src/main/java/object_detection/types/PointSet.java

@@ -6,11 +6,8 @@ import java.util.*;
 
 public class PointSet {
 
-    static final int NUM_REPS = 10;
     Set<Point> pset;
-    Point[] reps;
-
-    Point centroid;
+    String predName;
 
     final int IDX;
 
@@ -18,14 +15,13 @@ public class PointSet {
      *
      * @param pp : the points that this PointSet will contain
      */
-    public PointSet(int id, Point ...pp){
-        pset = new HashSet<>();
+    public PointSet(int id, String predName, Point ...pp){
+        this.pset = new HashSet<>();
 
         // add every point blankly to pointset
-        pset.addAll(Arrays.asList(pp));
-        centroid = new Point(0,0,0);
-        reps = new Point[NUM_REPS];
-        IDX = id;
+        this.pset.addAll(Arrays.asList(pp));
+        this.IDX = id;
+        this.predName = predName;
     }
 
     public void addPoint(Point p){
@@ -40,8 +36,8 @@ public class PointSet {
         pset.addAll(p);
     }
 
-    public Point[] getSetReps(){
-        return this.reps;
+    public String getPred(){
+        return this.predName;
     }
 
     /*
@@ -58,24 +54,6 @@ public class PointSet {
         return res;
     }
 
-    /**
-     * This method is called on a specific Point, and updates the Point via
-     * some disjoint sets' method.
-     */
-    public void updateReps(){
-        // get first NUM_REPS from pset for now, will make more efficient later
-        Iterator<Point> iter = this.pset.iterator();
-        for(int i = 0; i < NUM_REPS; i++){
-
-            // early exit if we have less than NUM_REPS points in the current object
-            if(i == this.pset.size()) {
-                return;
-            }
-
-            reps[i] = iter.next();
-        }
-    }
-
     public int getIDX() {
         return this.IDX;
     }

src/main/java/top/BackendJava.java

@@ -36,24 +36,11 @@ public class BackendJava {
         private final MongoDBInteraction dbInteraction = new MongoDBInteraction();
         private final Gson gson = new GsonBuilder().create();
 
-        @GetMapping("/{index}")
-        public ResponseEntity<String> getObjectSet(@PathVariable int index) {
-            try {
-                ObjectSet objectSet = dbInteraction.retrieveLatestObjectSet();
-                if (objectSet != null) {
-                    return ResponseEntity.ok(gson.toJson(objectSet));
-                } else {
-                    return ResponseEntity.notFound().build();
-                }
-            } catch (NumberFormatException e) {
-                return ResponseEntity.badRequest().body("{\"error\":\"Invalid index format\"}");
-            } catch (Exception e) {
-                return ResponseEntity.internalServerError().body("{\"error\":\"Internal Server Error: " + e.getMessage() + "\"}");
-            }
-        }
-
         @GetMapping("/getObjects")
-        public ResponseEntity<String> getObjects() {
+        public ResponseEntity<String> getObjects(@RequestParam String dataset) throws CsvValidationException, IOException {
+            System.out.println("==========================");
+            ObjectDetector.startProcess(dataset);
+            System.out.println("==========================");
             try {
                 ObjectSet objectSet = dbInteraction.retrieveLatestObjectSet();
                 if (objectSet != null && objectSet.objects != null && !objectSet.objects.isEmpty()) {
@@ -61,7 +48,7 @@ public class BackendJava {
                     for (PointSet ps : objectSet.objects) {
                         Map<String, Object> objData = new HashMap<>();
                         objData.put("id", ps.getIDX());
-                        objData.put("predName", "Some Pred Name"); // Placeholder, adjust based on your application's data
+                        objData.put("predName", ps.getPred()); // Placeholder, adjust based on your application's data
 
                         List<Map<String, Object>> pointsList = new ArrayList<>();
                         for (Point p : ps.getPoints()) {
@@ -87,19 +74,6 @@ public class BackendJava {
                 return ResponseEntity.internalServerError().body("{\"error\":\"Failed to retrieve all objects: " + e.getMessage() + "\"}");
             }
         }
-
-
-
-        @GetMapping("/getPointCloud")
-        public ResponseEntity<String> getPoints() {
-            try {
-                Map<String, List<String>> result = new HashMap<>();
-                result.put("yes", Collections.singletonList("true"));
-                return ResponseEntity.ok(gson.toJson(result));
-            } catch (Exception e){
-                return ResponseEntity.internalServerError().body("{\"error\":\"Failed to retrieve all objects: " + e.getMessage() + "\"}");
-            }
-        }
     }
 
     @Controller
@@ -108,29 +82,23 @@ public class BackendJava {
         private final MongoDBInteraction dbInteraction = new MongoDBInteraction();
         private final Gson gson = new GsonBuilder().create();
 
-        @RequestMapping("/hello")
-        @ResponseBody
-        public String hello() {
-            return "Hello There";
-        }
-
         @RequestMapping("/")
         public String index() {
             return "html/index";
         }
 
-        @RequestMapping("/runProcess")
-        @ResponseBody
-        public boolean runProcess() throws IOException, CsvValidationException {
-            System.out.println(" ============> Starting process");
-            ObjectDetector.startProcess();
-            return true;
-        }
+        // @RequestMapping("/runProcess")
+        // @ResponseBody
+        // public boolean runProcess() throws IOException, CsvValidationException {
+        //     System.out.println(" ============> Starting process");
+        //     ObjectDetector.startProcess();
+        //     return true;
+        // }
 
         @RequestMapping("/getJSON")
         @ResponseBody
         public ResponseEntity<String> tempJson(@RequestParam String dataset) throws CsvValidationException, IOException {
-            ObjectDetector.startProcess();
+            ObjectDetector.startProcess(dataset);
             try {
                 ObjectSet latestObjectSet = dbInteraction.retrieveLatestObjectSet();
 
@@ -154,16 +122,6 @@ public class BackendJava {
             return "style/main.css";
         }
 
-        @RequestMapping("/js/app.js")
-        public String getApp() {
-            return "js/app.js";
-        }
-
-        @RequestMapping("/js/pointCloud.js")
-        public String getPC() {
-            return "js/pointCloud.js";
-        }
-
         @RequestMapping("/js/buildPC.js")
         public String getBuild() {
             return "js/buildPC.js";

src/main/java/vid2frames/Vid2Frames.java

@@ -28,19 +28,19 @@ public class Vid2Frames {
 
             Java2DFrameConverter converter = new Java2DFrameConverter();
             Frame frame;
-            int frameNumber = 0; // Overall frame number
-            int savedFrameNumber = 0; // Number of frames actually saved
+            int frameNumber = 0;
 
             // Frame rate of the video file
             double frameRate = frameGrabber.getFrameRate();
-            // Interval to capture the frame (e.g., every 0.2 seconds for 5 frames per second)
-            int frameInterval = (int) Math.round(frameRate / 15);
+            // Interval to capture the frame (every 0.2 seconds for 5 frames per second)
+            int frameInterval = (int) Math.round(frameRate / 5);
+            int savedFrameNumber = 0; // Number of frames actually saved
 
             while ((frame = frameGrabber.grabFrame()) != null) {
                 if (frame.image != null) {
                     if (frameNumber % frameInterval == 0) {
                         BufferedImage bi = converter.convert(frame);
-                        String path = String.format("%s/frame_%d.png", outputDirPath, savedFrameNumber);
+                        String path = String.format("%s/frame_%d.png", outputDirPath, frameNumber);
                         ImageIO.write(bi, "png", new File(path));
                         System.out.println("Saved: " + path);
                         savedFrameNumber++;

src/main/java/vslam/README.md

-
-## 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