Struct SemanticScene 

pub struct SemanticScene { /* private fields */ }

Scene containing semantically annotated levels, regions, and objects.

This mirrors Habitat-Sim’s SemanticScene at the API-shape level while using Rust ownership and indices instead of shared-pointer graphs.

Implementations

impl SemanticScene

pub fn name(&self) -> &str

Returns the scene name from the descriptor header.

pub fn label(&self) -> &str

Returns the scene label from the descriptor header.

pub const fn aabb(&self) -> Option<&Aabb>

Returns the scene axis-aligned bounding box.

Habitat-Sim exposes this as aabb(). It is optional here because a malformed or partially built scene may not have a parsed header.

pub fn count(&self, element: ElementKind) -> Option<usize>

Returns the total number of a given element type from the descriptor header.

pub fn categories(&self) -> &[Category]

Returns all semantic object categories in the scene.

pub fn levels(&self) -> &[SemanticLevel]

Returns all levels in the scene.

pub fn regions(&self) -> &[SemanticRegion]

Returns all regions in the scene.

pub fn objects(&self) -> &[SemanticObject]

Returns all semantic objects in the scene.

pub const fn semantic_index_map(&self) -> &HashMap<i32, usize>

Returns the semantic mesh mask index to object index map.

pub fn semantic_index_to_object_index(&self, mask_index: i32) -> Option<usize>

Converts a semantic mesh mask index to an object index.

Habitat-Sim returns ID_UNDEFINED on miss. This Rust API returns None instead.

pub fn load_mp3d_house(path: impl AsRef<Path>) -> Result<Self, LoadError>

Loads a Matterport3D semantic scene from a .house file.

Errors

Returns an error if the file cannot be read or the .house descriptor is invalid.

Trait Implementations

impl Clone for SemanticScene

fn clone(&self) -> SemanticScene

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for SemanticScene

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for SemanticScene

fn default() -> SemanticScene

Returns the “default value” for a type.

impl Display for SemanticScene

fn fmt(&self, formatter: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.