refixed

        String uri = "mongodb+srv://Cluster03790:dlVzT2Z2bEh9@cluster03790.tk4cwyy.mongodb.net/myFirstDatabase?retryWrites=true";

        // Construct a ServerApi instance using the ServerApi.builder() method

        ServerApi serverApi = ServerApi.builder()

                .version(ServerApiVersion.V1)

                .build();

        MongoClientSettings settings = MongoClientSettings.builder()

                .applyConnectionString(new ConnectionString(uri))

                .serverApi(serverApi)

                .serverApi(ServerApi.builder().version(ServerApiVersion.V1).build())

                .build();

        this.mongoClient = MongoClients.create(settings);

        this.database = mongoClient.getDatabase("Objects");

        this.objectCollection = database.getCollection("objectSets");

        System.out.println("MongoDB Connection Established");

    }

     * @return

     */

    public ObjectSet retrieveLatestObjectSet() {

        try {

            Document doc = objectCollection.find().sort(new Document("index", -1)).first();

        return doc != null ? convertDocumentToObjectSet(doc) : null;

            if (doc == null) {

                System.out.println("No document found.");

                return null;

            } else {

                System.out.println("Document found: " + doc.toJson());

                return convertDocumentToObjectSet(doc);

            }

        } catch (Exception e) {

            System.out.println("Error retrieving document: " + e.getMessage());

            return null;

        }

    }

    private ObjectSet convertDocumentToObjectSet(Document doc) {

        List<Document> pointSetsDocs = doc.getList("objectSets", Document.class);

        ObjectSet objectSet = new ObjectSet();

        for (Document pointSetDoc : pointSetsDocs) {

            objectSet.objects.add(convertDocumentToPointSet(pointSetDoc));

        if (doc == null) {

            System.out.println("Document is null, no conversion possible.");

            return null;

        }

        List<Document> pointSetDocs = doc.getList("objectSets", Document.class);

        if (pointSetDocs == null || pointSetDocs.isEmpty()) {

            System.out.println("No point sets found in document.");

            return new ObjectSet();

        }

        ObjectSet objectSet = new ObjectSet();

        for (Document pointSetDoc : pointSetDocs) {

            PointSet pointSet = convertDocumentToPointSet(pointSetDoc);

            if (pointSet != null) {

                objectSet.objects.add(pointSet);

            } else {

                System.out.println("Failed to convert point set document: " + pointSetDoc.toJson());

            }

        }

        return objectSet;

    }

    private PointSet convertDocumentToPointSet(Document doc) {

        int idx = Integer.parseInt(doc.getString("setId"));

        if (doc == null) {

            System.out.println("PointSet document is null.");

            return null;

        }

        // Using Integer.parseInt to safely convert String to Integer if necessary

        int idx;

        try {

            idx = doc.get("setId") instanceof Integer ? (Integer) doc.get("setId") : Integer.parseInt((String) doc.get("setId"));

        } catch (NumberFormatException e) {

            System.err.println("Invalid format for setId, must be an integer: " + doc.get("setId"));

            return null;

        }

        List<Document> pointsDocs = doc.getList("points", Document.class);

        if (pointsDocs == null) {

            System.out.println("No points found in point set document.");

            return new PointSet(idx);

        }

        PointSet pointSet = new PointSet(idx);

        for (Document pointDoc : pointsDocs) {

            float x = pointDoc.getDouble("x").floatValue();

            float y = pointDoc.getDouble("y").floatValue();

            float z = pointDoc.getDouble("z").floatValue();

            pointSet.addPoint(new Point(x, y, z, 0));

            Point point = new Point(

                    pointDoc.getDouble("x").floatValue(),

                    pointDoc.getDouble("y").floatValue(),

                    pointDoc.getDouble("z").floatValue(),

                    pointDoc.getInteger("R"),

                    pointDoc.getInteger("G"),

                    pointDoc.getInteger("B")

                    );

            pointSet.addPoint(point);

        }

        return pointSet;

    }

    // PointSet management methods

    private Document pointSetToDocument(String setId, PointSet pointSet) {

        List<Document> pointsList = new ArrayList<>();

        for (Point p : pointSet.getPoints()) {

            pointsList.add(new Document("x", p.getX())

                    .append("y", p.getY())

                    .append("z", p.getZ()));

                    .append("z", p.getZ())

                    .append("R", p.R)

                    .append("G", p.G)

                    .append("B", p.B));

        }

        return new Document("setId", setId)

                .append("points", pointsList);

    }

    // ObjectSet management methods

    private Document objectSetToDocument(int index, ObjectSet objectSet) {

        List<Document> pointSetsList = new ArrayList<>();

        for (object_detection.types.PointSet ps : objectSet.objects) {

        List<Document> objectList = new ArrayList<>();

        for (PointSet ps : objectSet.objects) {

            Document pointSetDoc = pointSetToDocument(Integer.toString(ps.getIDX()), ps);

            pointSetsList.add(pointSetDoc);

            objectList.add(pointSetDoc);

        }

        return new Document("index", index)

                .append("objectSets", pointSetsList);

                .append("objectSets", objectList);

    }

    public void updateObjectSet(int index, ObjectSet objectSet) {

        Document doc = objectSetToDocument(index, objectSet);

        ReplaceOptions options = new ReplaceOptions().upsert(true);

        objectCollection.replaceOne(Filters.eq("index", index), doc, options);

    }

}