| 17 | } |
| 18 | |
| 19 | EmbeddingMap getEmbeddingMap(const std::map<NodeId, SceneGraphNode::Ptr>& nodes) { |
| 20 | EmbeddingMap features; |
| 21 | for (const auto& id_node : nodes) { |
| 22 | const auto& attrs = id_node.second->attributes<SemanticNodeAttributes>(); |
| 23 | // TODO(nathan) consider other pooling operations |
| 24 | features[id_node.first] = attrs.semantic_feature.rowwise().mean(); |
| 25 | } |
| 26 | |
| 27 | return features; |
| 28 | } |
| 29 | |
| 30 | EmbeddingMap getEmbeddingMap(const SceneGraphLayer& layer, |
| 31 | const std::vector<NodeId>& nodes) { |