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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
# overlap of z
diff_z = z_min - tz_max
height = z_max - z_min
z_rate = abs(diff_z) / height
# must be larger
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:
# must be higher
# if tz_max > z_max:
# return False
if z_min > (tz_max*0.05 if tz_max > 0 else tz_max*0.95): # floating
return False
if z_min < tz_min:
return False
if not diff_z < height*0.2:
return False
# must be centered
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
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