File size: 4,042 Bytes
c94c8c9 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 |
import numpy as np
import networkx as nx
import itertools
import ssg_utils as utils
def are_furniture_aligned(furniture1, furniture2, offset_threshold):
x1, y1, z1 = furniture1['center']
x2, y2, z2 = furniture2['center']
h1 = furniture1['size']
h2 = furniture2['size']
rect1 = furniture1['rect']
rect2 = furniture2['rect']
# x_offset
x_offset = abs(x1 - x2)
# y_offset
y_offset = abs(y1 - y2)
# z_offset
z_offset = abs(z1 - z2)
# volumn
volumn_diff = abs(utils.get_Poly_Area(rect1) - utils.get_Poly_Area(rect2))
if volumn_diff > offset_threshold:
return False
if z_offset > offset_threshold:
return False
if x_offset > offset_threshold and y_offset > offset_threshold:
return False
if x_offset < offset_threshold:
return 'x'
if y_offset < offset_threshold:
return 'y'
def find_aligned_furniture(furniture_list, ObjNode_dict, offset_threshold):
aligned_furniture = []
for i, object_id1 in enumerate(furniture_list):
obj1 = ObjNode_dict[object_id1]
furniture1 = {'center': np.array(obj1.position), 'size': obj1.z_max - obj1.z_min, 'rect': obj1.bottom_rect}
for j, object_id2 in enumerate(furniture_list[i+1:]):
obj2 = ObjNode_dict[object_id2]
furniture2 = {'center': np.array(obj2.position), 'size': obj2.z_max - obj2.z_min, 'rect': obj2.bottom_rect}
is_aligned = are_furniture_aligned(furniture1, furniture2, offset_threshold)
if is_aligned:
aligned_group = [obj1.id, obj2.id, is_aligned]
aligned_furniture.append(aligned_group)
aligned_furniture_merge = furniture_merge_lists(aligned_furniture)
return aligned_furniture_merge
def furniture_merge_lists(lists):
merged_lists = []
x_list = [lst[:2] for lst in lists if 'x' in lst]
y_list = [lst[:2] for lst in lists if 'y' in lst]
merged_x_list = merge_sublists(x_list)
merged_y_list = merge_sublists(y_list)
merged_lists.extend(merged_x_list)
merged_lists.extend(merged_y_list)
return merged_lists
def merge_sublists(L):
length = len(L)
for i in range(1, length):
for j in range(i):
if 0 in L[i] or 0 in L[j]:
continue
x = set(L[i]).union(set(L[j]))
y = len(L[i]) + len(L[j])
if len(x) < y:
L[i] = list(x)
L[j] = [0]
return [i for i in L if 0 not in i]
def find_middle_furniture (proximity_relations, ObjNode_dict):
# in the middle of
middle_relationships = []
G = nx.DiGraph()
for (src, tgt, rel) in proximity_relations:
G.add_edge(src, tgt, label=rel)
edage_dict = G.edges.data()._adjdict
for src_id in ObjNode_dict:
if src_id not in edage_dict: continue
if ObjNode_dict[src_id].label == 'floor' :continue
neighbors = edage_dict[src_id]
tgt_ids = list(neighbors.keys())
combinations = list(itertools.combinations(tgt_ids, 2))
for group in combinations:
idx1, idx2 = group
if 'near' in neighbors[idx1]['label'] and 'near' in neighbors[idx2]['label']:
direction1 = int(neighbors[idx1]['label'].split(' ')[0])
direction2 = int(neighbors[idx2]['label'].split(' ')[0])
if abs(direction1 - direction2) == 6:
middle_relationships.append([[src_id,idx1,idx2], 'in the middle of'])
return middle_relationships
if __name__ == '__main__':
# UnitTest
lists = [['26', '36', 'x'], ['26', '30', 'x'], ['29', '28', 'y'], ['29', '30', 'y'],
['28', '30', 'y'], ['28', '33', 'x'], ['35', '36', 'y'], ['35', '32', 'y'],
['35', '33', 'y'], ['31', '37', 'x'], ['2', '4', 'y'], ['2', '3', 'y'],
['34', '32', 'y'], ['34', '33', 'y'], ['37', '3', 'x'], ['36', '30', 'x'],
['4', '3', 'y'], ['32', '33', 'y']]
output = furniture_merge_lists(lists)
print(output)
|