Missing of the Room Nodes and the edges between Object Nodes

[MedlarTea]

Thanks for your excellent work on the spatial-metric map representation. When I want to conduct further research based on the established dynamic scene graph (DSG). I found that there are no room nodes and edges between object nodes, but there are only place nodes and object nodes and edges between them.

Since I noticed that the older Hydra version can infer these results, there should be a simple way to trigger them. I hope that you could consider adding a configuration option or providing documentation on how to enable the inference of room nodes and the connections between object nodes. This functionality would be very beneficial for research that requires a more detailed understanding of spatial relationships within dynamic environments.

[Schmluk]

Hi @MedlarTea ,

Thanks for reaching out! This is in fact possible by specifying the corresponding active window and frontend processors (and we're working on a cool extension for this - stay tuned for new features and full release in the future!). Uncommenting this line should enable the current 3D places. Hope this helps!