From 23470ad4fb51563bca51e3a5b4b461537af625d9 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 16 Oct 2018 21:17:40 +0200
Subject: [PATCH] Add bounding boxes to actors

---
 .../source/carla/client/detail/ActorState.h   |  4 ++
 LibCarla/source/carla/geom/BoundingBox.h      | 53 +++++++++++++++++++
 LibCarla/source/carla/rpc/Actor.h             |  7 ++-
 PythonAPI/source/libcarla/Actor.cpp           |  1 +
 4 files changed, 64 insertions(+), 1 deletion(-)
 create mode 100644 LibCarla/source/carla/geom/BoundingBox.h

diff --git a/LibCarla/source/carla/client/detail/ActorState.h b/LibCarla/source/carla/client/detail/ActorState.h
index 7952e89e8..faa92fb49 100644
--- a/LibCarla/source/carla/client/detail/ActorState.h
+++ b/LibCarla/source/carla/client/detail/ActorState.h
@@ -31,6 +31,10 @@ namespace detail {
 
     std::string GetDisplayId() const;
 
+    const geom::BoundingBox &GetBoundingBox() const {
+      return _description.bounding_box;
+    }
+
     World GetWorld() const {
       return World{_episode};
     }
diff --git a/LibCarla/source/carla/geom/BoundingBox.h b/LibCarla/source/carla/geom/BoundingBox.h
new file mode 100644
index 000000000..b1c66bb02
--- /dev/null
+++ b/LibCarla/source/carla/geom/BoundingBox.h
@@ -0,0 +1,53 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/Debug.h"
+#include "carla/MsgPack.h"
+#include "carla/geom/Location.h"
+#include "carla/geom/Vector3D.h"
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "GameFramework/Actor.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+namespace carla {
+namespace geom {
+
+  class BoundingBox {
+  public:
+
+    BoundingBox() = default;
+
+    explicit BoundingBox(const Location &in_location, const Vector3D &in_extent)
+      : location(in_location),
+        extent(in_extent) {}
+
+    explicit BoundingBox(const Vector3D &in_extent)
+      : extent(in_extent) {}
+
+    Location location;
+    Vector3D extent;
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    explicit BoundingBox(const AActor *AnActor) {
+      DEBUG_ASSERT(AnActor != nullptr);
+      constexpr bool bOnlyCollidingComponents = true;
+      FVector Origin, BoxExtent;
+      AnActor->GetActorBounds(bOnlyCollidingComponents, Origin, BoxExtent);
+      location = Location(Origin);
+      extent = Vector3D(1e-2f * BoxExtent.X, 1e-2f * BoxExtent.Y, 1e-2f * BoxExtent.Z);
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+    MSGPACK_DEFINE_ARRAY(location, extent);
+  };
+
+} // namespace geom
+} // namespace carla
diff --git a/LibCarla/source/carla/rpc/Actor.h b/LibCarla/source/carla/rpc/Actor.h
index a5c596ca7..162ecbcf1 100644
--- a/LibCarla/source/carla/rpc/Actor.h
+++ b/LibCarla/source/carla/rpc/Actor.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include "carla/Debug.h"
+#include "carla/geom/BoundingBox.h"
 #include "carla/rpc/ActorDescription.h"
 #include "carla/streaming/Token.h"
 
@@ -26,6 +27,8 @@ namespace rpc {
 
     ActorDescription description;
 
+    geom::BoundingBox bounding_box;
+
     /// @todo This is only used by sensors actually.
     /// @name Sensor functionality
     /// @{
@@ -49,13 +52,15 @@ namespace rpc {
 
     Actor(FActorView View)
       : id(View.GetActorId()),
-        description(*View.GetActorDescription()) {
+        description(*View.GetActorDescription()),
+        bounding_box(View.GetActor()) {
       DEBUG_ASSERT(View.IsValid());
     }
 
     Actor(FActorView View, const streaming::Token &StreamToken)
       : id(View.GetActorId()),
         description(*View.GetActorDescription()),
+        bounding_box(View.GetActor()),
         stream_token(StreamToken.data.begin(), StreamToken.data.end()) {
       DEBUG_ASSERT(View.IsValid());
     }
diff --git a/PythonAPI/source/libcarla/Actor.cpp b/PythonAPI/source/libcarla/Actor.cpp
index 2a50908f1..b16c35008 100644
--- a/PythonAPI/source/libcarla/Actor.cpp
+++ b/PythonAPI/source/libcarla/Actor.cpp
@@ -30,6 +30,7 @@ void export_actor() {
     // work-around, force return copy to resolve Actor instead of ActorState.
     .add_property("id", CALL_RETURNING_COPY(cc::Actor, GetId))
     .add_property("type_id", CALL_RETURNING_COPY(cc::Actor, GetTypeId))
+    .add_property("bounding_box", CALL_RETURNING_COPY(cc::Actor, GetBoundingBox))
     .add_property("is_alive", CALL_RETURNING_COPY(cc::Actor, IsAlive))
     .def("get_world", CALL_RETURNING_COPY(cc::Actor, GetWorld))
     .def("get_location", CONST_CALL_WITHOUT_GIL(cc::Actor, GetLocation))