFolder = [dataset_name, '/']; - - % Check if the dataset exists, if not download and prepare it - if ~exist(datasetFolder, 'dir') - if strcmp(dataset_name, 'tum_rgbd_dataset') - % Define the URL and local folder for download - baseDownloadURL = "https://cvg.cit.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.tgz"; - dataFolder = fullfile('tum_rgbd_dataset', filesep); - tgzFileName = [dataFolder, 'fr3_office.tgz']; - - % Create a folder to save the downloaded file - if ~exist(dataFolder, 'dir') - mkdir(dataFolder); - disp('Downloading fr3_office.tgz (1.38 GB). This download can take a few minutes.'); - h = waitbar(0, 'Downloading Dataset... Please wait.', 'Name', 'Downloading fr3_office'); - websave(tgzFileName, baseDownloadURL, weboptions('Timeout', Inf)); - % Update and close waitbar after download completes - waitbar(1, h, 'Download Complete. Extracting...'); - pause(1); % Pause to show complete message - close(h); - - % Extract contents of the downloaded file - disp('Extracting fr3_office.tgz (1.38 GB) ...'); - h = waitbar(0, 'Extracting files... This may take a while.', 'Name', 'Extracting Data'); - untar(tgzFileName, dataFolder); - - % Close waitbar after extraction completes - waitbar(1, h, 'Extraction Complete.'); - pause(1); % Pause to show complete message - close(h); - end - - imageFolder = [dataFolder, 'rgbd_dataset_freiburg3_long_office_household/']; - - % Initialize image dataset stores for color and depth images - imgFolderColor = [imageFolder, 'rgb/']; - imgFolderDepth = [imageFolder, 'depth/']; - imdsColor = imageDatastore(imgFolderColor); - imdsDepth = imageDatastore(imgFolderDepth); - - % Note that the color and depth images are generated in an un-synchronized way in the dataset. Therefore, we need to associate color images to depth images based on the time stamp. - % Load time stamp data of color images - timeColor = helperImportTimestampFile([imageFolder, 'rgb.txt']); - - % Load time stamp data of depth images - timeDepth = helperImportTimestampFile([imageFolder, 'depth.txt']); - - % Align the time stamp - indexPairs = helperAlignTimestamp(timeColor, timeDepth); - - % Select the synchronized image data - imdsColor = subset(imdsColor, indexPairs(:, 1)); - imdsDepth = subset(imdsDepth, indexPairs(:, 2)); - - elseif strcmp(dataset_name, 'imperial_college_london') - % Define the URL and local folder for download - baseDownloadURL = "http://www.doc.ic.ac.uk/~ahanda/living_room_traj2_frei_png.tar.gz"; - dataFolder = fullfile('imperial_college_london', filesep); - tgzFileName = [dataFolder, 'living_room_traj2_frei_png.tar.gz']; - - % Create a folder to save the downloaded file - if ~exist(dataFolder, 'dir') - mkdir(dataFolder); - disp('Downloading living_room_traj2_frei_png.tar.gz (486 MB). This download can take a few minutes.'); - h = waitbar(0, 'Downloading Dataset... Please wait.', 'Name', 'Downloading living_room_traj2'); - websave(tgzFileName, baseDownloadURL, weboptions('Timeout', Inf)); - % Update and close waitbar after download completes - waitbar(1, h, 'Download Complete. Extracting...'); - pause(1); % Pause to show complete message - close(h); - - % Extract contents of the downloaded file - disp('Extracting living_room_traj2 (486 MB) ...'); - h = waitbar(0, 'Extracting files... This may take a while.', 'Name', 'Extracting Data'); - untar(tgzFileName, dataFolder); - - % Close waitbar after extraction completes - waitbar(1, h, 'Extraction Complete.'); - pause(1); % Pause to show complete message - close(h); - end - - imageFolder = [dataFolder]; - - % Initialize image dataset stores for color and depth images - imgFolderColor = [imageFolder, 'rgb/']; - imgFolderDepth = [imageFolder, 'depth/']; - imdsColor = imageDatastore(imgFolderColor); - imdsDepth = imageDatastore(imgFolderDepth); - else - error('Dataset name not recognized or dataset-specific download steps not defined.'); - end - else - % If dataset is already present, set the image folder path - if strcmp(dataset_name, 'tum_rgbd_dataset') - imageFolder = [datasetFolder, 'rgbd_dataset_freiburg3_long_office_household/']; - % Initialize image dataset stores for color and depth images - imgFolderColor = [imageFolder, 'rgb/']; - imgFolderDepth = [imageFolder, 'depth/']; - imdsColor = imageDatastore(imgFolderColor); - imdsDepth = imageDatastore(imgFolderDepth); - - % Note that the color and depth images are generated in an un-synchronized way in the dataset. Therefore, we need to associate color images to depth images based on the time stamp. - % Load time stamp data of color images - timeColor = helperImportTimestampFile([imageFolder, 'rgb.txt']); - - % Load time stamp data of depth images - timeDepth = helperImportTimestampFile([imageFolder, 'depth.txt']); - - % Align the time stamp - indexPairs = helperAlignTimestamp(timeColor, timeDepth); - - % Select the synchronized image data - imdsColor = subset(imdsColor, indexPairs(:, 1)); - imdsDepth = subset(imdsDepth, indexPairs(:, 2)); - elseif strcmp(dataset_name, 'imperial_college_london') - imageFolder = [datasetFolder]; - - % Initialize image dataset stores for color and depth images - imgFolderColor = [imageFolder, 'rgb/']; - imgFolderDepth = [imageFolder, 'depth/']; - imdsColor = imageDatastore(imgFolderColor); - imdsDepth = imageDatastore(imgFolderDepth); - end - end - - % Process the image sequence - [worldPointSetOutput, optimizedPoses, pointCloudsAll] = ProcessImageSequence(imdsColor, imdsDepth); - - % Save the outputs to .mat files - save('worldPointSetOutput.mat', 'worldPointSetOutput'); - save('optimizedPoses.mat', 'optimizedPoses'); - save('pointCloudsAll.mat', 'pointCloudsAll'); - -end - - -function [worldPointSetOutput, optimizedPoses, pointCloudsAll] = ProcessImageSequence(imdsColor, imdsDepth) - % Inspect the first RGB-D image - currFrameIdx = 1; - currIcolor = readimage(imdsColor, currFrameIdx); - currIdepth = readimage(imdsDepth, currFrameIdx); - imshowpair(currIcolor, currIdepth, "montage"); - - % Map Initialization: The pipeline starts by initializing the map that holds 3-D world points. - % This step is crucial and has a significant impact on the accuracy of the final SLAM result. - % Initial ORB feature points are extracted from the first color image using helperDetectAndExtractFeatures. - % Their corresponding 3-D world locations can be computed from the pixel coordinates of the feature - % points and the depth value using helperReconstructFromRGBD. - - % Set random seed for reproducibility - rng(0); - - % Create a cameraIntrinsics object to store the camera intrinsic parameters. - % The intrinsics for the dataset can be found at the following page: - % https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats - focalLength = [535.4, 539.2]; % in units of pixels - principalPoint = [320.1, 247.6]; % in units of pixels - imageSize = size(currIcolor,[1,2]); % in pixels [mrows, ncols] - depthFactor = 5e3; - intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize); - - % Detect and extract ORB features from the color image - scaleFactor = 1.2; - numLevels = 8; - [currFeatures, currPoints] = helperDetectAndExtractFeatures(currIcolor, scaleFactor, numLevels); - - initialPose = rigidtform3d(); - [xyzPoints, validIndex] = helperReconstructFromRGBD(currPoints, currIdepth, intrinsics, initialPose, depthFactor); - - % Initialize Place Recognition Database - % Loop detection is performed using the bags-of-words approach. A visual vocabulary represented as a bagOfFeatures object is created offline with the ORB descriptors extracted from a large set of images in the dataset by calling: - % bag = bagOfFeatures(imds,CustomExtractor=@helperORBFeatureExtractorFunction, TreeProperties=[5, 10], StrongestFeatures=1); - % where imds is an imageDatastore object storing the training images and helperORBFeatureExtractorFunction is the ORB feature extractor function. See Image Retrieval with Bag of Visual Words for more information. - % The loop closure process incrementally builds a database, represented as an invertedImageIndex object, that stores the visual word-to-image mapping based on the bag of ORB features. - - % Load the bag of features data created offline - bofData = load("bagOfFeaturesDataSLAM.mat"); - - % Initialize the place recognition database - loopDatabase = invertedImageIndex(bofData.bof, SaveFeatureLocations=false); - - % Add features of the first key frame to the database - currKeyFrameId = 1; - addImageFeatures(loopDatabase, currFeatures, currKeyFrameId); - - % Data Management and Visualization - % After the map is initialized using the first pair of color and depth image, you can use imageviewset and worldpointset to store the first key frames and the corresponding map points: - - % Create an empty imageviewset object to store key frames - vSetKeyFrames = imageviewset; - - % Create an empty worldpointset object to store 3-D map points - mapPointSet = worldpointset; - - % Add the first key frame - vSetKeyFrames = addView(vSetKeyFrames, currKeyFrameId, initialPose, Points=currPoints,... - Features=currFeatures.Features); - - % Add 3-D map points - [mapPointSet, rgbdMapPointsIdx] = addWorldPoints(mapPointSet, xyzPoints); - - % Add observations of the map points - mapPointSet = addCorrespondences(mapPointSet, currKeyFrameId, rgbdMapPointsIdx, validIndex); - - % Update view direction and depth - mapPointSet = updateLimitsAndDirection(mapPointSet, rgbdMapPointsIdx, vSetKeyFrames.Views); - - % Update representative view - mapPointSet = updateRepresentativeView(mapPointSet, rgbdMapPointsIdx, vSetKeyFrames.Views); - - % Visualize matched features in the first key frame - featurePlot = helperVisualizeMatchedFeaturesRGBD(currIcolor, currIdepth, currPoints(validIndex)); - - % Visualize initial map points and camera trajectory - xLim = [-4 4]; - yLim = [-3 1]; - zLim = [-1 6]; - mapPlot = helperVisualizeMotionAndStructure(vSetKeyFrames, mapPointSet, xLim, yLim, zLim); - - % Show legend - showLegend(mapPlot); - - % Tracking - % The tracking process is performed using every RGB-D image and determines when to insert a new key frame. - % ViewId of the last key frame - lastKeyFrameId = currKeyFrameId; - - % Index of the last key frame in the input image sequence - lastKeyFrameIdx = currFrameIdx; - - % Indices of all the key frames in the input image sequence - addedFramesIdx = lastKeyFrameIdx; - - currFrameIdx = 2; - isLoopClosed = false; - - % Each frame is processed as follows: - % ORB features are extracted for each new color image and then matched (using matchFeatures), with features in the last key frame that have known corresponding 3-D map points. - % Estimate the camera pose using Perspective-n-Point algorithm, which estimates the pose of a calibrated camera given a set of 3-D points and their corresponding 2-D projections using estworldpose. - % Given the camera pose, project the map points observed by the last key frame into the current frame and search for feature correspondences using matchFeaturesInRadius. - % With 3-D to 2-D correspondences in the current frame, refine the camera pose by performing a motion-only bundle adjustment using bundleAdjustmentMotion. - % Project the local map points into the current frame to search for more feature correspondences using matchFeaturesInRadius and refine the camera pose again using bundleAdjustmentMotion. - % The last step of tracking is to decide if the current frame should be a new key frame. A frame is a key frame if both of the following conditions are satisfied: - % At least 20 frames have passed since the last key frame or the current frame tracks fewer than 100 map points or 25% of points tracked by the reference key frame. - % The map points tracked by the current frame are fewer than 90% of points tracked by the reference key frame. - % If the current frame is to become a key frame, continue to the Local Mapping process. Otherwise, start Tracking for the next frame. - - % Main loop - isLastFrameKeyFrame = true; - while ~isLoopClosed && currFrameIdx < numel(imdsColor.Files) - - currIcolor = readimage(imdsColor, currFrameIdx); - currIdepth = readimage(imdsDepth, currFrameIdx); - - [currFeatures, currPoints] = helperDetectAndExtractFeatures(currIcolor, scaleFactor, numLevels); - - % Track the last key frame - % trackedMapPointsIdx: Indices of the map points observed in the current left frame - % trackedFeatureIdx: Indices of the corresponding feature points in the current left frame - [currPose, trackedMapPointsIdx, trackedFeatureIdx] = helperTrackLastKeyFrame(mapPointSet, ... - vSetKeyFrames.Views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor); - - if isempty(currPose) || numel(trackedMapPointsIdx) < 30 - currFrameIdx = currFrameIdx + 1; - continue - end - - % Track the local map and check if the current frame is a key frame. - % A frame is a key frame if both of the following conditions are satisfied: - % - % 1. At least 20 frames have passed since the last key frame or the - % current frame tracks fewer than 100 map points. - % 2. The map points tracked by the current frame are fewer than 90% of - % points tracked by the reference key frame. - % - % localKeyFrameIds: ViewId of the connected key frames of the current frame - numSkipFrames = 20; - numPointsKeyFrame = 100; - [localKeyFrameIds, currPose, trackedMapPointsIdx, trackedFeatureIdx, isKeyFrame] = ... - helperTrackLocalMap(mapPointSet, vSetKeyFrames, trackedMapPointsIdx, ... - trackedFeatureIdx, currPose, currFeatures, currPoints, intrinsics, scaleFactor, numLevels, ... - isLastFrameKeyFrame, lastKeyFrameIdx, currFrameIdx, numSkipFrames, numPointsKeyFrame); - - % Visualize matched features - updatePlot(featurePlot, currIcolor, currIdepth, currPoints(trackedFeatureIdx)); - - if ~isKeyFrame - currFrameIdx = currFrameIdx + 1; - isLastFrameKeyFrame = false; - continue - else - % Match feature points between the stereo images and get the 3-D world positions - [xyzPoints, validIndex] = helperReconstructFromRGBD(currPoints, currIdepth, ... - intrinsics, currPose, depthFactor); - - [untrackedFeatureIdx, ia] = setdiff(validIndex, trackedFeatureIdx); - xyzPoints = xyzPoints(ia, :); - isLastFrameKeyFrame = true; - end - - % Update current key frame ID - currKeyFrameId = currKeyFrameId + 1; - - % Local Mapping - % Local mapping is performed for every key frame. When a new key frame is determined, add it to the key frames and update the attributes of the map points observed by the new key frame. To ensure that mapPointSet contains as few outliers as possible, a valid map point must be observed in at least 3 key frames. - % New map points are created by triangulating ORB feature points in the current key frame and its connected key frames. For each unmatched feature point in the current key frame, search for a match with other unmatched points in the connected key frames using matchFeatures. The local bundle adjustment refines the pose of the current key frame, the poses of connected key frames, and all the map points observed in these key frames. - - % Add the new key frame - [mapPointSet, vSetKeyFrames] = helperAddNewKeyFrame(mapPointSet, vSetKeyFrames, ... - currPose, currFeatures, currPoints, trackedMapPointsIdx, trackedFeatureIdx, localKeyFrameIds); - - % Remove outlier map points that are observed in fewer than 3 key frames - if currKeyFrameId == 2 - triangulatedMapPointsIdx = []; - end - - [mapPointSet, trackedMapPointsIdx] = ... - helperCullRecentMapPoints(mapPointSet, trackedMapPointsIdx, triangulatedMapPointsIdx, ... - rgbdMapPointsIdx); - - % Add new map points computed from disparity - [mapPointSet, rgbdMapPointsIdx] = addWorldPoints(mapPointSet, xyzPoints); - mapPointSet = addCorrespondences(mapPointSet, currKeyFrameId, rgbdMapPointsIdx, ... - untrackedFeatureIdx); - - % Create new map points by triangulation - minNumMatches = 10; - minParallax = 0.35; - [mapPointSet, vSetKeyFrames, triangulatedMapPointsIdx, rgbdMapPointsIdx] = helperCreateNewMapPointsStereo( ... - mapPointSet, vSetKeyFrames, currKeyFrameId, intrinsics, scaleFactor, minNumMatches, minParallax, ... - untrackedFeatureIdx, rgbdMapPointsIdx); - - % Update view direction and depth - mapPointSet = updateLimitsAndDirection(mapPointSet, [triangulatedMapPointsIdx; rgbdMapPointsIdx], ... - vSetKeyFrames.Views); - - % Update representative view - mapPointSet = updateRepresentativeView(mapPointSet, [triangulatedMapPointsIdx; rgbdMapPointsIdx], ... - vSetKeyFrames.Views); - - % Local bundle adjustment - [mapPointSet, vSetKeyFrames, triangulatedMapPointsIdx, rgbdMapPointsIdx] = ... - helperLocalBundleAdjustmentStereo(mapPointSet, vSetKeyFrames, ... - currKeyFrameId, intrinsics, triangulatedMapPointsIdx, rgbdMapPointsIdx); - - % Check if the KeyFrames directory exists; if not, create it - keyFramesDir = './KeyFrames'; - if ~exist(keyFramesDir, 'dir') - mkdir(keyFramesDir); - end - - % Store feature locations for this key frame - keyFramePointsDir = './KeyFramePoints'; - if ~exist(keyFramePointsDir, 'dir') - mkdir(keyFramePointsDir); - end - - % Save the current key frame image using currKeyFrameId - filename = sprintf('%s/KeyFrame_%04d.png', keyFramesDir, currKeyFrameId); - imwrite(currIcolor, filename); - - % Save feature points information - saveKeyFramePoints(keyFramePointsDir, currKeyFrameId, currPoints(trackedFeatureIdx), trackedMapPointsIdx); - - % Visualize 3-D world points and camera trajectory - updatePlot(mapPlot, vSetKeyFrames, mapPointSet); - - % Loop Closure - % The loop closure detection step takes the current key frame processed by the local mapping process and tries to detect and close the loop. Loop candidates are identified by querying images in the database that are visually similar to the current key frame using evaluateImageRetrieval. A candidate key frame is valid if it is not connected to the last key frame and three of its neighbor key frames are loop candidates. - % When a valid loop candidate is found, use estgeotform3d to compute the relative pose between the loop candidate frame and the current key frame. The relative pose represents a 3-D rigid transformation stored in a rigidtform3d object. Then add the loop connection with the relative pose and update mapPointSet and vSetKeyFrames. - % Check loop closure after some key frames have been created - if currKeyFrameId > 20 - - % Minimum number of feature matches of loop edges - loopEdgeNumMatches = 120; - - % Detect possible loop closure key frame candidates - [isDetected, validLoopCandidates] = helperCheckLoopClosure(vSetKeyFrames, currKeyFrameId, ... - loopDatabase, currIcolor, loopEdgeNumMatches); - - if isDetected - % Add loop closure connections - maxDistance = 0.1; - [isLoopClosed, mapPointSet, vSetKeyFrames] = helperAddLoopConnectionsStereo(... - mapPointSet, vSetKeyFrames, validLoopCandidates, currKeyFrameId, ... - currFeatures, currPoints, loopEdgeNumMatches, maxDistance); - end - end - - % If no loop closure is detected, add current features into the database - if ~isLoopClosed - addImageFeatures(loopDatabase, currFeatures, currKeyFrameId); - end - - % Update IDs and indices - lastKeyFrameId = currKeyFrameId; - lastKeyFrameIdx = currFrameIdx; - addedFramesIdx = [addedFramesIdx; currFrameIdx]; %#ok - currFrameIdx = currFrameIdx + 1; - end % End of main loop - - % Finally, apply pose graph optimization over the essential graph in vSetKeyFrames to correct the drift. The essential graph is created internally by removing connections with fewer than minNumMatches matches in the covisibility graph. After pose graph optimization, update the 3-D locations of the map points using the optimized poses. - - % Optimize the poses - minNumMatches = 50; - vSetKeyFramesOptim = optimizePoses(vSetKeyFrames, minNumMatches, Tolerance=1e-16); - - % Update map points after optimizing the poses - mapPointSet = helperUpdateGlobalMap(mapPointSet, vSetKeyFrames, vSetKeyFramesOptim); - - updatePlot(mapPlot, vSetKeyFrames, mapPointSet); - - % Plot the optimized camera trajectory - optimizedPoses = poses(vSetKeyFramesOptim); - plotOptimizedTrajectory(mapPlot, optimizedPoses) - - % Update legend - showLegend(mapPlot); - - worldPointSetOutput = mapPointSet; - - % Dense Reconstruction from Depth Image - % Given the refined camera poses, you can reproject all the valid image points in the associated depth images back to the 3-D space to perform dense reconstruction. - % Create an array of pointCloud objects to store the world points constructed - - % from the key frames - ptClouds = repmat(pointCloud(zeros(1, 3)), numel(addedFramesIdx), 1); - - % Ignore image points at the boundary - offset = 40; - [X, Y] = meshgrid(offset:2:imageSize(2)-offset, offset:2:imageSize(1)-offset); - - for i = 1: numel(addedFramesIdx) - Icolor = readimage(imdsColor, addedFramesIdx(i)); - Idepth = readimage(imdsDepth, addedFramesIdx(i)); - - [xyzPoints, validIndex] = helperReconstructFromRGBD([X(:), Y(:)], ... - Idepth, intrinsics, optimizedPoses.AbsolutePose(i), depthFactor); - - colors = zeros(numel(X), 1, 'like', Icolor); - for j = 1:numel(X) - colors(j, 1:3) = Icolor(Y(j), X(j), :); - end - ptClouds(i) = pointCloud(xyzPoints, Color=colors(validIndex, :)); - end - - % Concatenate the point clouds - pointCloudsAll = pccat(ptClouds); - - figure - pcshow(pointCloudsAll,VerticalAxis="y", VerticalAxisDir="down"); - xlabel('X') - ylabel('Y') - zlabel('Z') -end - -%% Helper functions - -% helperImportTimestampFile Import time stamp file - -function timestamp = helperImportTimestampFile(filename) - % Input handling - dataLines = [4, Inf]; - - %% Set up the Import Options and import the data - opts = delimitedTextImportOptions("NumVariables", 2); - - % Specify range and delimiter - opts.DataLines = dataLines; - opts.Delimiter = " "; - - % Specify column names and types - opts.VariableNames = ["VarName1", "Var2"]; - opts.SelectedVariableNames = "VarName1"; - opts.VariableTypes = ["double", "string"]; - - % Specify file level properties - opts.ExtraColumnsRule = "ignore"; - opts.EmptyLineRule = "read"; - opts.ConsecutiveDelimitersRule = "join"; - opts.LeadingDelimitersRule = "ignore"; - - % Specify variable properties - opts = setvaropts(opts, "Var2", "WhitespaceRule", "preserve"); - opts = setvaropts(opts, "Var2", "EmptyFieldRule", "auto"); - - % Import the data - data = readtable(filename, opts); - - % Convert to output type - timestamp = table2array(data); -end - -% helperAlignTimestamp align time stamp of color and depth images. -function indexPairs = helperAlignTimestamp(timeColor, timeDepth) - idxDepth = 1; - indexPairs = zeros(numel(timeColor), 2); - for i = 1:numel(timeColor) - for j = idxDepth : numel(timeDepth) - if abs(timeColor(i) - timeDepth(j)) < 1e-4 - idxDepth = j; - indexPairs(i, :) = [i, j]; - break - elseif timeDepth(j) - timeColor(i) > 1e-3 - break - end - end - end - indexPairs = indexPairs(indexPairs(:,1)>0, :); -end - -% helperDetectAndExtractFeatures detect and extract and ORB features from the image. -function [features, validPoints] = helperDetectAndExtractFeatures(Irgb, scaleFactor, numLevels) - - numPoints = 1000; - - % Detect ORB features - Igray = rgb2gray(Irgb); - - points = detectORBFeatures(Igray, ScaleFactor=scaleFactor, NumLevels=numLevels); - - % Select a subset of features, uniformly distributed throughout the image - points = selectUniform(points, numPoints, size(Igray, 1:2)); - - % Extract features - [features, validPoints] = extractFeatures(Igray, points); -end - -% helperReconstructFromRGBD reconstruct scene from color and depth image. - -function [xyzPoints, validIndex] = helperReconstructFromRGBD(points, ... - depthMap, intrinsics, currPose, depthFactor) - - ptcloud = pcfromdepth(depthMap,depthFactor,intrinsics,ImagePoints=points, DepthRange=[0.1, 5]); - - isPointValid = ~isnan(ptcloud.Location(:, 1)); - xyzPoints = ptcloud.Location(isPointValid, :); - xyzPoints = transformPointsForward(currPose, xyzPoints); - validIndex = find(isPointValid); -end - -% helperCullRecentMapPoints cull recently added map points. -function [mapPointSet, mapPointsIdx] = ... - helperCullRecentMapPoints(mapPointSet, mapPointsIdx, newPointIdx, rgbdMapPointsIndices) - outlierIdx = setdiff([newPointIdx; rgbdMapPointsIndices], mapPointsIdx); - if ~isempty(outlierIdx) - mapPointSet = removeWorldPoints(mapPointSet, outlierIdx); - mapPointsIdx = mapPointsIdx - arrayfun(@(x) nnz(x>outlierIdx), mapPointsIdx); - end -end - -% helperEstimateTrajectoryError calculate the tracking error. -function rmse = helperEstimateTrajectoryError(gTruth, cameraPoses) - locations = vertcat(cameraPoses.AbsolutePose.Translation); - gLocations = vertcat(gTruth.Translation); - scale = median(vecnorm(gLocations, 2, 2))/ median(vecnorm(locations, 2, 2)); - scaledLocations = locations * scale; - - rmse = sqrt(mean( sum((scaledLocations - gLocations).^2, 2) )); - disp(['Absolute RMSE for key frame trajectory (m): ', num2str(rmse)]); -end - -% helperUpdateGlobalMap update 3-D locations of map points after pose graph optimization -function mapPointSet = helperUpdateGlobalMap(mapPointSet, vSetKeyFrames, vSetKeyFramesOptim) - - posesOld = vSetKeyFrames.Views.AbsolutePose; - posesNew = vSetKeyFramesOptim.Views.AbsolutePose; - positionsOld = mapPointSet.WorldPoints; - positionsNew = positionsOld; - indices = 1:mapPointSet.Count; - - % Update world location of each map point based on the new absolute pose of - % the corresponding major view - for i = 1: mapPointSet.Count - majorViewIds = mapPointSet.RepresentativeViewId(i); - tform = rigidtform3d(posesNew(majorViewIds).A/posesOld(majorViewIds).A); - positionsNew(i, :) = transformPointsForward(tform, positionsOld(i, :)); - end - mapPointSet = updateWorldPoints(mapPointSet, indices, positionsNew); -end - -% CSV file creation for points within keyframe -function saveKeyFramePoints(dirPath, keyFrameId, featurePoints, mapPointsIdx) - % Ensure the directory exists - if ~exist(dirPath, 'dir') - mkdir(dirPath); - end - - % Define the filename for the CSV file - csvFilename = sprintf('%s/KeyFramePoints_%04d.csv', dirPath, keyFrameId); - - % Extract pixel locations from the feature points - pixelLocations = featurePoints.Location; % This should be an Nx2 matrix - - % Combine the indices, pixel locations, and corresponding world points indices into one matrix - dataMatrix = [pixelLocations, mapPointsIdx]; % Concatenate horizontally - - % Write the combined data to a CSV file - writematrix(dataMatrix, csvFilename); -end diff --git a/target/classes/vslam/worldPointSet.mat b/target/classes/vslam/worldPointSet.mat deleted file mode 100644 index 3a558ef8f87d8d98b9cfabb5c53678ee110e06cf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/worldPointSet.mat and /dev/null differ diff --git a/target/classes/vslam/worldPointSetOutput.mat b/target/classes/vslam/worldPointSetOutput.mat deleted file mode 100644 index 6daeea02757227ec456a293bf02787cf721b1a69..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/worldPointSetOutput.mat and /dev/null differ diff --git a/target/classes/yolo/YOLODetector.class b/target/classes/yolo/YOLODetector.class deleted file mode 100644 index da1302ef1aca9aa03dd538781f27d001bff5021b..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/YOLODetector.class and /dev/null differ diff --git a/target/classes/yolo/YOLONet$ObjectDetectionResult.class b/target/classes/yolo/YOLONet$ObjectDetectionResult.class deleted file mode 100644 index c8b1ef244916f4a2932492116af111dfe15470d9..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/YOLONet$ObjectDetectionResult.class and /dev/null differ diff --git a/target/classes/yolo/YOLONet.class b/target/classes/yolo/YOLONet.class deleted file mode 100644 index 759fae0f5a60d8420cd1245a042c5eb496187db5..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/YOLONet.class and /dev/null differ diff --git a/target/classes/yolo/coco.names b/target/classes/yolo/coco.names deleted file mode 100644 index 16315f2becec9705017bfaf1b9fb81ca2a83c0b0..0000000000000000000000000000000000000000 --- a/target/classes/yolo/coco.names +++ /dev/null @@ -1,80 +0,0 @@ -person -bicycle -car -motorbike -aeroplane -bus -train -truck -boat -traffic light -fire hydrant -stop sign -parking meter -bench -bird -cat -dog -horse -sheep -cow -elephant -bear -zebra -giraffe -backpack -umbrella -handbag -tie -suitcase -frisbee -skis -snowboard -sports ball -kite -baseball bat -baseball glove -skateboard -surfboard -tennis racket -bottle -wine glass -cup -fork -knife -spoon -bowl -banana -apple -sandwich -orange -broccoli -carrot -hot dog -pizza -donut -cake -chair -sofa -pottedplant -bed -diningtable -toilet -tvmonitor -laptop -mouse -remote -keyboard -cell phone -microwave -oven -toaster -sink -refrigerator -book -clock -vase -scissors -teddy bear -hair drier -toothbrush \ No newline at end of file diff --git a/target/classes/yolo/yolov4.cfg b/target/classes/yolo/yolov4.cfg deleted file mode 100644 index 2985a313f610e032732e388ca6d0a7729ae7f267..0000000000000000000000000000000000000000 --- a/target/classes/yolo/yolov4.cfg +++ /dev/null @@ -1,1157 +0,0 @@ -[net] -batch=64 -subdivisions=8 -# Training -#width=512 -#height=512 -width=608 -height=608 -channels=3 -momentum=0.949 -decay=0.0005 -angle=0 -saturation = 1.5 -exposure = 1.5 -hue=.1 - -learning_rate=0.0013 -burn_in=1000 -max_batches = 500500 -policy=steps -steps=400000,450000 -scales=.1,.1 - -#cutmix=1 -mosaic=1 - -#:104x104 54:52x52 85:26x26 104:13x13 for 416 - -[convolutional] -batch_normalize=1 -filters=32 -size=3 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=32 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-7 - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-10 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-28 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-28 - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=1024 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-16 - -[convolutional] -batch_normalize=1 -filters=1024 -size=1 -stride=1 -pad=1 -activation=mish - -########################## - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -### SPP ### -[maxpool] -stride=1 -size=5 - -[route] -layers=-2 - -[maxpool] -stride=1 -size=9 - -[route] -layers=-4 - -[maxpool] -stride=1 -size=13 - -[route] -layers=-1,-3,-5,-6 -### End SPP ### - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[upsample] -stride=2 - -[route] -layers = 85 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[route] -layers = -1, -3 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[upsample] -stride=2 - -[route] -layers = 54 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[route] -layers = -1, -3 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=256 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=256 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -########################## - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=256 -activation=leaky - -[convolutional] -size=1 -stride=1 -pad=1 -filters=255 -activation=linear - - -[yolo] -mask = 0,1,2 -anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 -classes=80 -num=9 -jitter=.3 -ignore_thresh = .7 -truth_thresh = 1 -scale_x_y = 1.2 -iou_thresh=0.213 -cls_normalizer=1.0 -iou_normalizer=0.07 -iou_loss=ciou -nms_kind=greedynms -beta_nms=0.6 -max_delta=5 - - -[route] -layers = -4 - -[convolutional] -batch_normalize=1 -size=3 -stride=2 -pad=1 -filters=256 -activation=leaky - -[route] -layers = -1, -16 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -size=1 -stride=1 -pad=1 -filters=255 -activation=linear - - -[yolo] -mask = 3,4,5 -anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 -classes=80 -num=9 -jitter=.3 -ignore_thresh = .7 -truth_thresh = 1 -scale_x_y = 1.1 -iou_thresh=0.213 -cls_normalizer=1.0 -iou_normalizer=0.07 -iou_loss=ciou -nms_kind=greedynms -beta_nms=0.6 -max_delta=5 - - -[route] -layers = -4 - -[convolutional] -batch_normalize=1 -size=3 -stride=2 -pad=1 -filters=512 -activation=leaky - -[route] -layers = -1, -37 - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -size=1 -stride=1 -pad=1 -filters=255 -activation=linear - - -[yolo] -mask = 6,7,8 -anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 -classes=80 -num=9 -jitter=.3 -ignore_thresh = .7 -truth_thresh = 1 -random=1 -scale_x_y = 1.05 -iou_thresh=0.213 -cls_normalizer=1.0 -iou_normalizer=0.07 -iou_loss=ciou -nms_kind=greedynms -beta_nms=0.6 -max_delta=5 diff --git a/target/classes/yolo/yolov4.weights b/target/classes/yolo/yolov4.weights deleted file mode 100644 index 921f4406ecaa54a53031dd695e7bcd96f5dd9be2..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/yolov4.weights and /dev/null differ diff --git a/target/test-classes/.DS_Store b/target/test-classes/.DS_Store deleted file mode 100644 index de360927acbc0a016051ba3139d5f8d64b4ac03a..0000000000000000000000000000000000000000 Binary files a/target/test-classes/.DS_Store and /dev/null differ diff --git a/target/test-classes/object_detection/BoundingBoxTests.class b/target/test-classes/object_detection/BoundingBoxTests.class deleted file mode 100644 index 4fd7ec9e65bfec2a264989b37ff19d1183fecc8b..0000000000000000000000000000000000000000 Binary files a/target/test-classes/object_detection/BoundingBoxTests.class and /dev/null differ diff --git a/target/test-classes/object_detection/ObjectSetTests.class b/target/test-classes/object_detection/ObjectSetTests.class deleted file mode 100644 index bd4f79feabcfd3e9de11047fbdc4b7afd08edc2d..0000000000000000000000000000000000000000 Binary files a/target/test-classes/object_detection/ObjectSetTests.class and /dev/null differ diff --git a/target/test-classes/object_detection/PointTests.class b/target/test-classes/object_detection/PointTests.class deleted file mode 100644 index 40ded9809bea2d1e8c7c644e32828eff0909c437..0000000000000000000000000000000000000000 Binary files a/target/test-classes/object_detection/PointTests.class and /dev/null differ diff --git a/target/test-classes/yolo/.DS_Store b/target/test-classes/yolo/.DS_Store deleted file mode 100644 index ed23dab00de9e4439ec8daa755dcd8e9c4bf48fa..0000000000000000000000000000000000000000 Binary files a/target/test-classes/yolo/.DS_Store and /dev/null differ diff --git a/target/test-classes/yolo/.gitkeep b/target/test-classes/yolo/.gitkeep deleted file mode 100644 index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000 diff --git a/target/test-classes/yolo/KeyFrame_0060.csv b/target/test-classes/yolo/KeyFrame_0060.csv deleted file mode 100644 index bd8544564a0d5fc5972a6dc8cc6b5b8ef7b6e8e5..0000000000000000000000000000000000000000 --- a/target/test-classes/yolo/KeyFrame_0060.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.966170,187,292,78,65 -tvmonitor,0.911748,64,-2,228,136 -keyboard,0.845111,25,113,245,130 diff --git a/target/test-classes/yolo/TestFrame.png b/target/test-classes/yolo/TestFrame.png deleted file mode 100644 index 3886bb1a0f80d4fb37fe4c30ca3a22fca4199216..0000000000000000000000000000000000000000 Binary files a/target/test-classes/yolo/TestFrame.png and /dev/null differ diff --git a/target/test-classes/yolo/YOLOTest.class b/target/test-classes/yolo/YOLOTest.class deleted file mode 100644 index d4c2229210495b42337b6704055440a364f6f955..0000000000000000000000000000000000000000 Binary files a/target/test-classes/yolo/YOLOTest.class and /dev/null differ diff --git a/target/test-classes/yolo/coco.names b/target/test-classes/yolo/coco.names deleted file mode 100644 index 16315f2becec9705017bfaf1b9fb81ca2a83c0b0..0000000000000000000000000000000000000000 --- a/target/test-classes/yolo/coco.names +++ /dev/null @@ -1,80 +0,0 @@ -person -bicycle -car -motorbike -aeroplane -bus -train -truck -boat -traffic light -fire hydrant -stop sign -parking meter -bench -bird -cat -dog -horse -sheep -cow -elephant -bear -zebra -giraffe -backpack -umbrella -handbag -tie -suitcase -frisbee -skis -snowboard -sports ball -kite -baseball bat -baseball glove -skateboard -surfboard -tennis racket -bottle -wine glass -cup -fork -knife -spoon -bowl -banana -apple -sandwich -orange -broccoli -carrot -hot dog -pizza -donut -cake -chair -sofa -pottedplant -bed -diningtable -toilet -tvmonitor -laptop -mouse -remote -keyboard -cell phone -microwave -oven -toaster -sink -refrigerator -book -clock -vase -scissors -teddy bear -hair drier -toothbrush \ No newline at end of file