| | import numpy as np |
| | import itertools |
| | import ssg_utils as utils |
| |
|
| | def get_direction(src_obj, tgt_obj): |
| |
|
| | sx, sy = src_obj |
| | tx, ty = tgt_obj |
| |
|
| | y = np.array((tx - sx, ty - sy)) |
| | y = y / np.linalg.norm(y) |
| |
|
| | angle_d = utils.get_theta(y, [1, 0]) |
| |
|
| | direction = round(angle_d / 30) |
| |
|
| |
|
| | if ty > sy : |
| | if direction == 0: return "3" |
| | elif direction == 1: return "2" |
| | elif direction == 2: return "1" |
| | elif direction == 3: return "12" |
| | elif direction == 4: return "11" |
| | elif direction == 5: return "10" |
| | elif direction == 6: return "9" |
| | else: |
| | if direction == 0: return "3" |
| | elif direction == 1: return "4" |
| | elif direction == 2: return "5" |
| | elif direction == 3: return "6" |
| | elif direction == 4: return "7" |
| | elif direction == 5: return "8" |
| | elif direction == 6: return "9" |
| |
|
| | def get_oppo_direction(direction): |
| |
|
| | if direction in ['2', '3', '4']: |
| | return 'to the left of' |
| | elif direction in ['8', '9', '10']: |
| | return 'to the right of' |
| | elif direction in ['11','12','1']: |
| | return 'behind' |
| | else: |
| | return 'in front of' |
| |
|
| | def get_space_relations(src, tgt): |
| | overlap_point = 0 |
| | tgt_rect = tgt.bottom_rect |
| | for point in tgt_rect: |
| | if utils.if_inPoly(src.bottom_rect, point): |
| | overlap_point += 1 |
| |
|
| | return overlap_point |
| |
|
| | def get_distance(src, tgt): |
| |
|
| | dis_of_center = utils.euclideanDistance(src.position[:2], tgt.position[:2], 2) |
| | src_w = utils.euclideanDistance(src.position[:2], src.bottom_rect[0][:2], 2) |
| | tgt_w = utils.euclideanDistance(tgt.position[:2], tgt.bottom_rect[0][:2], 2) |
| |
|
| | return dis_of_center > 1.5 * (src_w + tgt_w) |
| |
|
| | def cal_proximity_relationships(neighbor_objs_id, camera_angle, ObjNode_dict, scene_high): |
| | proximity_relations = [] |
| |
|
| | relations = '' |
| |
|
| | neighbor_objs_id_list = [i for i in range(len(neighbor_objs_id))] |
| | combinations = list(itertools.combinations(neighbor_objs_id_list, 2)) |
| |
|
| | for combination in combinations: |
| |
|
| | src_idx, tgt_idx = combination |
| | src = neighbor_objs_id[src_idx] |
| | tgt = neighbor_objs_id[tgt_idx] |
| |
|
| | if ObjNode_dict[src].room_id != ObjNode_dict[tgt].room_id: |
| | continue |
| |
|
| | |
| | overlap_points = get_space_relations(src=ObjNode_dict[src], tgt=ObjNode_dict[tgt]) |
| |
|
| | if overlap_points > 0 : |
| | |
| | if overlap_points >=3: |
| | relations = 'under' |
| | |
| | else: |
| | relations = 'close to' |
| | proximity_relations.append(utils.generate_relation(ObjNode_dict[src].id, ObjNode_dict[tgt].id, relations)) |
| | proximity_relations.append(utils.generate_relation(ObjNode_dict[tgt].id, ObjNode_dict[src].id, relations)) |
| |
|
| | else: |
| | |
| | src_obj_center = ObjNode_dict[src].position |
| | tgt_obj_center = ObjNode_dict[tgt].position |
| |
|
| | src_obj_center_new = utils.cw_rotate(src_obj_center, camera_angle) |
| | tgt_obj_center_new = utils.cw_rotate(tgt_obj_center, camera_angle) |
| |
|
| | if src_obj_center_new == tgt_obj_center_new: |
| | print ('src_obj_center_new == tgt_obj_center_new ', ObjNode_dict[src].id , ObjNode_dict[tgt].id) |
| | break |
| | direction = get_direction(src_obj_center_new, tgt_obj_center_new) |
| |
|
| | oppo_direction = get_oppo_direction(direction) |
| | if get_distance(src=ObjNode_dict[src], tgt=ObjNode_dict[tgt]): |
| | relations = direction + ' o‘clock direction far from' |
| |
|
| | else: |
| | relations = direction + ' o‘clock direction near' |
| | proximity_relations.append([ObjNode_dict[tgt].id, ObjNode_dict[src].id, relations]) |
| | if oppo_direction is not None: |
| | proximity_relations.append([ObjNode_dict[src].id, ObjNode_dict[tgt].id, oppo_direction]) |
| |
|
| | return proximity_relations |
| |
|
