move and modify inMapFrame property into crsString

examples/python/gRPC/images/gRPC_fb_queryImages.py

@@ -121,7 +121,6 @@ def query_images(
         labels=labelsCategory,
         withoutData=True,
         fullyEncapsulated=False,
-        inMapFrame=True,
     )
 
     if matching_images is None or len(matching_images) == 0:

examples/python/gRPC/images/gRPC_pb_queryImage.py

@@ -47,8 +47,7 @@ def query_images(
     theQuery.polygon.z = -200
     theQuery.polygon.height = 800
 
-    theQuery.inMapFrame = True
-    theQuery.crsString = "EPSG:4326"
+    theQuery.crsString = "map"
 
     scale = 150
     vertices = [
@@ -76,7 +75,6 @@ def query_images(
     labelsCategory.labels.append(label)
     theQuery.labelCategory.append(labelsCategory)
 
-    # theQuery.inMapFrame = True
     theQuery.fullyEncapsulated = False
 
     # 5. Query the server for images matching the query and return them

examples/python/gRPC/images/gRPC_pb_queryImageGrid.py

@@ -50,7 +50,8 @@ def query_image_grid(
     theQuery.polygon.z = -1
     theQuery.polygon.height = 7
 
-    theQuery.inMapFrame = True
+    # also means the query is done in the map
+    theQuery.crsString = "map"
     theQuery.fullyEncapsulated = False
 
     # labels

examples/python/gRPC/point/gRPC_fb_queryPoints.py

@@ -79,7 +79,6 @@ def get_points_raw(
         polygon2d=polygon2d,
         # withoutData=True,
         fullyEncapsulated=False,
-        inMapFrame=True,
     )
 
     builder.Finish(query)

examples/python/gRPC/pointcloud/gRPC_fb_queryPointCloud.py

@@ -118,7 +118,7 @@ def query_pcs_raw(
         # withoutData=True,
         # polygon2d=query_polygon,
         # fullyEncapsulated=True
-        inMapFrame=False,
+        # crsString="project",
     )
 
     fb_builder.Finish(query)

examples/python/gRPC/pointcloud/gRPC_fb_queryPointCloudAndVisualize.py

@@ -156,7 +156,7 @@ def query_pcs(
         # withoutData=True,
         # polygon2d=query_polygon,
         # fullyEncapsulated=True
-        inMapFrame=False,
+        # crsString="project",
     )
 
     fb_builder.Finish(query)

examples/python/gRPC/util/fb_helper.py

@@ -626,6 +626,7 @@ def addToPointFieldVector(builder: Builder, pointFieldList: List[int]) -> int:
     return builder.EndVector()
 
 
+# TODO docs for crsString
 def createQuery(
     builder: Builder,
     timeInterval: Union[int, None] = None,
@@ -637,7 +638,7 @@ def createQuery(
     withoutData: bool = False,
     polygon2d: Union[int, None] = None,
     fullyEncapsulated: bool = False,
-    inMapFrame: bool = True,
+    crsString: str = "map",
     sortByTime: bool = False,
 ) -> int:
     """
@@ -660,15 +661,17 @@ def createQuery(
         within the polygon
         fullyEncapsulated: A boolean indicating if the returned instances should
         be fully encapsulated by the polygon
-        inMapFrame: A boolean indicating if the polygon coordinates are in the
-        map frame or in EPSG world coordinates
+        crsString: A string containing either a proj transformable code (EPSG, )
+        'map' or a empty string are valid values as well.
         sortByTime: A boolean indicating if the returned instances should be
         sorted by time
 
     Returns:
         A pointer to the constructed query object
     """
 
+    crsString = builder.CreateString(crsString)
+
     if projectUuids:
         # serialize strings
         projectUuidsSerialized = [
@@ -723,7 +726,7 @@ def createQuery(
     # no if; has default value
     Query.AddWithoutdata(builder, withoutData)
     Query.AddFullyEncapsulated(builder, fullyEncapsulated)
-    Query.AddInMapFrame(builder, inMapFrame)
+    Query.AddCrsString(builder, crsString)
     Query.AddSortByTime(builder, sortByTime)
 
     return Query.End(builder)

seerep_msgs/fbs/query.fbs

@@ -10,7 +10,6 @@ table Query {
   polygonSensorPosition:Polygon2D;
   fullyEncapsulated:bool;
   crsString:string;
-  inMapFrame:bool;
   timeinterval:TimeInterval;
   label:[LabelCategory];
   sparqlQuery:SparqlQuery;

seerep_msgs/protos/query.proto

@@ -10,7 +10,7 @@ message Query
 {
   Polygon2D polygon = 1;
   bool fullyEncapsulated = 2;
-  bool inMapFrame = 3;
+  string crsString = 3;
   TimeInterval timeinterval = 4;
   repeated LabelCategory labelCategory = 5;
   bool mustHaveAllLabels = 6;
@@ -20,5 +20,4 @@ message Query
   bool withoutdata = 10;
   uint32 maxNumData = 11;
   bool sortByTime = 12;
-  string crsString = 13;
 }

seerep_srv/seerep_core/src/core_project.cpp

@@ -101,7 +101,7 @@ CoreProject::transformToMapFrame(const seerep_core_msgs::Polygon2D& polygon,
   transformed_polygon.height = polygon.height;
 
   // when the query was made in a seperate coordinate reference system
-  if (query_crs != "")
+  if (query_crs != "project")
   {
     PJ* to_project_crs_rawptr = proj_create_crs_to_crs(
         ctx, query_crs.c_str(), g.crsString.c_str(), nullptr);
@@ -200,18 +200,8 @@ CoreProject::transformToMapFrame(const seerep_core_msgs::Polygon2D& polygon,
   std::string ellps = ellps_string.substr(ellps_idx);
 
   // https://proj.org/en/6.3/operations/conversions/topocentric.html
-  // the proj pipeline has two steps, convert geodesic to cartesian
+  // the proj pipeline has two steps, convert geographic to cartesian
   // coordinates then project to topocentric coordinates
-  // TODO: get ellps from proj using
-  BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::info)
-      << "crs string: " << g.crsString;
-
-  BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::info)
-      << "ellps: " << ellps;
-
-  // perform an affine transform to transpose the query polygon to map frame
-  // the first argument is the thread context, the second is the pipeline
-  // string created above
   std::string to_topographic_projstr =
       "+proj=pipeline +step +proj=cart +ellps=" + ellps +
       " +step +proj=topocentric" + " +ellps=" + ellps +
@@ -275,8 +265,11 @@ CoreProject::getDataset(seerep_core_msgs::Query& query)
   seerep_core_msgs::QueryResultProject result;
   result.projectUuid = m_uuid;
 
-  // is the query not in map frame?
-  if (query.polygon && !query.inMapFrame)
+  // is the query not in map frame? Then transform the polygon into it
+  // query.crsString == "project" means the polygon is in the project frame
+  // if query.crsString == "map" that means the query is done in the map
+  // frame
+  if (query.polygon && query.crsString != "map")
   {
     query.polygon.value() =
         transformToMapFrame(query.polygon.value(), query.crsString);

seerep_srv/seerep_core_fb/include/seerep_core_fb/core_fb_conversion.h

@@ -295,15 +295,6 @@ class CoreFbConversion
    */
   static bool fromFbQueryMustHaveAllLabels(const seerep::fb::Query* query);
 
-  /**
-   * @brief
-   *
-   * @param query extracts the inMapFrame flag of the flatbuffer query message
-   * @return true the polygon in the query is in map frame
-   * @return false the polygon in the query is in geodetic coordinates
-   */
-  static bool fromFbQueryInMapFrame(const seerep::fb::Query* query);
-
   /**
    * @brief get the coordinate reference system string from the flatbuffers
    * query object

seerep_srv/seerep_core_fb/src/core_fb_conversion.cpp

@@ -51,7 +51,6 @@ CoreFbConversion::fromFb(const seerep::fb::Query* query,
   queryCore.polygonSensorPos = fromFbQueryPolygonSensorPosition(query);
   queryCore.fullyEncapsulated = fromFbQueryFullyEncapsulated(query);
   queryCore.crsString = fromFbQueryCrsString(query);
-  queryCore.inMapFrame = fromFbQueryInMapFrame(query);
   queryCore.sortByTime = query->sortByTime();
 
   return queryCore;
@@ -597,16 +596,6 @@ bool CoreFbConversion::fromFbQueryMustHaveAllLabels(
   return false;
 }
 
-bool CoreFbConversion::fromFbQueryInMapFrame(const seerep::fb::Query* query)
-{
-  if (flatbuffers::IsFieldPresent(query, seerep::fb::Query::VT_INMAPFRAME))
-  {
-    return query->inMapFrame();
-  }
-
-  return false;
-}
-
 bool CoreFbConversion::fromFbQueryFullyEncapsulated(
     const seerep::fb::Query* query)
 {

seerep_srv/seerep_core_pb/include/seerep_core_pb/core_pb_conversion.h

@@ -167,14 +167,6 @@ class CorePbConversion
    */
   static void fromPbMustHaveAllLabels(const seerep::pb::Query& query,
                                       seerep_core_msgs::Query& queryCore);
-  /**
-   * @brief converts the inMapFrame flag 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 fromPbInMapFrame(const seerep::pb::Query& query,
-                               seerep_core_msgs::Query& queryCore);
   /**
    * @brief converts the coordinate reference systen string of the protobuf
    * query message to seerep core specific message

seerep_srv/seerep_core_pb/src/core_pb_conversion.cpp

@@ -21,7 +21,6 @@ CorePbConversion::fromPb(const seerep::pb::Query& query,
   fromFbQueryMaxNumData(query, queryCore);
   fromPbFullyEncapsulated(query, queryCore);
   fromPbCrsString(query, queryCore);
-  fromPbInMapFrame(query, queryCore);
   queryCore.sortByTime = query.sortbytime();
 
   return queryCore;
@@ -373,12 +372,6 @@ void CorePbConversion::fromPbMustHaveAllLabels(
   queryCore.mustHaveAllLabels = query.musthavealllabels();
 }
 
-void CorePbConversion::fromPbInMapFrame(const seerep::pb::Query& query,
-                                        seerep_core_msgs::Query& queryCore)
-{
-  queryCore.inMapFrame = query.inmapframe();
-}
-
 void CorePbConversion::fromPbCrsString(const seerep::pb::Query& query,
                                        seerep_core_msgs::Query& queryCore)
 {

tests/python/gRPC/images/test_gRPC_fb_queryImage.py

@@ -77,7 +77,7 @@ def test_gRPC_fb_queryImages(grpc_channel, project_setup):
         labels=labelsCategory,
         withoutData=True,
         fullyEncapsulated=False,
-        inMapFrame=True,
+        crsString="map",
     )
 
     queried_image_dicts = [

tests/python/gRPC/instances/test_gRPC_fb_getInstances.py

@@ -649,7 +649,6 @@ def _test_gRPC_getInstanceQuerySortByTime(grpc_channel, project_setup):
     assert uuids_by_time == label_instances
 
 
-# this does not work currently
 def _test_gRPC_getInstanceQueryInMapFrame(grpc_channel, project_setup):
     _, proj_uuid = project_setup
 
@@ -673,7 +672,6 @@ def _test_gRPC_getInstanceQueryInMapFrame(grpc_channel, project_setup):
         grpc_channel,
         enum_types=set(
             EnumFbQuery.POLYGON,
-            EnumFbQuery.IN_MAP_FRAME,
             EnumFbQuery.FULLY_ENCAPSULATED,
         ),
     )

tests/python/gRPC/meta/test_gRPC_fb_createGeodeticCoordProject.py

@@ -47,10 +47,7 @@ def test_gRPC_fb_createGeoProjectAndGetProjects(grpc_channel):
     assert created_project["uuid"] != ""
     assert created_project["frameid"] == "2"
 
-    assert (
-        created_project["geodetic_position"]["coordinate_system"]
-        == "EPSG::4326"
-    )
+    assert created_project["geodetic_position"]["crs_string"] == "EPSG::4326"
     assert created_project["geodetic_position"]["altitude"] == 4.0
     assert created_project["geodetic_position"]["latitude"] == 6.0
     assert created_project["geodetic_position"]["longitude"] == 7.0

tests/python/gRPC/util/msg_abs/msgs.py

@@ -27,7 +27,7 @@
 class EnumFbQuery(FrozenEnum):
     POLYGON = auto()  # def: None
     FULLY_ENCAPSULATED = auto()  # def: False
-    IN_MAP_FRAME = auto()  # def: True
+    CRS_STRING = auto()  # def: True
     TIMEINTERVAL = auto()  # def: None
     LABEL = auto()  # def: None
     SPARQL_QUERY = auto()  # def: None
@@ -55,8 +55,8 @@ def _set_enum_func_mapping(self) -> Dict[EnumFbQuery, MsgsFunctions]:
             EnumFbQuery.FULLY_ENCAPSULATED: MsgsFunctions(
                 lambda: False, lambda: True
             ),
-            EnumFbQuery.IN_MAP_FRAME: MsgsFunctions(
-                lambda: True, lambda: False
+            EnumFbQuery.CRS_STRING: MsgsFunctions(
+                lambda: "map", lambda: "project"
             ),
             EnumFbQuery.TIMEINTERVAL: MsgsFunctions(
                 lambda: None, lambda: Dtypes.Fb.time_interval(self.builder)
@@ -110,7 +110,7 @@ def datauuid(self) -> List[int]:
     def _assemble_datatype_instance(self):
         polygon = self.get_component(EnumFbQuery.POLYGON)
         fully_encapsulated = self.get_component(EnumFbQuery.FULLY_ENCAPSULATED)
-        in_map_frame = self.get_component(EnumFbQuery.IN_MAP_FRAME)
+        in_map_frame = self.get_component(EnumFbQuery.CRS_STRING)
         timeinterval = self.get_component(EnumFbQuery.TIMEINTERVAL)
         label = self.get_component(EnumFbQuery.LABEL)
         must_have_all_labels = self.get_component(
@@ -152,11 +152,7 @@ def _set_enum_func_mapping(self) -> Dict[FrozenEnum, MsgsFunctions]:
         }
 
     def query(self):
-        features = {
-            EnumFbQuery.WITHOUTDATA,
-            EnumFbQuery.IN_MAP_FRAME,
-            EnumFbQuery.PROJECTUUID,
-        }
+        features = {EnumFbQuery.WITHOUTDATA, EnumFbQuery.PROJECTUUID}
         return FbQuery(self.channel, self.builder, features).datatype_instance
 
     def _assemble_datatype_instance(self):