| from ssg_data.dictionary import always_supported, hanging |
| import ssg_utils as utils |
|
|
| def is_supported(target_obj, obj, camera_angle, radius_range = 0.1, threshold_of_z_rate=0.8): |
|
|
| z_min = obj.z_min |
| z_max = obj.z_max |
| tz_max = target_obj.z_max |
| tz_min = target_obj.z_min |
|
|
| |
| diff_z = z_min - tz_max |
| height = z_max - z_min |
| z_rate = abs(diff_z) / height |
|
|
| |
| if not utils.get_Poly_Area(target_obj.bottom_rect[:, 0:2]) > utils.get_Poly_Area(obj.bottom_rect[:, 0:2]): |
| return False |
|
|
| if target_obj.label == 'floor': |
| if not z_min < tz_max: |
| return False |
| else: |
| |
| |
| |
| if z_min > (tz_max*0.05 if tz_max > 0 else tz_max*0.95): |
| return False |
| if z_min < tz_min: |
| return False |
| if not diff_z < height*0.2: |
| return False |
|
|
| |
| center = obj.position |
| if not utils.if_inPoly(target_obj.bottom_rect, center): |
| return False |
|
|
| if target_obj.label == 'floor': |
| return 'support_express' |
| else: |
| if z_rate < threshold_of_z_rate : |
| return 'support_express' |
| elif z_rate >= threshold_of_z_rate and z_rate < 0.95: |
| return 'embed_express' |
| else: |
| return 'inside_express' |
|
|
|
|
| def optimaze_support_loops(support_relations_dict): |
| relationships = [] |
| for obj_id, tgts in support_relations_dict.items(): |
| if len(tgts)>1: |
| positions = [tgt.position[2] for tgt in tgts] |
| hightest_tgt_inedx = positions.index(max(positions)) |
| hightest_tgt = tgts[hightest_tgt_inedx] |
| relationships.append(utils.generate_relation(hightest_tgt.id, obj_id, 'support')) |
| else: |
| relationships.append(utils.generate_relation(tgts[0].id, obj_id, 'support')) |
|
|
| return relationships |
|
|
| def cal_support_relations(ObjNode_list, camera_angle): |
| support_relations_dict = {} |
| embedded_relationships = [] |
| hanging_objs = {} |
|
|
| for target_obj_id in ObjNode_list: |
| target_obj = ObjNode_list[target_obj_id] |
|
|
| for obj_id in ObjNode_list: |
| obj = ObjNode_list[obj_id] |
|
|
| if target_obj.id == obj.id: continue |
| if target_obj.label in always_supported or obj.label in always_supported: continue |
| if target_obj.label in hanging or obj.label in hanging: continue |
|
|
| is_support = is_supported(target_obj, obj, camera_angle) |
|
|
| if is_support: |
|
|
| if is_support in ['embed_express', 'inside_express']: |
| embedded_relationships.append(utils.generate_relation(target_obj.id, obj.id, is_support)) |
| else: |
| if obj.id not in support_relations_dict: |
| support_relations_dict[obj.id] = [target_obj] |
| else: |
| support_relations_dict[obj.id].append(target_obj) |
|
|
| hanging_objs[obj.id] = 1 |
|
|
| return optimaze_support_loops(support_relations_dict), embedded_relationships, hanging_objs |
|
|
