SikongJueluo/Mini-Nav
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9eb52f8cefd5240ebc61002bca99b29d33166705
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3 Commits

Author SHA1 Message Date
SikongJueluo
7a1e1ccf3f feat(scenegraph): add depth-based 3D positioning via pinhole projection 
- 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.
 2026-05-31 14:37:46 +08:00
SikongJueluo
f6c1a67e88 feat(verification): add batch segmentation and image saving 2026-03-28 21:30:13 +08:00
SikongJueluo
3c9a6f6eaf refactor(simulator): extract habitat simulator and visualization modules 2026-03-28 17:05:29 +08:00