--allow for accessing semantic data vector

Author: jturner65

src/esp/bindings/SceneBindings.cpp

@@ -54,6 +54,14 @@ void initSceneBindings(py::module& m) {
       .def_property("type", &SceneNode::getType, &SceneNode::setType)
       .def_property("semantic_id", &SceneNode::getSemanticId,
                     &SceneNode::setSemanticId)
+      .def_property(
+          "object_semantic_id", &SceneNode::getBaseObjectId,
+          &SceneNode::setBaseObjectId,
+          R"(This node's owning object's ID, for instance-based semantics)")
+      .def_property(
+          "drawable_semantic_id", &SceneNode::getDrawableId,
+          &SceneNode::setDrawableId,
+          R"(This node's drawable's ID, for instance-based semantics)")
       .def(
           "create_child", [](SceneNode& self) { return &self.createChild(); },
           R"(Creates a child node, and sets its parent to the current node.)")

src/esp/scene/SceneNode.cpp

@@ -2,8 +2,10 @@
 // This source code is licensed under the MIT license found in the
 // LICENSE file in the root directory of this source tree.
 
-#include "SceneNode.h"
+#include <Corrade/Utility/Assert.h>
+
 #include "SceneGraph.h"
+#include "SceneNode.h"
 #include "esp/core/Check.h"
 #include "esp/geo/Geo.h"
 #include "esp/sensor/Sensor.h"
@@ -239,6 +241,14 @@ const Mn::Range3D& SceneNode::getAbsoluteAABB() const {
   }
 }
 
+void SceneNode::setSemanticIDVector(const std::vector<int>& _semanticIDs) {
+  if (semanticIDs_.size() < _semanticIDs.size()) {
+    semanticIDs_.resize(_semanticIDs.size());
+  }
+  std::copy(std::begin(_semanticIDs), std::end(_semanticIDs),
+            std::begin(semanticIDs_));
+}
+
 void setSemanticIdForSubtree(SceneNode* node, int semanticId) {
   if (node->getSemanticId() == semanticId) {
     // We assume the entire subtree's semanticId matches the root's, so we can
@@ -253,5 +263,17 @@ void setSemanticIdForSubtree(SceneNode* node, int semanticId) {
   preOrderTraversalWithCallback(*node, cb);
 }
 
+void setSemanticInfoForSubtree(SceneNode* node,
+                               const std::vector<int>& _semanticIDs) {
+  if (node->getSemanticIDVector() == _semanticIDs) {
+    // We assume the entire subtree's semantic/instance ID vector matches the
+    // root's, so we can early out here.
+    return;
+  }
+
+  auto cb = [&](SceneNode& node) { node.setSemanticIDVector(_semanticIDs); };
+  preOrderTraversalWithCallback(*node, cb);
+}
+
 }  // namespace scene
 }  // namespace esp

src/esp/scene/SceneNode.h

@@ -165,14 +165,24 @@ class SceneNode : public MagnumObject,
         semanticId;
   }
 
+  //! Gets node's owning objectID, for panoptic rendering.
+  virtual int getBaseObjectId() const {
+    return semanticIDs_[static_cast<int>(SceneNodeSemanticDataIDX::OBJECT_ID)];
+  }
+
   //! Sets node's owning objectID, for panoptic rendering.
-  virtual void setBaseObjectId(int objectId) {
+  void setBaseObjectId(int objectId) {
     semanticIDs_[static_cast<int>(SceneNodeSemanticDataIDX::OBJECT_ID)] =
         objectId;
   }
+  //! Gets node's corresponding drawable's id, for panoptic rendering.
+  virtual int getDrawableId() const {
+    return semanticIDs_[static_cast<int>(
+        SceneNodeSemanticDataIDX::DRAWABLE_ID)];
+  }
 
   //! Sets node's corresponding drawable's id, for panoptic rendering.
-  virtual void setDrawableId(int drawableId) {
+  void setDrawableId(int drawableId) {
     semanticIDs_[static_cast<int>(SceneNodeSemanticDataIDX::DRAWABLE_ID)] =
         drawableId;
   }
@@ -182,7 +192,7 @@ class SceneNode : public MagnumObject,
    * @param idToGetIDX The index of the ID to get
    * @return the semantic value corresponding to the given index
    */
-  virtual int getShaderObjectID(int idToGetIDX) const {
+  int getShaderObjectID(int idToGetIDX) const {
     return semanticIDs_[idToGetIDX];
   }
 
@@ -191,6 +201,17 @@ class SceneNode : public MagnumObject,
    * scene node.
    */
   const std::vector<int>& getSemanticIDVector() const { return semanticIDs_; }
+
+  /**
+   * @brief Set the value for the various semantic IDs to be rendered by this
+   * scene node. As values are added, we want to make sure we support shorter,
+   * older vectors.
+   * @param _semanticIDs The vector of semantic sensor IDs this scene node will
+   * use for rendering. This vector might not be the same size as the current
+   * vector.
+   */
+  void setSemanticIDVector(const std::vector<int>& _semanticIDs);
+
   Magnum::Vector3 absoluteTranslation() const;
 
   Magnum::Vector3 absoluteTranslation();
@@ -408,6 +429,15 @@ void preOrderFeatureTraversalWithCallback(SceneNode& node, Callable&& cb) {
  */
 void setSemanticIdForSubtree(SceneNode* node, int semanticId);
 
+/**
+ * @brief Set the semantic and instance IDs of a scene graph subtree.
+ *
+ * @param node Root node of the subtree.
+ * @param semanticIDs Vector of semantic and instance ids to set
+ */
+void setSemanticInfoForSubtree(SceneNode* node,
+                               const std::vector<int>& _semanticIDs);
+
 CORRADE_ENUMSET_OPERATORS(SceneNodeTags)
 }  // namespace scene
 }  // namespace esp