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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
center_dis = utils.euclideanDistance(tgt_pos, room_pos, 2)
if center_dis < distance_rate:
return 'in the center'
# corner
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
# camera relation
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])
# global relation
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:
# print(ObjNode_dict[obj_id].label, rela)
# ObjNode_dict[obj_id].display_obb_box()
relationships.append([obj_id, obj_id, rela])
return relationships
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