initial work for query in other geo coord system

seerep_msgs/core/query.h

@@ -25,6 +25,8 @@ struct Query
                            // polygon defined above
   bool inMapFrame;  // if false the query polygon is in geodetic coordinates,
                     // otherwise in map frame
+  std::string
+      coordinateSystem;  // the geodetic coordinate system in which the polygon is defined
   std::optional<Timeinterval> timeinterval;  ///< only do temporal query if set
   std::optional<std::unordered_map<std::string, std::vector<std::string>>>
       label;  ///< only do semantic query if set

seerep_msgs/fbs/query.fbs

@@ -9,6 +9,7 @@ table Query {
   polygon:Polygon2D;
   polygonSensorPosition:Polygon2D;
   fullyEncapsulated:bool;
+  coordinateSystem:string;
   inMapFrame:bool;
   timeinterval:TimeInterval;
   label:[LabelCategory];

seerep_msgs/protos/query.proto

@@ -20,4 +20,5 @@ message Query
   bool withoutdata = 10;
   uint32 maxNumData = 11;
   bool sortByTime = 12;
+  string coordinateSystem = 13;
 }

seerep_srv/seerep_core/CMakeLists.txt

@@ -29,6 +29,9 @@ find_package(catkin REQUIRED COMPONENTS tf2)
 find_package(CGAL REQUIRED)
 set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
 
+# https://github.com/OSGeo/PROJ/issues/3682
+pkg_check_modules(PROJ REQUIRED IMPORTED_TARGET)
+
 configure_file(include/SeerepCoreConfig.h.in SeerepCoreConfig.h)
 
 include_directories(
@@ -66,9 +69,9 @@ target_link_libraries(
   ${Boost_LOG_LIBRARY}
   ${Boost_LOG_SETUP_LIBRARY}
   ${catkin_LIBRARIES}
+  ${CURL_LIBRARIES}
   CGAL::CGAL
   proj
-  ${CURL_LIBRARIES}
   jsoncpp
 )
 

seerep_srv/seerep_core/include/seerep_core/core_project.h

@@ -1,6 +1,8 @@
 #ifndef SEEREP_CORE_CORE_PROJECT_H_
 #define SEEREP_CORE_CORE_PROJECT_H_
 
+#include <proj.h>
+
 #include <boost/uuid/uuid.hpp>             // uuid class
 #include <boost/uuid/uuid_generators.hpp>  // generators
 #include <boost/uuid/uuid_io.hpp>          // streaming operators etc.

seerep_srv/seerep_core/src/core_project.cpp

@@ -62,6 +62,7 @@ const std::string CoreProject::getVersion()
   return m_version;
 }
 
+// <<<<<<< HEAD
 seerep_core_msgs::Polygon2D
 CoreProject::transformToMapFrame(const seerep_core_msgs::Polygon2D polygon)
 {
@@ -113,10 +114,15 @@ CoreProject::getDataset(seerep_core_msgs::Query& query)
   // is the query not in map frame?
   if (query.polygon && !query.inMapFrame)
   {
+    if (query.coordinateSystem != "")
+    {
+      // TODO add transformation using the EPSG code
+    }
     query.polygon.value() = transformToMapFrame(query.polygon.value());
   }
 
   result.dataOrInstanceUuids = m_coreDatasets->getData(query);
+
   return result;
 }
 

seerep_srv/seerep_core_fb/include/seerep_core_fb/core_fb_conversion.h

@@ -304,6 +304,8 @@ class CoreFbConversion
    */
   static bool fromFbQueryInMapFrame(const seerep::fb::Query* query);
 
+  static std::string fromFbQueryCoordinateSystem(const seerep::fb::Query* query);
+
   /**
    * @brief extracts the fullyEncapsulated flag of the flatbuffer query message
    * @param query the flatbuffer message

seerep_srv/seerep_core_fb/src/core_fb_conversion.cpp

@@ -50,6 +50,7 @@ CoreFbConversion::fromFb(const seerep::fb::Query* query,
   queryCore.polygon = fromFbQueryPolygon(query);
   queryCore.polygonSensorPos = fromFbQueryPolygonSensorPosition(query);
   queryCore.fullyEncapsulated = fromFbQueryFullyEncapsulated(query);
+  queryCore.coordinateSystem = fromFbQueryCoordinateSystem(query);
   queryCore.inMapFrame = fromFbQueryInMapFrame(query);
   queryCore.sortByTime = query->sortByTime();
 
@@ -562,6 +563,16 @@ CoreFbConversion::fromFbSparqlQuery(const seerep::fb::Query* query)
   return std::nullopt;
 }
 
+std::string CoreFbConversion::fromFbQueryCoordinateSystem(const seerep::fb::Query* query)
+{
+  if (flatbuffers::IsFieldPresent(query, seerep::fb::Query::VT_COORDINATESYSTEM))
+  {
+    return query->coordinateSystem()->str();
+  }
+
+  return "";
+}
+
 std::optional<std::string>
 CoreFbConversion::fromFbOntologyURI(const seerep::fb::Query* query)
 {

seerep_srv/seerep_core_pb/include/seerep_core_pb/core_pb_conversion.h

@@ -175,6 +175,14 @@ class CorePbConversion
    */
   static void fromPbInMapFrame(const seerep::pb::Query& query,
                                seerep_core_msgs::Query& queryCore);
+  /**
+   * @brief converts the coordinate systen string of the protobuf query message
+   * to seerep core specific message
+   * @param query the protobuf query message
+   * @param queryCore query message in seerep core format
+   */
+  static void fromPbCoordinateSystem(const seerep::pb::Query& query,
+                                     seerep_core_msgs::Query& queryCore);
   /**
    * @brief converts the fullyEncapsulated flag of the protobuf query message to
    * seerep core specific message

seerep_srv/seerep_core_pb/src/core_pb_conversion.cpp

@@ -20,6 +20,7 @@ CorePbConversion::fromPb(const seerep::pb::Query& query,
   fromPbWithOutData(query, queryCore);
   fromFbQueryMaxNumData(query, queryCore);
   fromPbFullyEncapsulated(query, queryCore);
+  fromPbCoordinateSystem(query, queryCore);
   fromPbInMapFrame(query, queryCore);
   queryCore.sortByTime = query.sortbytime();
 
@@ -378,6 +379,12 @@ void CorePbConversion::fromPbInMapFrame(const seerep::pb::Query& query,
   queryCore.inMapFrame = query.inmapframe();
 }
 
+void CorePbConversion::fromPbCoordinateSystem(const seerep::pb::Query& query,
+                                              seerep_core_msgs::Query& queryCore)
+{
+  queryCore.coordinateSystem = query.coordinatesystem();
+}
+
 void CorePbConversion::fromPbFullyEncapsulated(
     const seerep::pb::Query& query, seerep_core_msgs::Query& queryCore)
 {