add object label name map to global config (#172)

Co-authored-by: Nathan Hughes <[email protected]>

Author: nathanhhughes

include/hydra/common/hydra_config.h

@@ -36,6 +36,7 @@
 #include <array>
 #include <atomic>
 #include <iostream>
+#include <map>
 #include <memory>
 #include <vector>
 
@@ -44,6 +45,7 @@ namespace hydra {
 class HydraConfig {
  public:
   using ColorArray = std::array<uint8_t, 3>;
+  using LabelNameMap = std::map<uint8_t, std::string>;
 
   static HydraConfig& instance() {
     if (!instance_) {
@@ -60,6 +62,10 @@ class HydraConfig {
 
   const ColorArray& getRoomColor(size_t index) const;
 
+  const LabelNameMap& getLabelToNameMap() const;
+
+  void setLabelToNameMap(const LabelNameMap& name_map);
+
  private:
   HydraConfig();
 
@@ -69,6 +75,7 @@ class HydraConfig {
   std::atomic<bool> force_shutdown_;
 
   std::vector<ColorArray> colormap_;
+  std::map<uint8_t, std::string> label_to_name_map_;
 };
 
 std::ostream& operator<<(std::ostream& out, const HydraConfig& config);

src/common/hydra_config.cpp

@@ -74,4 +74,12 @@ const HydraConfig::ColorArray& HydraConfig::getRoomColor(size_t index) const {
   return colormap_.at(index % colormap_.size());
 }
 
+void HydraConfig::setLabelToNameMap(const HydraConfig::LabelNameMap& name_map) {
+  label_to_name_map_ = name_map;
+}
+
+const HydraConfig::LabelNameMap& HydraConfig::getLabelToNameMap() const {
+  return label_to_name_map_;
+}
+
 }  // namespace hydra

src/frontend/mesh_segmenter.cpp

@@ -38,6 +38,8 @@
 #include <pcl/segmentation/extract_clusters.h>
 #include <spark_dsg/bounding_box_extraction.h>
 
+#include "hydra/common/hydra_config.h"
+
 namespace hydra {
 
 using kimera::HashableColor;
@@ -356,38 +358,20 @@ void MeshSegmenter::addObjectToGraph(DynamicSceneGraph& graph,
     return;
   }
 
-  std::unordered_map<SemanticLabel, std::string> label_string{
-      {0, "void"},        {1, "wall"},
-      {2, "floor"},       {3, "chair"},
-      {4, "door"},        {5, "table"},
-      {6, "picture"},     {7, "cabinet"},
-      {8, "cushion"},     {9, "window"},
-      {10, "sofa"},       {11, "bed"},
-      {12, "curtain"},    {13, "chest_of_drawers"},
-      {14, "plant"},      {15, "sink"},
-      {16, "stairs"},     {17, "ceiling"},
-      {18, "toilet"},     {19, "stool"},
-      {20, "towel"},      {21, "mirror"},
-      {22, "tv_monitor"}, {23, "shower"},
-      {24, "column"},     {25, "bathtub"},
-      {26, "counter"},    {27, "fireplace"},
-      {28, "lighting"},   {29, "railing"},
-      {30, "shelving"},   {31, "blinds"},
-      {32, "seating"},    {33, "board_panel"},
-      {34, "furniture"},  {35, "appliances"},
-      {36, "clothes"},    {37, "objects"},
-      {38, "misc"}};
-
   ObjectNodeAttributes::Ptr attrs = std::make_unique<ObjectNodeAttributes>();
   attrs->semantic_label = label;
   attrs->name = NodeSymbol(next_node_id_).getLabel();
   attrs->bounding_box = bounding_box::extract(
       cluster.cloud, config_.bounding_box_type, nullptr, config_.angle_step);
-  if (label_string.count(label)) {
-    attrs->name = label_string[label];
+
+  const auto& label_to_name = HydraConfig::instance().getLabelToNameMap();
+  auto iter = label_to_name.find(label);
+  if (iter != label_to_name.end()) {
+    attrs->name = iter->second;
   } else {
-    LOG(ERROR) << "Missing semantic label: " << std::to_string(label);
+    VLOG(1) << "Missing semantic label from map: " << std::to_string(label);
   }
+
   attrs->mesh_connections.insert(attrs->mesh_connections.begin(),
                                  cluster.indices.indices.begin(),
                                  cluster.indices.indices.end());