Deprecated PolygonalRegion points method.

src/scenic/core/regions.py

@@ -2774,7 +2774,6 @@ def __init__(
             points = tuple(pt[:2] for pt in points)
             if len(points) == 0:
                 raise ValueError("tried to create PolygonalRegion from empty point list!")
-            self.points = points
             polygon = shapely.geometry.Polygon(points)
 
         if isinstance(polygon, shapely.geometry.Polygon):
@@ -2791,13 +2790,6 @@ def __init__(
                 "tried to create PolygonalRegion with " f"invalid polygon {self.polygons}"
             )
 
-        if (
-            points is None
-            and len(self.polygons.geoms) == 1
-            and len(self.polygons.geoms[0].interiors) == 0
-        ):
-            self.points = tuple(self.polygons.geoms[0].exterior.coords[:-1])
-
         if self.polygons.is_empty:
             raise ValueError("tried to create empty PolygonalRegion")
         shapely.prepare(self.polygons)
@@ -2972,6 +2964,16 @@ def unionAll(regions, buf=0):
         z = 0 if z is None else z
         return PolygonalRegion(polygon=union, orientation=orientation, z=z)
 
+    @property
+    @distributionFunction
+    def points(self):
+        warnings.warn(
+            "The `points` method is deprecated and will be removed in Scenic 3.3.0."
+            "Users should use the `boundary` method instead.",
+            DeprecationWarning,
+        )
+        return self.boundary.points
+
     @property
     @distributionFunction
     def boundary(self) -> "PolylineRegion":

src/scenic/simulators/webots/road/interface.py

@@ -210,13 +210,13 @@ def computeGeometry(self, crossroads, snapTolerance=0.05):
 
     def show(self, plt):
         if self.hasLeftSidewalk:
-            x, y = zip(*self.leftSidewalk.points)
+            x, y = zip(*[p[:2] for p in self.leftSidewalk.boundary.points])
             plt.fill(x, y, "#A0A0FF")
         if self.hasRightSidewalk:
-            x, y = zip(*self.rightSidewalk.points)
+            x, y = zip(*[p[:2] for p in self.rightSidewalk.boundary.points])
             plt.fill(x, y, "#A0A0FF")
         self.region.show(plt, style="r:")
-        x, y = zip(*self.lanes[0].points)
+        x, y = zip(*[p[:2] for p in self.lanes[0].boundary.points])
         plt.fill(x, y, color=(0.8, 1.0, 0.8))
         for lane, markers in enumerate(self.laneMarkers):
             x, y = zip(*markers)
@@ -296,7 +296,10 @@ def __init__(self, world):
         allCells = []
         drivableAreas = []
         for road in self.roads:
-            assert road.region.polygons.is_valid, (road.waypoints, road.region.points)
+            assert road.region.polygons.is_valid, (
+                road.waypoints,
+                road.region.boundary.points,
+            )
             allCells.extend(road.cells)
         for crossroad in self.crossroads:
             if crossroad.region is not None: