- Add save_scene_graph() and load_scene_graph() for persisting scene graphs to JSON
- Implement object node overlay (colored by label) in render_topdown_scene_map
- Implement edge arrows (room → object) in render_topdown_scene_map
- Add TopDownRenderStyle fields for object/edge visual configuration
- Add scene graph caching to verification notebook to skip rebuilds
- Add render_scene_graph_birdseye cell for full scene graph visualization
- Add display_objects_by_room and display_room_summary cells
- 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.
Introduce SceneGraphBuilder + SceneGraphBuildConfig to decouple scene graph
construction from the verification notebook. The builder handles batch
inference, hash encoding, and object node creation internally.
- Add SceneGraphBuilder.build_from_room_views() as the main entry point
- Add SceneGraphBuildConfig for inference_batch_size and position strategy
- Add SceneGraphBuildArtifacts to carry cropped images and debug metadata
- Extend ObjectNode with optional detection metadata (label, confidence,
bbox_xyxy, source_view_id, position_confidence)
- Add RoomView frozen dataclass as a structured view container
- Add flatten_room_views() utility to replace inline list comprehensions
- Refactor notebooks/verification.py to use the new builder API
BREAKING CHANGE: ObjectNode now accepts additional optional fields; direct
scene_graph.objects[obj_id] = ObjectNode(...) construction in the notebook
is replaced by builder.build_from_room_views(...).
