feat(scenegraph): add depth-based 3D positioning via pinhole projection

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- Add bbox_depth_center position strategy in SceneGraphBuilder using depth
  at bbox centre and configurable camera_hfov_degrees for pinhole projection.
- Add optional depth_sensor_uuid to HabitatSimulatorConfig; create depth
  sensor spec alongside RGB sensor.
- Add camera_position/camera_rotation fields to RoomView; capture pose from
  sensor_states when depth sensor is available.
- Update flatten_room_views for backward compatibility with legacy tuple
  format.
- Wired in depth sensor and bbox_depth_center strategy in verification
  notebook.
- Add tests for depth sensor support and new position strategies.

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SikongJueluo

2026-05-31 14:29:05 +08:00

parent a127032e18

commit 7a1e1ccf3f

7 changed files with 1729 additions and 38 deletions

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tests/test_scenegraph_builder.py

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