--fix bbox bindings issue

facebookresearch · May 21, 2024 · fa4fb6c · fa4fb6c
1 parent fbf740f
commit fa4fb6c
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Showing 6 changed files with 14 additions and 27 deletions.
diff --git a/examples/demo_runner.py b/examples/demo_runner.py
@@ -302,21 +302,21 @@ def do_time_steps(self):
     def print_semantic_scene(self):
         if self._sim_settings["print_semantic_scene"]:
             scene = self._sim.semantic_scene
-            print(f"House center:{scene.aabb.center} dims:{scene.aabb.sizes}")
+            print(f"House center:{scene.aabb.center} dims:{scene.aabb.size}")
             for level in scene.levels:
                 print(
                     f"Level id:{level.id}, center:{level.aabb.center},"
-                    f" dims:{level.aabb.sizes}"
+                    f" dims:{level.aabb.size}"
                 )
                 for region in level.regions:
                     print(
                         f"Region id:{region.id}, category:{region.category.name()},"
-                        f" center:{region.aabb.center}, dims:{region.aabb.sizes}"
+                        f" center:{region.aabb.center}, dims:{region.aabb.size}"
                     )
                     for obj in region.objects:
                         print(
                             f"Object id:{obj.id}, category:{obj.category.name()},"
-                            f" center:{obj.aabb.center}, dims:{obj.aabb.sizes}"
+                            f" center:{obj.aabb.center}, dims:{obj.aabb.size}"
                         )
             input("Press Enter to continue...")
 

diff --git a/examples/tutorials/nb_python/ECCV_2020_Navigation.py b/examples/tutorials/nb_python/ECCV_2020_Navigation.py
@@ -375,23 +375,23 @@ def print_scene_recur(scene, limit_output=10):
     print(
         f"House has {len(scene.levels)} levels, {len(scene.regions)} regions and {len(scene.objects)} objects"
     )
-    print(f"House center:{scene.aabb.center} dims:{scene.aabb.sizes}")
+    print(f"House center:{scene.aabb.center} dims:{scene.aabb.size}")
 
     count = 0
     for level in scene.levels:
         print(
             f"Level id:{level.id}, center:{level.aabb.center},"
-            f" dims:{level.aabb.sizes}"
+            f" dims:{level.aabb.size}"
         )
         for region in level.regions:
             print(
                 f"Region id:{region.id}, category:{region.category.name()},"
-                f" center:{region.aabb.center}, dims:{region.aabb.sizes}"
+                f" center:{region.aabb.center}, dims:{region.aabb.size}"
             )
             for obj in region.objects:
                 print(
                     f"Object id:{obj.id}, category:{obj.category.name()},"
-                    f" center:{obj.aabb.center}, dims:{obj.aabb.sizes}"
+                    f" center:{obj.aabb.center}, dims:{obj.aabb.size}"
                 )
                 count += 1
                 if count >= limit_output:

diff --git a/examples/tutorials/notebooks/ECCV_2020_Navigation.ipynb b/examples/tutorials/notebooks/ECCV_2020_Navigation.ipynb
@@ -450,23 +450,23 @@
     "    print(\n",
     "        f\"House has {len(scene.levels)} levels, {len(scene.regions)} regions and {len(scene.objects)} objects\"\n",
     "    )\n",
-    "    print(f\"House center:{scene.aabb.center} dims:{scene.aabb.sizes}\")\n",
+    "    print(f\"House center:{scene.aabb.center} dims:{scene.aabb.size}\")\n",
     "\n",
     "    count = 0\n",
     "    for level in scene.levels:\n",
     "        print(\n",
     "            f\"Level id:{level.id}, center:{level.aabb.center},\"\n",
-    "            f\" dims:{level.aabb.sizes}\"\n",
+    "            f\" dims:{level.aabb.size}\"\n",
     "        )\n",
     "        for region in level.regions:\n",
     "            print(\n",
     "                f\"Region id:{region.id}, category:{region.category.name()},\"\n",
-    "                f\" center:{region.aabb.center}, dims:{region.aabb.sizes}\"\n",
+    "                f\" center:{region.aabb.center}, dims:{region.aabb.size}\"\n",
     "            )\n",
     "            for obj in region.objects:\n",
     "                print(\n",
     "                    f\"Object id:{obj.id}, category:{obj.category.name()},\"\n",
-    "                    f\" center:{obj.aabb.center}, dims:{obj.aabb.sizes}\"\n",
+    "                    f\" center:{obj.aabb.center}, dims:{obj.aabb.size}\"\n",
     "                )\n",
     "                count += 1\n",
     "                if count >= limit_output:\n",

diff --git a/src/esp/bindings/Bindings.cpp b/src/esp/bindings/Bindings.cpp
@@ -13,17 +13,6 @@
 namespace py = pybind11;
 using py::literals::operator""_a;
 
-namespace esp {
-
-void initEspBindings(py::module& m) {
-  // ==== Range3D ====
-  py::class_<Magnum::Range3D>(m, "BBox")
-      .def_property_readonly("sizes", &Magnum::Range3D::size)
-      .def_property_readonly("center", &Magnum::Range3D::center);
-}
-
-}  // namespace esp
-
 PYBIND11_MODULE(habitat_sim_bindings, m) {
   m.attr("cuda_enabled") =
 #ifdef ESP_BUILD_WITH_CUDA
@@ -61,7 +50,6 @@ PYBIND11_MODULE(habitat_sim_bindings, m) {
   // NOTE(msb) These need to be run in dependency order.
   // TODO(msb) gfx, scene, and sensor should not cross-depend
   // TODO(msb) sim and sensor should not cross-depend
-  esp::initEspBindings(m);
   esp::core::config::initConfigBindings(m);
   esp::core::initCoreBindings(m);
   esp::geo::initGeoBindings(m);

diff --git a/src_python/habitat_sim/geo.py b/src_python/habitat_sim/geo.py
@@ -6,7 +6,7 @@
 Encapsulates global geometry utilities.
 """
 
-from habitat_sim._ext.habitat_sim_bindings import OBB, BBox, Ray
+from habitat_sim._ext.habitat_sim_bindings import OBB, Ray
 from habitat_sim._ext.habitat_sim_bindings.geo import (
     BACK,
     FRONT,
@@ -20,7 +20,6 @@
 )
 
 __all__ = [
-    "BBox",
     "OBB",
     "UP",
     "GRAVITY",

diff --git a/tests/test_semantic_scene.py b/tests/test_semantic_scene.py
@@ -164,7 +164,7 @@ def test_semantic_scene(scene, make_cfg_settings):
     scene = sim.semantic_scene
     for obj in scene.objects:
         obj.aabb
-        obj.aabb.sizes
+        obj.aabb.size
         obj.aabb.center
         obj.id
         obj.obb.rotation