| 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 |
|
|
