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0<=ny<mask.shape[0] and 0<=nx<mask.shape[1] and mask[ny,nx] and not seen[ny,nx]:\n                    seen[ny,nx]=True;stack.append((ny,nx))\n        if len(points)>=30:\n            yy,xx=np.array(points).T\n            components.append([int(xx.min()),int(yy.min()),int(xx.max()+1),int(yy.max()+1)])\n    return components\n\ndef pixel_candidates(rgb):\n    candidates=[]\n    for color,value in PALETTE.items():\n        distance=np.linalg.norm(rgb.astype(float)-np.array(value),axis=-1)\n        for box in connected_components(distance<20):\n            candidates.append({'color':color,'category':'book' if color=='brown' else 'cup','box':box,'center_x':(box[0]+box[2])/2})\n    return candidates\n\ndef ground(rgb,phrase):\n    objects=pixel_candidates(rgb)\n    if ' left of ' in phrase or ' right of ' in phrase:\n        relation='left' if ' left of ' in phrase else 'right'\n        target_noun,reference_phrase=phrase.split(' '+relation+' of ')\n        ref_color=reference_phrase.split()[0]\n        refs=[o for o in objects if o['category']=='cup' and o['color']==ref_color]\n        if len(refs)!=1:return {'status':'reference missing/ambiguous','target':None,'reference':None,'candidates':objects}\n        ref=refs[0]\n        possible=[o for o in objects if o['category']==target_noun and o is not ref and ((o['center_x']<ref['center_x']) if relation=='left' else (o['center_x']>ref['center_x']))]\n        return {'status':'unique target' if len(possible)==1 else 'no unique visible target','target':possible[0] if len(possible)==1 else None,'reference':ref,'relation':relation,'candidates':objects}\n    color,noun=phrase.split();found=[o for o in objects if o['color']==color and o['category']==noun]\n    return {'status':'unique target' if len(found)==1 else 'no unique visible target','target':found[0] if len(found)==1 else None,'reference':None,'candidates':objects}\n\ncases=[('base',base,'cup left of blue cup'),('target occluded',occluded,'cup left of blue cup'),('colors exchanged',swapped,'cup left of blue cup'),('relation changed',swapped,'cup right of blue cup')]\nresults=[]\nfor condition,pixels,phrase in cases:\n    row={'condition':condition,'phrase':phrase,**ground(pixels,phrase)};results.append(row)\n    print(condition,phrase,'->',row['status'],'target',row['target'],'reference',row['reference'])\nassert results[0]['target']['color']=='red'\nassert results[0]['reference']['color']=='blue'\nassert results[0]['target']['box']==[15,19,50,58]\nassert results[1]['target'] is None\nassert results[2]['target'] is None\nassert results[3]['target']['color']=='red' and results[3]['target']['box'][0]==109\n```","sha256":"da4d4a83d781cb386c45ead04ad69f033fd35c902386687cd848b0291345c0f9","chapter":{"id":"course","title":"3. 正确分解目标、参照物和关系 · 实现代码"},"unit":{"id":"notebook-blocks/3be3345fe62d47d99d64a1e4491c6f03","title":"3. 正确分解目标、参照物和关系 · 实现代码"},"page":{"id":"reading-opening","title":"3. 正确分解目标、参照物和关系 · 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