Feature/instances

.github/workflows/ci.yaml

@@ -7,11 +7,11 @@ jobs:
     runs-on: ubuntu-latest
     container: ros:jazzy-perception
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with: {path: src/hydra}
       - name: CCache
         id: cache-ccache
-        uses: actions/cache@v4
+        uses: actions/cache@v6
         with:
           path: ~/.cache/ccache
           key: ${{ runner.os }}-ccache-${{ github.sha }}

.github/workflows/linting.yaml

@@ -6,7 +6,7 @@ jobs:
   lint:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Dependencies
         run: sudo apt-get update && sudo apt install pipx
       - name: Lint

include/hydra/common/semantic_color_map.h

@@ -37,6 +37,7 @@
 #include <spark_dsg/color.h>
 
 #include <memory>
+#include <opencv2/core/mat.hpp>
 #include <optional>
 #include <string>
 #include <unordered_map>
@@ -70,6 +71,8 @@ class SemanticColorMap {
 
   std::string toString() const;
 
+  cv::Mat colorsToLabels(const cv::Mat& colors, int32_t default_label = -1) const;
+
  public:
   static SemanticColorMap::Ptr randomColors(size_t num_labels,
                                             const spark_dsg::Color& unknown = {});

include/hydra/input/input_conversion.h

@@ -23,21 +23,13 @@ std::unique_ptr<InputData> parseInputPacket(const InputPacket& input_packet,
                                             bool normalize_labels = true);
 
 /**
- * @brief make sure that all the images are of the right type
+ * @brief Ensure that all the images are of the right type
+ * @param data Input data to normalize
+ * @param normalize_labels Whether or not to ensure labels are the correct type
+ * @return Whether or not the input normalization was successful
  */
 bool normalizeData(InputData& data, bool normalize_labels = true);
 
-bool normalizeDepth(InputData& data);
-
-bool colorToLabels(cv::Mat& label_image, const cv::Mat& colors);
-
-// TODO(nathan) check if the conversions are directly used...
-bool convertLabels(InputData& data);
-
-bool convertDepth(InputData& data);
-
-bool convertColor(InputData& data);
-
 /**
  * @brief Ensure that the vertex map is in the correct frame.
  * @param data The input data to convert.