| | import ssg_utils as utils |
| |
|
| |
|
| | def cal_above_below_relationships(ObjNode_dict, src, scene_high): |
| |
|
| | above_below_relationships = [] |
| |
|
| | rect = src.bottom_rect |
| | src_max = src.z_max |
| | src_min = src.z_min |
| | src_pos = src.position |
| |
|
| | for tgt_id in ObjNode_dict: |
| | tgt = ObjNode_dict[tgt_id] |
| |
|
| | if tgt.label == 'floor' : continue |
| |
|
| | tgt_max = tgt.z_max |
| | tgt_min = tgt.z_min |
| | tgt_pos = tgt.position |
| | tgt_rect = tgt.bottom_rect |
| |
|
| | if utils.euclideanDistance (tgt.position, src.position, 2) < scene_high * 0.85: |
| | |
| | if src_min > tgt_max and ( utils.if_inPoly(rect, tgt_pos) or utils.if_inPoly(tgt_rect, src_pos) ) : |
| | above_below_relationships.extend(utils.generate_relation(src.id, tgt_id, 'high')) |
| |
|
| | return above_below_relationships |
| |
|
| |
|
| | def filter_labels(obj_label): |
| |
|
| | no_hanging_labels = ['floor', 'table', 'chair', 'desk', 'bottle'] |
| | for l in no_hanging_labels: |
| | if l in obj_label:return False |
| |
|
| | return True |
| |
|
| |
|
| | def cal_hanging_relationships (ObjNode_dict, no_supported_objs, camera_angle,scene_high, dataset='scannet'): |
| | hanging_relationships = [] |
| |
|
| | for obj_id in ObjNode_dict: |
| | if obj_id not in no_supported_objs: |
| | obj = ObjNode_dict[obj_id] |
| | if not filter_labels(obj.label): continue |
| | desp = utils.generate_relation(obj.id, -2, 'hang') |
| | if 'tv' in obj.label: |
| | desp[2] = 'mounted on' |
| | if 'mirror' in obj.label: |
| | desp[2] = 'affixed to' |
| |
|
| | hanging_relationships.append(desp) |
| | hanging_relationships.extend(cal_above_below_relationships(ObjNode_dict, obj, scene_high)) |
| |
|
| | return hanging_relationships |
| |
|
