Commit 8a05c3a6 authored by Nafis A Abeer's avatar Nafis A Abeer
Browse files

bounding box algo

parent 088b16fb

src/main/java/object_detection/types/BoundingBox.java

+3 −1
Original line number Diff line number Diff line
@@ -2,11 +2,12 @@ package object_detection.types; 


public class BoundingBox {



    public BoundingBox(Point2D tr, Point2D tl, Point2D br, Point2D bl){

    public BoundingBox(Point2D tr, Point2D tl, Point2D br, Point2D bl, int idx){

        this.topRight = tr;

        this.topLeft = tl;

        this.botRight = br;

        this.botLeft = bl;

        this.idx = idx;

    }



    public boolean within(Point2D p){
@@ -22,6 +23,7 @@ public class BoundingBox { 
    Point2D topLeft;

    Point2D botRight;

    Point2D botLeft;

    int idx;





}

src/main/java/object_detection/types/ObjectSet.java

+41 −11
Original line number Diff line number Diff line
@@ -85,20 +85,50 @@ public class ObjectSet { 
     * @param featCsv : file containing each feature in space (x,y,z and index)

     * @param bboxCsv : file containing Bounding Boxes for each object in a keyframe

     */

    public void processFrame(File featCsv, File bboxCsv) throws FileNotFoundException {

    

        // first we need to extract the features and blackbox from the corresponding CSVs

        ArrayList<Point> feature;

        ArrayList<BoundingBox> bbox;

    public List<ArrayList<Point>> processFrame(File featCsv, File bboxCsv) throws FileNotFoundException {

        // Read bounding boxes

        List<BoundingBox> boundingBoxes = readBoundingBoxes(bboxCsv);



        Scanner sc = new Scanner(featCsv);

        sc.useDelimiter("\n");

        while(sc.hasNext()){

            String[] cl = sc.next().split(",");

        // Initialize results structure

        List<ArrayList<Point>> results = new ArrayList<>();

        for (int i = 0; i < boundingBoxes.size(); i++) {

            results.add(new ArrayList<>());

        }



            //Point p = new Point(cl[4], cl[5], cl[6]);

        // Process feature points

        Scanner scanner = new Scanner(featCsv);

        while (scanner.hasNextLine()) {

            String[] line = scanner.nextLine().split(",");

            Point2D point2D = new Point2D(Float.parseFloat(line[0]), Float.parseFloat(line[1]), Integer.parseInt(line[2]));

            Point point = new Point(Float.parseFloat(line[3]), Float.parseFloat(line[4]), Float.parseFloat(line[5]), Integer.parseInt(line[2]));



            // Check if the point is within any bounding box

            for (int i = 0; i < boundingBoxes.size(); i++) {

                if (boundingBoxes.get(i).within(point2D)) {

                    results.get(i).add(point);

                    break; // Assuming a point belongs to only one bounding box

                }

            }

        }

        scanner.close();



        return results;

    }



    private List<BoundingBox> readBoundingBoxes(File bboxCsv) throws FileNotFoundException {

        List<BoundingBox> boxes = new ArrayList<>();

        Scanner scanner = new Scanner(bboxCsv);

        scanner.nextLine(); // Skip header

        while (scanner.hasNextLine()) {

            String[] line = scanner.nextLine().split(",");

            Point2D tr = new Point2D(Float.parseFloat(line[2]) + Float.parseFloat(line[4]), Float.parseFloat(line[3]), 0);

            Point2D tl = new Point2D(Float.parseFloat(line[2]), Float.parseFloat(line[3]), 0);

            Point2D br = new Point2D(Float.parseFloat(line[2]) + Float.parseFloat(line[4]), Float.parseFloat(line[3]) + Float.parseFloat(line[5]), 0);

            Point2D bl = new Point2D(Float.parseFloat(line[2]), Float.parseFloat(line[3]) + Float.parseFloat(line[5]), 0);

            boxes.add(new BoundingBox(tr, tl, br, bl, Integer.parseInt(line[0])));

        }

        scanner.close();

        return boxes;

    }

}
 
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src/main/java/object_detection/types/Point.java

+7 −3
Original line number Diff line number Diff line
@@ -9,18 +9,18 @@ public class Point { 
    private float x;

    private float y;

    private float z;

    final int idx;

    private int idx;



    // METHODS



    /*

    Object Constructor of a feature in 3D

     */

    public Point(float xx, float yy, float zz){

    public Point(float xx, float yy, float zz, int idx){

        this.x = xx;

        this.y = yy;

        this.z = zz;

        this.idx = count++;

        this.idx = idx;

    }



    /**
@@ -64,4 +64,8 @@ public class Point { 
    public float getZ() {

        return z;

    }



    public int getIdx() {

        return idx;

    }

}

src/main/java/object_detection/types/Point2D.java

+7 −1
Original line number Diff line number Diff line
@@ -4,10 +4,12 @@ public class Point2D { 


    private float x;

    private float y;

    private int idx;



    public Point2D(float x, float y){

    public Point2D(float x, float y, int idx){

        this.x = x;

        this.y = y;

        this.idx = idx;

    }



    public float getY() {
@@ -17,4 +19,8 @@ public class Point2D { 
    public float getX() {

        return x;

    }



    public int getIdx() {

        return idx;

    }

}

target/classes/README.md

0 → 100644
+15 −0
Original line number Diff line number Diff line 


# 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
 
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