Added Frustum pybind11 interface (#353)

Signed-off-by: Alejandro Hernández <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
gazebosim · Dec 29, 2021 · 8ec7478 · 8ec7478
1 parent b148af5
commit 8ec7478
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Showing 6 changed files with 245 additions and 84 deletions.
diff --git a/src/python/CMakeLists.txt b/src/python/CMakeLists.txt
@@ -87,7 +87,6 @@ if (PYTHONLIBS_FOUND)
   if (BUILD_TESTING)
     # Add the Python tests
     set(python_tests
-      Frustum_TEST
       python_TEST
       SignalStats_TEST
       Sphere_TEST

diff --git a/src/python_pybind11/CMakeLists.txt b/src/python_pybind11/CMakeLists.txt
@@ -18,6 +18,7 @@ if (${pybind11_FOUND})
     src/AxisAlignedBox.cc
     src/Color.cc
     src/DiffDriveOdometry.cc
+    src/Frustum.cc
     src/GaussMarkovProcess.cc
     src/Helpers.cc
     src/Kmeans.cc
@@ -89,6 +90,7 @@ if (${pybind11_FOUND})
       Cylinder_TEST
       DiffDriveOdometry_TEST
       Filter_TEST
+      Frustum_TEST
       GaussMarkovProcess_TEST
       Helpers_TEST
       Inertial_TEST

diff --git a/src/python_pybind11/src/Frustum.cc b/src/python_pybind11/src/Frustum.cc
@@ -0,0 +1,115 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#include <string>
+
+#include "Frustum.hh"
+#include <ignition/math/Frustum.hh>
+
+#include <pybind11/operators.h>
+#include <pybind11/stl_bind.h>
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathFrustum(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Frustum;
+  std::string pyclass_name = typestr;
+  py::class_<Class> (m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+   .def(py::init<>())
+   .def(py::init<const double, const double, const ignition::math::Angle&,
+                 const double, const ignition::math::Pose3d&>(),
+        py::arg("_near") = 0,
+        py::arg("_far") = 0,
+        py::arg("_fov") = ignition::math::Angle(0),
+        py::arg("_aspectRatio") = 0,
+        py::arg("_pose") = ignition::math::Pose3d::Zero)
+   .def(py::init<const Class&>())
+   .def("near",
+        &Class::Near,
+        "Get the near distance. This is the distance from the "
+        "frustum's vertex to the closest plane.")
+   .def("set_near",
+        &Class::SetNear,
+        "Set the near distance. This is the distance from the "
+        "frustum's vertex to the closest plane.")
+   .def("far",
+        &Class::Far,
+        "Get the far distance. This is the distance from the "
+        "frustum's vertex to the farthest plane.")
+   .def("set_far",
+        &Class::SetFar,
+        "Set the far distance. This is the distance from the "
+        "frustum's vertex to the farthest plane.")
+   .def("fov",
+        &Class::FOV,
+        "Get the horizontal field of view. The field of view is the "
+        "angle between the frustum's vertex and the edges of the near or far")
+   .def("set_fov",
+        &Class::SetFOV,
+        "Set the horizontal field of view. The field of view is the "
+        "angle between the frustum's vertex and the edges of the near or far")
+   .def("aspect_ratio",
+        &Class::AspectRatio,
+        "Get the aspect ratio, which is the width divided by height "
+        "of the near or far planes.")
+   .def("set_aspect_ratio",
+        &Class::SetAspectRatio,
+        "Get the aspect ratio, which is the width divided by height "
+        "of the near or far planes.")
+   .def("pose",
+        &Class::Pose,
+        "Get the pose of the frustum")
+   .def("set_pose",
+        &Class::SetPose,
+        "Set the pose of the frustum")
+   .def("contains",
+        py::overload_cast<const ignition::math::AxisAlignedBox&>
+            (&Class::Contains, py::const_),
+        "Check if a box lies inside the pyramid frustum.")
+   .def("contains",
+        py::overload_cast<const ignition::math::Vector3d&>
+            (&Class::Contains, py::const_),
+        "Check if a point lies inside the pyramid frustum.")
+   .def("plane",
+        &Class::Plane,
+        "Get a plane of the frustum.");
+
+   py::enum_<ignition::math::Frustum::FrustumPlane>(m, "FrustumPlane")
+       .value("FRUSTUM_PLANE_NEAR",
+              ignition::math::Frustum::FrustumPlane::FRUSTUM_PLANE_NEAR)
+       .value("FRUSTUM_PLANE_FAR",
+              ignition::math::Frustum::FrustumPlane::FRUSTUM_PLANE_FAR)
+       .value("FRUSTUM_PLANE_LEFT",
+              ignition::math::Frustum::FrustumPlane::FRUSTUM_PLANE_LEFT)
+       .value("FRUSTUM_PLANE_RIGHT",
+              ignition::math::Frustum::FrustumPlane::FRUSTUM_PLANE_RIGHT)
+       .value("FRUSTUM_PLANE_TOP",
+              ignition::math::Frustum::FrustumPlane::FRUSTUM_PLANE_TOP)
+       .value("FRUSTUM_PLANE_BOTTOM",
+              ignition::math::Frustum::FrustumPlane::FRUSTUM_PLANE_BOTTOM)
+       .export_values();
+}
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
diff --git a/src/python_pybind11/src/Frustum.hh b/src/python_pybind11/src/Frustum.hh
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_MATH_PYTHON__FRUSTUM_HH_
+#define IGNITION_MATH_PYTHON__FRUSTUM_HH_
+
+#include <pybind11/pybind11.h>
+#include <string>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Frustum
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathFrustum(py::module &m, const std::string &typestr);
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__FRUSTUM_HH_
diff --git a/src/python_pybind11/src/_ignition_math_pybind11.cc b/src/python_pybind11/src/_ignition_math_pybind11.cc
@@ -21,6 +21,7 @@
 #include "Cylinder.hh"
 #include "DiffDriveOdometry.hh"
 #include "Filter.hh"
+#include "Frustum.hh"
 #include "GaussMarkovProcess.hh"
 #include "Helpers.hh"
 #include "Inertial.hh"
@@ -155,6 +156,8 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathInertial<double>(m, "Inertiald");
 
+  ignition::math::python::defineMathFrustum(m, "Frustum");
+
   ignition::math::python::defineMathFilter<int>(m, "Filteri");
   ignition::math::python::defineMathFilter<float>(m, "Filterf");
   ignition::math::python::defineMathFilter<double>(m, "Filterd");