move attribute to be common to all semantic attributes

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(spark_dsg VERSION 1.0.4)
+project(spark_dsg VERSION 1.0.5)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

include/spark_dsg/node_attributes.h

@@ -178,6 +178,8 @@ struct SemanticNodeAttributes : public NodeAttributes {
   SemanticLabel semantic_label;
   //! semantic feature of object
   Eigen::MatrixXd semantic_feature;
+  //! optional label probabilities
+  std::map<SemanticLabel, double> semantic_class_probabilities;
 
  protected:
   std::ostream& fill_ostream(std::ostream& out) const override;
@@ -236,8 +238,6 @@ struct RoomNodeAttributes : public SemanticNodeAttributes {
   virtual ~RoomNodeAttributes() = default;
   NodeAttributes::Ptr clone() const override;
 
-  std::map<std::string, double> semantic_class_probabilities;
-
  protected:
   std::ostream& fill_ostream(std::ostream& out) const override;
   void serialization_info() override;

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>spark_dsg</name>
-  <version>1.0.2</version>
+  <version>1.0.5</version>
   <description>Dynamic Scene Graph (DSG) type definitions and core library code</description>
 
   <author email="[email protected]">Nathan Hughes</author>

python/bindings/src/node_attributes.cpp

@@ -134,6 +134,8 @@ void addBindings(pybind11::module_& module) {
       .def_readwrite("bounding_box", &SemanticNodeAttributes::bounding_box)
       .def_readwrite("semantic_label", &SemanticNodeAttributes::semantic_label)
       .def_readwrite("semantic_feature", &SemanticNodeAttributes::semantic_feature)
+      .def_readwrite("semantic_class_probabilities",
+                     &RoomNodeAttributes::semantic_class_probabilities)
       .def_readonly_static("NO_SEMANTIC_LABEL",
                            &SemanticNodeAttributes::NO_SEMANTIC_LABEL);
 
@@ -151,9 +153,7 @@ void addBindings(pybind11::module_& module) {
           });
 
   py::class_<RoomNodeAttributes, SemanticNodeAttributes>(module, "RoomNodeAttributes")
-      .def(py::init<>())
-      .def_readwrite("semantic_class_probabilities",
-                     &RoomNodeAttributes::semantic_class_probabilities);
+      .def(py::init<>());
 
   py::class_<NearestVertexInfo>(module, "NearestVertexInfo")
       .def(py::init<>())

src/node_attributes.cpp

@@ -65,6 +65,29 @@ std::string showIterable(const T& iterable, size_t max_length = 80) {
   return ss.str();
 }
 
+template <typename T>
+std::string showMap(const T& iterable, size_t max_length = 80) {
+  std::stringstream ss;
+  ss << "{";
+  auto iter = iterable.begin();
+  while (iter != iterable.end()) {
+    ss << iter->first << ": " << iter->second;
+
+    ++iter;
+    if (iter != iterable.end()) {
+      ss << ", ";
+    }
+
+    if (max_length && ss.str().size() >= max_length) {
+      ss << "...";
+      break;
+    }
+  }
+  ss << "}";
+
+  return ss.str();
+}
+
 template <typename Scalar>
 std::string quatToString(const Eigen::Quaternion<Scalar>& q) {
   std::stringstream ss;
@@ -175,7 +198,8 @@ std::ostream& SemanticNodeAttributes::fill_ostream(std::ostream& out) const {
       << "  - bounding box: " << bounding_box << "\n"
       << "  - label: " << std::to_string(semantic_label) << "\n"
       << "  - feature: [" << semantic_feature.rows() << " x " << semantic_feature.cols()
-      << "]";
+      << "]"
+      << "  - likelihoods: " << showMap(semantic_class_probabilities);
   return out;
 }
 
@@ -186,6 +210,12 @@ void SemanticNodeAttributes::serialization_info() {
   serialization::field("bounding_box", bounding_box);
   serialization::field("semantic_label", semantic_label);
   serialization::field("semantic_feature", semantic_feature);
+  const auto& header = io::GlobalInfo::loadedHeader();
+  if (header.version < io::Version(1, 0, 5)) {
+    io::warnOutdatedHeader(header);
+  } else {
+    serialization::field("semantic_class_probabilities", semantic_class_probabilities);
+  }
 }
 
 bool SemanticNodeAttributes::is_equal(const NodeAttributes& other) const {
@@ -201,7 +231,8 @@ bool SemanticNodeAttributes::is_equal(const NodeAttributes& other) const {
   return name == derived->name && color == derived->color &&
          bounding_box == derived->bounding_box &&
          semantic_label == derived->semantic_label &&
-         semantic_feature == derived->semantic_feature;
+         semantic_feature == derived->semantic_feature &&
+         semantic_class_probabilities == derived->semantic_class_probabilities;
 }
 
 ObjectNodeAttributes::ObjectNodeAttributes()
@@ -263,7 +294,13 @@ std::ostream& RoomNodeAttributes::fill_ostream(std::ostream& out) const {
 
 void RoomNodeAttributes::serialization_info() {
   SemanticNodeAttributes::serialization_info();
-  serialization::field("semantic_class_probabilities", semantic_class_probabilities);
+  const auto& header = io::GlobalInfo::loadedHeader();
+  if (header.version < io::Version(1, 0, 5)) {
+    std::map<std::string, double> unused;
+    serialization::field("semantic_class_probabilities", unused);
+  } else {
+    io::warnOutdatedHeader(header);
+  }
 }
 
 bool RoomNodeAttributes::is_equal(const NodeAttributes& other) const {