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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: # make sure in same room
# above
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
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