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Any type of point can be transformed

This commit is contained in:
manishthani 2019-01-09 17:41:01 +01:00
parent 4e2b0b891d
commit 3de574af36
3 changed files with 40 additions and 27 deletions
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4
LibCarla/source/carla/geom/Transform.h
View File

@ -49,7 +49,7 @@ namespace geom {
return rotation;
}
inline void TransformPoint (Location &in_point) const {
inline void TransformPoint (Vector3D &in_point) const {
// Rotate
double cy = cos(Math::to_radians(rotation.yaw));
@ -59,7 +59,7 @@ namespace geom {
double cp = cos(Math::to_radians(rotation.pitch));
double sp = sin(Math::to_radians(rotation.pitch));
Location out_point;
Vector3D out_point;
out_point.x = in_point.x * ( cp * cy )
+ in_point.y * ( cy * sp * sr - sy * cr)
+ in_point.z * (-cy * sp * cr - sy * sr);

24
PythonAPI/source/libcarla/Geom.cpp
View File

@ -55,6 +55,13 @@ namespace geom {
} // namespace geom
} // namespace carla
static void TransformList(const carla::geom::Transform &self, boost::python::list &list) {
auto length = boost::python::len(list);
for (auto i = 0u; i < length; ++i) {
self.TransformPoint(boost::python::extract<carla::geom::Vector3D &>(list[i]));
}
}
void export_geom() {
using namespace boost::python;
namespace cg = carla::geom;
@ -73,7 +80,7 @@ void export_geom() {
.def(self_ns::str(self_ns::self))
;
class_<cg::Location>("Location")
class_<cg::Location, bases<cg::Vector3D>>("Location")
.def(init<float, float, float>((arg("x")=0.0f, arg("y")=0.0f, arg("z")=0.0f)))
.add_property("x", +[](const cg::Location &self) { return self.x; }, +[](cg::Location &self, float x) { self.x = x; })
.add_property("y", +[](const cg::Location &self) { return self.y; }, +[](cg::Location &self, float y) { self.y = y; })
@ -98,11 +105,6 @@ void export_geom() {
.def(self_ns::str(self_ns::self))
;
class_<std::vector<cg::Location> >("vector_of_locations")
.def(vector_indexing_suite<std::vector<cg::Location>>())
.def(self_ns::str(self_ns::self))
;
class_<cg::Transform>("Transform")
.def(init<cg::Location, cg::Rotation>(
@ -111,17 +113,11 @@ void export_geom() {
.def_readwrite("rotation", &cg::Transform::rotation)
.def("__eq__", &cg::Transform::operator==)
.def("__ne__", &cg::Transform::operator!=)
.def("transform_point", +[](const cg::Transform &self, cg::Location &location) {
.def("transform", &TransformList)
.def("transform", +[](const cg::Transform &self, cg::Vector3D &location) {
self.TransformPoint(location);
return location;
}, arg("in_point"))
.def("transform_point_list", +[](const cg::Transform &self, std::vector<cg::Location> &location_list) {
for (cg::Location &location : location_list) {
self.TransformPoint(location);
}
return location_list;
})
.def(self_ns::str(self_ns::self))
;

39
PythonAPI/test/test_transform.py
View File

@ -150,21 +150,19 @@ class testTransform(unittest.TestCase):
self.assertTrue(abs(point.y - 0.0) <= error)
self.assertTrue(abs(point.z - (-1.0)) <= error)
def test_list_rotation_and_translation(self):
def test_list_rotation_and_translation_location(self):
error = .001
t = carla.Transform(
carla.Location(x=0.0, y=0.0, z=-1.0),
carla.Rotation(pitch=90.0, yaw=0.0, roll=0.0))
point_list = carla.vector_of_locations()
point_list.append(carla.Location(x=0.0, y=0.0, z=2.0))
point_list.append(carla.Location(x=0.0, y=10.0, z=1.0))
point_list.append(carla.Location(x=0.0, y=18.0, z=2.0))
point_list = [ carla.Location(x=0.0, y=0.0, z=2.0),
carla.Location(x=0.0, y=10.0, z=1.0),
carla.Location(x=0.0, y=18.0, z=2.0)
]
t.transform_point_list(point_list)
solution_list = carla.vector_of_locations()
solution_list.append(carla.Location(x=-2.0, y=0.0, z=-1.0))
solution_list.append(carla.Location(x=-2.0, y=0.0, z=-1.0))
solution_list.append(carla.Location(x=-1.0, y=10.0, z=-1.0))
solution_list.append(carla.Location(x=-2.0, y=18.0, z=-1.0))
@ -173,5 +171,24 @@ class testTransform(unittest.TestCase):
self.assertTrue(abs(point_list[i].y - solution_list[i].y) <= error)
self.assertTrue(abs(point_list[i].z - solution_list[i].z) <= error)
def test_list_rotation_and_translation_vector3d(self):
error = .001
t = carla.Transform(
carla.Location(x=0.0, y=0.0, z=-1.0),
carla.Rotation(pitch=90.0, yaw=0.0, roll=0.0))
point_list = [ carla.Vector3D(0.0, 0.0, 2.0),
carla.Vector3D(0.0, 10.0, 1.0),
carla.Vector3D(0.0, 18.0, 2.0)
]
t.transform_point_list(point_list)
solution_list.append(carla.Vector3D(-2.0, 0.0, -1.0))
solution_list.append(carla.Vector3D(-1.0, 10.0, -1.0))
solution_list.append(carla.Vector3D(-2.0, 18.0, -1.0))
for i in range(len(point_list)):
self.assertTrue(abs(point_list[i].x - solution_list[i].x) <= error)
self.assertTrue(abs(point_list[i].y - solution_list[i].y) <= error)
self.assertTrue(abs(point_list[i].z - solution_list[i].z) <= error)