Method detectObjects

clio/src/object_update_functor.cpp:268–338

}

void ObjectUpdateFunctor::detectObjects(DynamicSceneGraph& graph) const {
  const auto& segments = graph.getLayer(DsgLayers::SEGMENTS);

  const ClusteringWorkspace total_ws(segments);
  const auto py_all = computeIBpy(*tasks_);
  const auto px_all = computeIBpx(total_ws);
  const auto py_x_all =
      computeIBpyGivenX(total_ws, *tasks_, *metric_, config.selector.py_x);
  double I_xy_all = mutualInformation(py_all, px_all, py_x_all);

  // connected component search
  const auto new_components = graph_utilities::getConnectedComponents(
      segments,
      [&](const auto& n) { return isNodeActive(n, node_to_component_, ignored_); },
      [&](const auto& edge) {
        const auto source_active =
            isNodeActive(segments.getNode(edge.source), node_to_component_, ignored_);
        const auto target_active =
            isNodeActive(segments.getNode(edge.target), node_to_component_, ignored_);
        return source_active && target_active;
      });

  // reassign components
  for (const auto& nodes : new_components) {
    size_t new_id = components_ids_.next();
    auto new_component = std::make_unique<ComponentInfo>(
        config.selector, *tasks_, *metric_, segments, nodes, I_xy_all);
    for (const auto node_id : nodes) {
      node_to_component_[node_id] = new_id;
    }

    const auto clusters = new_component->ws.getClusters();
    for (const auto& cluster : clusters) {
      VLOG(5) << "Cluster: " << displayNodeSymbolContainer(cluster);

      auto attrs = getMergedAttributes(graph, cluster);
      if (!attrs) {
        LOG(ERROR) << "empty cluster!";
        continue;
      }

      const auto& feature =
          CHECK_NOTNULL(dynamic_cast<SemanticNodeAttributes*>(attrs.get()))
              ->semantic_feature;
      const auto result = tasks_->getBestScore(*metric_, feature);
      if (result.score < config.min_object_score) {
        VLOG(1) << "Skipping object with score: " << result.score;
        continue;
      }

      graph.emplaceNode(DsgLayers::OBJECTS, next_node_id_, std::move(attrs));
      new_component->objects.push_back(next_node_id_);

      const auto parent = getBestParent(graph, cluster);
      if (!parent) {
        LOG(WARNING) << "object '" << next_node_id_.getLabel() << "' without parent!";
        active_.insert(next_node_id_);
      } else {