| | import numpy as np |
| | import ssg_utils as utils |
| |
|
| |
|
| | def getLinearEquation(p1x, p1y, p2x, p2y): |
| | sign = 1 |
| | a = p2y - p1y |
| | if a < 0: |
| | sign = -1 |
| | a = sign * a |
| | b = sign * (p1x - p2x) |
| | c = sign * (p1y * p2x - p1x * p2y) |
| | return [a, b, c] |
| |
|
| |
|
| | def cal_glocal_position(object, floor, distance_rate=1.6): |
| | tgt_pos = object.position |
| | room_pos = floor.position |
| | room_rect = floor.bottom_rect |
| |
|
| | |
| | center_dis = utils.euclideanDistance(tgt_pos, room_pos, 2) |
| | if center_dis < distance_rate: |
| | return 'in the center' |
| |
|
| | |
| | for point in room_rect: |
| | if utils.euclideanDistance(tgt_pos, point, 2) < distance_rate: |
| | return 'in the corner' |
| |
|
| | return None |
| |
|
| |
|
| | def cal_camera_relations(ObjNode_dict, camera_position, camera_view, inst_dict, floor_idx, fov = 60): |
| | relationships = [] |
| | for obj_id in ObjNode_dict: |
| | if ObjNode_dict[obj_id].label == 'floor': continue |
| |
|
| | |
| | obj_position = ObjNode_dict[obj_id].position |
| | vector = obj_position - camera_position |
| | vector = vector / np.linalg.norm(vector) |
| | angle = utils.get_theta(vector, camera_view) |
| |
|
| | a, b, c = getLinearEquation(camera_view[0]+camera_position[0], |
| | camera_view[1]+camera_position[1], |
| | camera_position[0], |
| | camera_position[1]) |
| |
|
| | if abs(angle) < fov/2: |
| | rela = 'in front of' |
| | elif abs(angle) > 180 - fov/2: |
| | rela = 'behind' |
| | elif a*obj_position[0] + b*obj_position[1] + c > 0: |
| | rela = 'right' if camera_view[1] > 0 else 'left' |
| | else: |
| | rela = 'left' if camera_view[1] > 0 else 'right' |
| |
|
| | relationships.append(['-1', obj_id, rela]) |
| |
|
| | |
| | if inst_dict[ObjNode_dict[obj_id].label] > 1: |
| | rela = cal_glocal_position(ObjNode_dict[obj_id], ObjNode_dict[floor_idx]) |
| | if rela is not None: |
| |
|
| | |
| | |
| | relationships.append([obj_id, obj_id, rela]) |
| |
|
| | return relationships |
| |
|
