Feature/update bindings (#29)

* add version method to bindings

* add bounding box min and max properties

python/bindings/spark_dsg_bindings.cpp

@@ -43,6 +43,7 @@
 #include <spark_dsg/scene_graph_utilities.h>
 #include <spark_dsg/serialization/file_io.h>
 #include <spark_dsg/serialization/graph_binary_serialization.h>
+#include <spark_dsg/serialization/versioning.h>
 
 #include <iomanip>
 #include <iostream>
@@ -234,6 +235,14 @@ PYBIND11_MODULE(_dsg_bindings, module) {
       .def("compute_iou",
            static_cast<float (BoundingBox::*)(const BoundingBox&) const>(
                &BoundingBox::computeIoU))
+      .def_property_readonly("min",
+                             [](const BoundingBox& box) {
+                               return box.pointToWorldFrame(-box.dimensions / 2);
+                             })
+      .def_property_readonly("max",
+                             [](const BoundingBox& box) {
+                               return box.pointToWorldFrame(box.dimensions / 2);
+                             })
       .def("__repr__", [](const BoundingBox& box) {
         std::stringstream ss;
         ss << box;
@@ -828,5 +837,8 @@ PYBIND11_MODULE(_dsg_bindings, module) {
              "child_layer"_a = DsgLayers::PLACES,
              "bbox_type"_a = BoundingBox::Type::AABB);
 
+  module.def("version",
+             []() { return spark_dsg::io::FileHeader::current().version.toString(); });
+
   py::implicitly_convertible<char, LayerPrefix>();
 }