Skip to content

drop uneeded instance id field #162

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
nathanhhughes merged 1 commit into from
Jul 29, 2026
Merged

drop uneeded instance id field #162

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 1 addition & 2 deletions include/hydra/frontend/mesh_delta_clustering.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,7 @@ std::string printLabels(const LabelSet& labels);

LabelIndices getLabelIndices(const LabelSet& desired_labels,
const kimera_pgmo::MeshDelta& delta,
const std::unordered_set<size_t>* invalid = nullptr,
bool instance_id = false);
const std::unordered_set<size_t>* invalid = nullptr);

Clusters findClusters(const ClusteringConfig& config,
const kimera_pgmo::MeshDelta& delta,
Expand Down
1 change: 0 additions & 1 deletion include/hydra/frontend/surface_place_extractor.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,6 @@ class SurfacePlaceExtractor {
double place_overlap_threshold = 0.1;
double place_max_neighbor_z_diff = 0.5;
double connection_ellipse_scale_factor = 1;
bool instance_id = false;
std::vector<Sink::Factory> sinks;
} const config;

Expand Down
9 changes: 2 additions & 7 deletions src/frontend/mesh_delta_clustering.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,8 +39,7 @@ std::string printLabels(const std::set<uint32_t>& labels) {

LabelIndices getLabelIndices(const std::set<uint32_t>& desired_labels,
const kimera_pgmo::MeshDelta& delta,
const std::unordered_set<size_t>* invalid,
bool instance_id) {
const std::unordered_set<size_t>* invalid) {
LabelIndices label_indices;
if (!kimera_pgmo::traits::get_vertex_properties(delta).has_label) {
LOG(WARNING) << "[Delta Clustering] Mesh missing labels!";
Expand All @@ -54,11 +53,7 @@ LabelIndices getLabelIndices(const std::set<uint32_t>& desired_labels,
}

const auto& v = delta.getVertex(i);
const auto raw_label = v.traits.label;
const auto label = (instance_id && raw_label > 0xFFFF)
? static_cast<uint32_t>(raw_label >> 16)
: raw_label;

const auto label = v.traits.label;
seen_labels.insert(label);
if (!desired_labels.count(label)) {
continue;
Expand Down
4 changes: 1 addition & 3 deletions src/frontend/surface_place_extractor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,6 @@ void declare_config(SurfacePlaceExtractor::Config& config) {
field(config.place_overlap_threshold, "place_overlap_threshold");
field(config.place_max_neighbor_z_diff, "place_max_neighbor_z_diff");
field(config.connection_ellipse_scale_factor, "connection_ellipse_scale_factor");
field(config.instance_id, "instance_id");
field(config.sinks, "sinks");
}

Expand All @@ -143,8 +142,7 @@ void SurfacePlaceExtractor::detect(const ActiveWindowOutput& msg,
MLOG(2) << "n original active indices: " << delta.getNumActiveVertices();
const auto frozen =
getFrozenSet(config, msg.timestamp_ns, offsets, active_places_, to_remove_);
const auto label_indices =
clustering::getLabelIndices(labels_, delta, &frozen, config.instance_id);
const auto label_indices = clustering::getLabelIndices(labels_, delta, &frozen);
if (label_indices.empty()) {
MLOG(2) << "no vertices found matching desired labels";
return;
Expand Down