core.pose_estimulation.collision_detection

Classes

CollisionDetector 

CollisionDetector()

Attributes

is_front_initial_obj instance-attribute 
is_front_initial_obj = config.is_front_initial_obj

插入物体是否在背景原有物体之前

Functions

collision_detection 
collision_detection(boxes_ori_corner: numpy.ndarray, boxes_inserted_corner: numpy.ndarray, box_inserted_corner_now: numpy.ndarray) -> bool

碰撞检测

Parameters:
  • boxes_ori_corner (ndarray) –

    背景原有物体的box3d八个顶点

  • boxes_inserted_corner (ndarray) –

    已经插入物体的box3d八个顶点

  • box_inserted_corner_now (ndarray) –

    当前物体box3d八个顶点
Returns:
  • bool –

    是否发生碰撞
is_occluded_by_initial_obj 
is_occluded_by_initial_obj(boxes_ori_corner: numpy.ndarray, box_insert_corner: numpy.ndarray) -> bool

判断插入物体是否被景原有物体遮挡或者发生重叠

Parameters:
  • boxes_ori_corner (ndarray) –

    背景原有的物体

  • box_insert_corner (ndarray) –

    当前准备插入的物体
Returns:
  • bool –

    判断结果
is_overlapped_with_inserted_obj 
is_overlapped_with_inserted_obj(boxes_ori_corner: numpy.ndarray, box_insert_corner: numpy.ndarray) -> bool

判断插入物体之间是否发生重叠

Parameters:
  • boxes_ori_corner (ndarray) –

    已经插入的物体

  • box_insert_corner (ndarray) –

    当前准备插入的物体
Returns:
  • bool –

    判断结果