First, you need to get pybindgen:
pip install pybindgen
Then clone and install visibility
git clone https://gitlab.com/ddorn/visibility/
cd visibility
pip install .
The whole functionality is in the VisibiltyCalculator
class.
Initialise it with a list of points and then call visible_polygon
with
the point of view everu time you want to recalculate a polygon.
This returns a list of points of the polygon.