| 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 |
|
|
