test labelspace bindings

MIT-SPARK · Jan 22, 2025 · 5bfee58 · 5bfee58
1 parent dfda111
commit 5bfee58
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diff --git a/python/bindings/src/spark_dsg_bindings.cpp b/python/bindings/src/spark_dsg_bindings.cpp
@@ -268,6 +268,7 @@ PYBIND11_MODULE(_dsg_bindings, module) {
           },
           "node"_a,
           "unknown_name"_a = "UNKNOWN")
+      .def("__bool__", [](const Labelspace& labelspace) { return static_cast<bool>(labelspace); })
       .def_property_readonly("labels_to_names", &Labelspace::labels_to_names)
       .def_property_readonly("names_to_labels", &Labelspace::names_to_labels);
 

diff --git a/python/tests/test_bindings.py b/python/tests/test_bindings.py
@@ -333,3 +333,16 @@ def test_attribute_metadata(tmp_path):
     G_new = dsg.DynamicSceneGraph.load(graph_path)
     new_attrs = G_new.get_node(dsg.NodeSymbol("O", 1)).attributes
     assert new_attrs.metadata.get() == {"test": {"a": 6, "b": 42.0, "c": "hello"}}
+
+
+def test_labelspace():
+    labelspace = dsg.Labelspace({0: "wall", 1: "floor", 2: "ceiling", 4: "desk"})
+    assert labelspace.get_category(1) == "floor"
+    assert labelspace.get_category(3) is None
+    assert labelspace.get_label("wall") == 0
+    assert labelspace.get_label("lamp") is None
+
+    G = dsg.DynamicSceneGraph()
+    G.set_labelspace(labelspace, 0, 1)
+    assert not G.get_labelspace(0, 0)
+    assert G.get_labelspace(0, 1).labels_to_names == labelspace.labels_to_names