From aab56a6327e47f5851f6ea40186e27cd9c2ea342 Mon Sep 17 00:00:00 2001 From: RohanMac Date: Wed, 17 Apr 2024 17:11:04 -0400 Subject: [PATCH] fixed server --- pom.xml | 2 +- src/main/java/top/BackendJava.java | 2 +- src/main/resources/templates/html/index.html | 6 +- target/classes/application.properties | 2 + target/classes/database/DatabaseUpdater.class | Bin 0 -> 443 bytes .../database/MongoDBAtlasConnection.class | Bin 0 -> 427 bytes target/classes/extractedPoints.csv | 365 ++++++++++++++++++ .../object_detection/ObjectDetector.class | Bin 0 -> 2347 bytes .../object_detection/types/BoundingBox.class | Bin 0 -> 1130 bytes .../object_detection/types/ObjectSet.class | Bin 0 -> 6486 bytes .../object_detection/types/Point.class | Bin 0 -> 2031 bytes .../object_detection/types/Point2D.class | Bin 0 -> 656 bytes .../object_detection/types/PointSet.class | Bin 0 -> 2255 bytes target/classes/templates/html/index.html | 33 ++ target/classes/templates/js/app.js | 76 ++++ target/classes/templates/js/pointCloud.js | 144 +++++++ target/classes/templates/style/main.css | 72 ++++ .../top/BackendJava$BackendService.class | Bin 0 -> 2611 bytes .../top/BackendJava$WebMvcConfig.class | Bin 0 -> 1392 bytes target/classes/top/BackendJava.class | Bin 0 -> 1355 bytes target/classes/yolo/YOLODetector.class | Bin 0 -> 6787 bytes .../yolo/YOLONet$ObjectDetectionResult.class | Bin 0 -> 537 bytes target/classes/yolo/YOLONet.class | Bin 0 -> 7079 bytes .../compile/default-compile/createdFiles.lst | 14 + .../compile/default-compile/inputFiles.lst | 11 + 25 files changed, 722 insertions(+), 5 deletions(-) create mode 100644 target/classes/application.properties create mode 100644 target/classes/database/DatabaseUpdater.class create mode 100644 target/classes/database/MongoDBAtlasConnection.class create mode 100644 target/classes/extractedPoints.csv create mode 100644 target/classes/object_detection/ObjectDetector.class create mode 100644 target/classes/object_detection/types/BoundingBox.class create mode 100644 target/classes/object_detection/types/ObjectSet.class create mode 100644 target/classes/object_detection/types/Point.class create mode 100644 target/classes/object_detection/types/Point2D.class create mode 100644 target/classes/object_detection/types/PointSet.class create mode 100644 target/classes/templates/html/index.html create mode 100644 target/classes/templates/js/app.js create mode 100644 target/classes/templates/js/pointCloud.js create mode 100644 target/classes/templates/style/main.css create mode 100644 target/classes/top/BackendJava$BackendService.class create mode 100644 target/classes/top/BackendJava$WebMvcConfig.class create mode 100644 target/classes/top/BackendJava.class create mode 100644 target/classes/yolo/YOLODetector.class create mode 100644 target/classes/yolo/YOLONet$ObjectDetectionResult.class create mode 100644 target/classes/yolo/YOLONet.class create mode 100644 target/maven-status/maven-compiler-plugin/compile/default-compile/createdFiles.lst create mode 100644 target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst diff --git a/pom.xml b/pom.xml index 15ff4087..339b460d 100644 --- a/pom.xml +++ b/pom.xml @@ -12,7 +12,7 @@ 17 17 UTF-8 - object_detection.ObjectDetector + top.BackendJava @@ -26,8 +26,8 @@ - - + + diff --git a/target/classes/application.properties b/target/classes/application.properties new file mode 100644 index 00000000..4a5c2635 --- /dev/null +++ b/target/classes/application.properties @@ -0,0 +1,2 @@ +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/DatabaseUpdater.class b/target/classes/database/DatabaseUpdater.class new file mode 100644 index 0000000000000000000000000000000000000000..1ab06a3d870664063438f0b2f57f05728dca3b5a GIT binary patch literal 443 zcmah_!AiqG5Pg%TO&X(ZwFmL0AhaUp1F9ahcnW%`_TWV}$)a0gQj$%ezz+UOAa3$YSGDzf|FDq6@`6FSE#Q~H$9 z8ja@;T*7uDw1`A0gK3l8ESZu8!9LFuN$79gda2tUqiHjVHAcV5eXMiU#RhuJnBhZ? 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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

+

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

+ +
+ +
+
+ +
+
+

Select An Object To View Point Cloud With That Object Highlighted

+

point cloud can be manipulated through rotate and zoom

+ +
+
+ + + + + + diff --git a/target/classes/templates/js/app.js b/target/classes/templates/js/app.js new file mode 100644 index 00000000..c35fd41f --- /dev/null +++ b/target/classes/templates/js/app.js @@ -0,0 +1,76 @@ +async function fetchImageAndObjects() { + try { + const response = await fetch('http://127.0.0.1:5000/getImageAndObjects'); + if (!response.ok) { + throw new Error('Failed to fetch image and objects'); + } + const data = await response.json(); + displayImageAndObjects(data.imageUrl, data.objects); + } catch (error) { + console.error(error); + } +} + +function displayImageAndObjects(imageUrl, objects) { + const imageContainer = document.getElementById('imageContainer'); + const objectsContainer = document.getElementById('objectsContainer'); + const container = document.getElementById('resultContainer'); + + // Create an image element + const imageElement = document.createElement('img'); + console.log(imageUrl); + imageElement.src = 'http://127.0.0.1:5000/' + imageUrl; + imageElement.alt = 'Image'; + imageContainer.appendChild(imageElement); + + // 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); + } + await fetchImageAndObjects(); +} diff --git a/target/classes/templates/js/pointCloud.js b/target/classes/templates/js/pointCloud.js new file mode 100644 index 00000000..6a3eadf8 --- /dev/null +++ b/target/classes/templates/js/pointCloud.js @@ -0,0 +1,144 @@ +async function drawPointCloud(object) { + var button = document.getElementById("drawPC"); + button.style.display = 'none'; + + await fetch('http://127.0.0.1:5555/getJSON') + .then(response => response.json()) + .then(responseText => { + let pointCloudData = parseJSONToPointCloud(responseText, object); + + console.log(responseText) + + // 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]; + + // 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[0]; + let y = coordinate[1]; + let z = coordinate[2]; + 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 '${object}' not found in JSON.`); + } + + return { positions: positions, colors: colors }; + } + }) + .catch(error => { + console.error('Error loading JSON:', error); + }); +} diff --git a/target/classes/templates/style/main.css b/target/classes/templates/style/main.css new file mode 100644 index 00000000..24a5bdcb --- /dev/null +++ b/target/classes/templates/style/main.css @@ -0,0 +1,72 @@ +html { + height: 100%; +} + +body { + margin: 10px; +} +canvas { + display: block; +} + +body { + font-family: Arial, sans-serif; + margin: 20px; +} + +#resultContainer +{ + visibility: hidden; +} + +.container { + display: flex; + justify-content: space-between; +} + +.image-container { + flex: 1; + 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+object_detection/types/BoundingBox.class +yolo/YOLONet.class +database/DatabaseUpdater.class +top/BackendJava$BackendService.class +object_detection/ObjectDetector.class +object_detection/types/Point.class +top/BackendJava$WebMvcConfig.class +top/BackendJava.class +object_detection/types/Point2D.class +object_detection/types/PointSet.class +database/MongoDBAtlasConnection.class diff --git a/target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst b/target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst new file mode 100644 index 00000000..b99887d3 --- /dev/null +++ b/target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst @@ -0,0 +1,11 @@ +/Users/roku/IdeaProjects/group8/src/main/java/object_detection/types/PointSet.java +/Users/roku/IdeaProjects/group8/src/main/java/object_detection/ObjectDetector.java +/Users/roku/IdeaProjects/group8/src/main/java/database/MongoDBAtlasConnection.java +/Users/roku/IdeaProjects/group8/src/main/java/object_detection/types/ObjectSet.java +/Users/roku/IdeaProjects/group8/src/main/java/database/DatabaseUpdater.java +/Users/roku/IdeaProjects/group8/src/main/java/object_detection/types/Point.java +/Users/roku/IdeaProjects/group8/src/main/java/object_detection/types/Point2D.java +/Users/roku/IdeaProjects/group8/src/main/java/top/BackendJava.java +/Users/roku/IdeaProjects/group8/src/main/java/object_detection/types/BoundingBox.java +/Users/roku/IdeaProjects/group8/src/main/java/yolo/YOLODetector.java +/Users/roku/IdeaProjects/group8/src/main/java/yolo/YOLONet.java -- GitLab