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import ssg_utils as utils |
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def cal_above_below_relationships(ObjNode_dict, src, scene_high): |
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above_below_relationships = [] |
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rect = src.bottom_rect |
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src_max = src.z_max |
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src_min = src.z_min |
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src_pos = src.position |
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for tgt_id in ObjNode_dict: |
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tgt = ObjNode_dict[tgt_id] |
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if tgt.label == 'floor' : continue |
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tgt_max = tgt.z_max |
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tgt_min = tgt.z_min |
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tgt_pos = tgt.position |
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tgt_rect = tgt.bottom_rect |
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if utils.euclideanDistance (tgt.position, src.position, 2) < scene_high * 0.85: |
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if src_min > tgt_max and ( utils.if_inPoly(rect, tgt_pos) or utils.if_inPoly(tgt_rect, src_pos) ) : |
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above_below_relationships.extend(utils.generate_relation(src.id, tgt_id, 'high')) |
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return above_below_relationships |
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def filter_labels(obj_label): |
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no_hanging_labels = ['floor', 'table', 'chair', 'desk', 'bottle'] |
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for l in no_hanging_labels: |
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if l in obj_label:return False |
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return True |
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def cal_hanging_relationships (ObjNode_dict, no_supported_objs, camera_angle,scene_high, dataset='scannet'): |
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hanging_relationships = [] |
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for obj_id in ObjNode_dict: |
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if obj_id not in no_supported_objs: |
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obj = ObjNode_dict[obj_id] |
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if not filter_labels(obj.label): continue |
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desp = utils.generate_relation(obj.id, -2, 'hang') |
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if 'tv' in obj.label: |
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desp[2] = 'mounted on' |
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if 'mirror' in obj.label: |
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desp[2] = 'affixed to' |
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hanging_relationships.append(desp) |
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hanging_relationships.extend(cal_above_below_relationships(ObjNode_dict, obj, scene_high)) |
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return hanging_relationships |
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