Merge pull request #404 from agri-gaia/feat/rm-tf-fb-service

Feat: deletion of tfs via flatbuffers service

examples/python/gRPC/images/gRPC_fb_addCameraIntrinsics.py

@@ -23,6 +23,7 @@ def add_camintrins_raw(
     ciuuid: Optional[str] = "fa2f27e3-7484-48b0-9f21-ec362075baca",
     target_proj_uuid: Optional[str] = None,
     grpc_channel: Channel = get_gRPC_channel(),
+    frame_id: str = "map",
 ) -> Optional[bytearray]:
     """
     Creates a example cameraintrinsics object and sends it to a SEEREP server
@@ -71,7 +72,7 @@ def add_camintrins_raw(
 
     # Create all necessary objects for the query
     ts = createTimeStamp(builder, 1, 2)
-    header = createHeader(builder, ts, "map", target_proj_uuid, ciuuid)
+    header = createHeader(builder, ts, frame_id, target_proj_uuid, ciuuid)
     roi = createRegionOfInterest(builder, 3, 5, 6, 7, True)
 
     distortion_matrix = [4, 5, 6, 7, 8, 9, 10, 11, 12]
@@ -106,9 +107,10 @@ def add_camintrins(
     ciuuid: Optional[str] = "fa2f27e3-7484-48b0-9f21-ec362075baca",
     target_proj_uuid: Optional[str] = None,
     grpc_channel: Channel = get_gRPC_channel(),
+    frame_id: str = "map",
 ) -> Optional[CameraIntrinsics.CameraIntrinsics]:
     return CameraIntrinsics.CameraIntrinsics.GetRootAs(
-        add_camintrins_raw(ciuuid, target_proj_uuid, grpc_channel)
+        add_camintrins_raw(ciuuid, target_proj_uuid, grpc_channel, frame_id)
     )
 
 

examples/python/gRPC/images/gRPC_fb_addLabel.py

@@ -56,7 +56,7 @@ def add_label_raw(
     builder = flatbuffers.Builder(1024)
     query = createQuery(
         builder,
-        projectUuids=[builder.CreateString(target_proj_uuid)],
+        projectUuids=[target_proj_uuid],
         withoutData=True,
     )
     builder.Finish(query)

examples/python/gRPC/images/gRPC_fb_queryImages.py

@@ -43,11 +43,7 @@ def query_images_raw(
     """
     image_service_stub = imageService.ImageServiceStub(grpc_channel)
 
-    project_uuid_buffer = fbb.CreateString(target_proj_uuid)
-
-    query = createQuery(
-        fbb, *args, projectUuids=[project_uuid_buffer], **kwargs
-    )
+    query = createQuery(fbb, *args, projectUuids=[target_proj_uuid], **kwargs)
 
     fbb.Finish(query)
     query_buf = fbb.Output()
@@ -100,7 +96,7 @@ def query_images(
     time_max = createTimeStamp(fbb, 1938549273, 0)
     time_interval = createTimeInterval(fbb, time_min, time_max)
 
-    project_uuids = [fbb.CreateString(project_uuid)]
+    project_uuids = [project_uuid]
 
     labels = [
         create_label(builder=fbb, label=label_str, label_id=i)

examples/python/gRPC/images/gRPC_fb_sendImages.py

@@ -1,23 +1,31 @@
 import random
 import time
-from typing import List, Union
+import uuid
+from typing import Iterator, List, Tuple, Union
 from uuid import uuid4
 
 import flatbuffers
 import numpy as np
 from grpc import Channel
+from quaternion import quaternion
+from seerep.fb import ServerResponse
 from seerep.fb import (
     camera_intrinsics_service_grpc_fb as camera_intrinsic_service,
 )
 from seerep.fb import image_service_grpc_fb as image_service
+from seerep.fb import tf_service_grpc_fb as tf_service
 from seerep.util.common import get_gRPC_channel
 from seerep.util.fb_helper import (
     createCameraIntrinsics,
     createHeader,
     createImage,
     createProject,
+    createQuaternion,
     createRegionOfInterest,
     createTimeStamp,
+    createTransform,
+    createTransformStamped,
+    createVector3,
 )
 
 
@@ -26,6 +34,8 @@ def send_images(
     project_uuid: str,
     camera_intrinsic_uuid: str,
     image_payloads: List[Union[np.ndarray, str]],
+    timestamps: Union[List[Tuple[int, int]], None] = None,
+    frame_id: str = "map",
 ) -> List[bytes]:
     """
     Send images to a SEEREP project
@@ -38,12 +48,21 @@ def send_images(
         image_payloads (List[Union[np.ndarray, str]]): A list of image payloads.
         Each payload can be either a numpy array (actual data) or a string
         (for a remote stroage URI).
+        timestamps (Union[List[Tuple[int, int]], None]): A list of timestamps
+        to attach to the images. Has to be the same size as image_payloads.
 
     Returns:
         List[bytes]: A list of bytes representing the serialized
         FlatBuffers messages.
 
     """
+    if timestamps and len(timestamps) != len(image_payloads):
+        print(
+            "Couldn't send images, "
+            "due to len(image_payloads) != len(timestamps)"
+        )
+        return []
+
     fbb = flatbuffers.Builder()
     image_service_stub = image_service.ImageServiceStub(grpc_channel)
 
@@ -53,8 +72,17 @@ def send_images(
     )
 
     fb_msgs = []
-    for image in image_payloads:
-        header = createHeader(fbb, timestamp, "map", project_uuid, str(uuid4()))
+    for idx, image in enumerate(image_payloads):
+        if timestamps is None:
+            header = createHeader(
+                fbb, timestamp, frame_id, project_uuid, str(uuid4())
+            )
+        else:
+            timestamp = createTimeStamp(fbb, *timestamps[idx])
+            header = createHeader(
+                fbb, timestamp, frame_id, project_uuid, str(uuid4())
+            )
+
         fb_image = createImage(
             fbb,
             header,
@@ -109,7 +137,9 @@ def create_project(grpc_channel: Channel, project_name: str) -> str:
     )
 
 
-def send_cameraintrinsics(grpc_channel: Channel, project_uuid: str) -> str:
+def send_cameraintrinsics(
+    grpc_channel: Channel, project_uuid: str, frame_id: str = "map"
+) -> str:
     """
     Create and send a camera intrinsics object to SEEREP.
 
@@ -126,7 +156,7 @@ def send_cameraintrinsics(grpc_channel: Channel, project_uuid: str) -> str:
     )
     timestamp = createTimeStamp(fbb, 0, 0)
     ci_uuid = str(uuid4())
-    header = createHeader(fbb, timestamp, "map", project_uuid, ci_uuid)
+    header = createHeader(fbb, timestamp, frame_id, project_uuid, ci_uuid)
     roi = createRegionOfInterest(fbb, 0, 0, 0, 0, False)
 
     distortion_matrix = [4, 5, 6, 7, 8, 9, 10, 11, 12]
@@ -154,14 +184,82 @@ def send_cameraintrinsics(grpc_channel: Channel, project_uuid: str) -> str:
     return ci_uuid
 
 
+def send_tfs(
+    grpc_channel: Channel,
+    project_uuid: str,
+    timestamps: List[Tuple[int, int]],
+    frame_id: str = "map",
+    child_frame_id: str = "camera",
+) -> bytes:
+    """
+    Stream len(timestamps) transforms with the form frame_id -> child_frame_id
+    to SEEREP.
+
+    Args:
+        grpc_channel (Channel): The grpc_channel to a SEEREP server.
+        project_uuid (str): The project target for the transformations.
+        timestamps (List[Tuple[int, int]]): The timestamps of
+        the transformation.
+        frame_id (str): The parent frame for the transformations.
+        child_frame_id (str): The child frame for the transformations.
+    """
+
+    def tfs_gen() -> Iterator[bytes]:
+        builder = flatbuffers.Builder(1024)
+        quat = createQuaternion(builder, quaternion(1, 0, 0, 0))
+
+        for idx, (seconds, nanos) in enumerate(timestamps):
+            timestamp = createTimeStamp(builder, seconds, nanos)
+
+            header = createHeader(
+                builder, timestamp, frame_id, project_uuid, str(uuid.uuid4())
+            )
+
+            translation = createVector3(
+                builder,
+                np.array(
+                    [100 * idx**2, 100 * idx**2, 30 * idx], dtype=np.float64
+                ),
+            )
+
+            tf = createTransform(builder, translation, quat)
+            tfs = createTransformStamped(builder, child_frame_id, header, tf)
+
+            builder.Finish(tfs)
+            yield bytes(builder.Output())
+
+    return tf_service.TfServiceStub(grpc_channel).TransferTransformStamped(
+        tfs_gen()
+    )
+
+
 if __name__ == "__main__":
     channel = get_gRPC_channel()
     project_uuid = create_project(channel, "testproject")
     camera_uuid = send_cameraintrinsics(channel, project_uuid)
 
+    timestamp_nanos = 1245
+    nanos_factor = 1e-9
+
+    timestamps = [
+        (t, timestamp_nanos) for t in range(1661336507, 1661336608, 10)
+    ]
+
     img_bufs = send_images(
-        channel, project_uuid, camera_uuid, generate_image_ressources(10)
+        channel,
+        project_uuid,
+        camera_uuid,
+        generate_image_ressources(10),
+        timestamps,
     )
 
+    tf_resp = send_tfs(channel, project_uuid, timestamps)
+
     if img_bufs is not None and len(img_bufs) > 0:
         print("Images sent successfully")
+
+    if (
+        ServerResponse.ServerResponse.GetRootAs(tf_resp).Message().decode()
+        == "everything stored!"
+    ):
+        print("Transforms sent successfully")

examples/python/gRPC/images/gRPC_pb_sendLabeledImageGrid.py

@@ -3,7 +3,7 @@
 import math
 import time
 import uuid
-from typing import List, Tuple
+from typing import List, Tuple, Union
 
 import flatbuffers
 import numpy as np
@@ -33,7 +33,8 @@
 
 
 def send_labeled_image_grid(
-    target_proj_uuid: str = None, grpc_channel: Channel = get_gRPC_channel()
+    target_proj_uuid: Union[str, None] = None,
+    grpc_channel: Channel = get_gRPC_channel(),
 ) -> Tuple[
     List[List[image.Image]],
     List[Tuple[int, int]],

examples/python/gRPC/instances/gRPC_fb_getInstances.py

@@ -47,7 +47,7 @@
 timeInterval = createTimeInterval(builder, timeMin, timeMax)
 
 
-projectUuids = [builder.CreateString(projectuuid)]
+projectUuids = [projectuuid]
 
 labelStr = ["label1", "label2"]
 labels = []
@@ -63,8 +63,8 @@
     )
 )
 
-dataUuids = [builder.CreateString("5a0438b8-37cf-412e-8331-a95ef95c1016")]
-instanceUuids = [builder.CreateString("3e12e18d-2d53-40bc-a8af-c5cca3c3b248")]
+dataUuids = ["5a0438b8-37cf-412e-8331-a95ef95c1016"]
+instanceUuids = ["3e12e18d-2d53-40bc-a8af-c5cca3c3b248"]
 
 # 4. Create a query with parameters
 # All parameters are optional

examples/python/gRPC/point/gRPC_fb_queryPoints.py

@@ -44,7 +44,7 @@ def get_points_raw(
     timeMax = createTimeStamp(builder, 1938549273, 0)
     timeInterval = createTimeInterval(builder, timeMin, timeMax)
 
-    projectUuids = [builder.CreateString(target_proj_uuid)]
+    projectUuids = [target_proj_uuid]
 
     labelStr = ["label1", "label2"]
     labels = []
@@ -60,10 +60,8 @@ def get_points_raw(
         )
     )
 
-    dataUuids = [builder.CreateString("3e12e18d-2d53-40bc-a8af-c5cca3c3b248")]
-    instanceUuids = [
-        builder.CreateString("3e12e18d-2d53-40bc-a8af-c5cca3c3b248")
-    ]
+    dataUuids = ["3e12e18d-2d53-40bc-a8af-c5cca3c3b248"]
+    instanceUuids = ["3e12e18d-2d53-40bc-a8af-c5cca3c3b248"]
 
     # 4. Create a query with parameters
     # all parameters are optional

examples/python/gRPC/pointcloud/gRPC_fb_addLabel.py

@@ -35,7 +35,7 @@ def add_pc_label_raw(
 
     query = createQuery(
         builder,
-        projectUuids=[builder.CreateString(target_proj_uuid)],
+        projectUuids=[target_proj_uuid],
         withoutData=True,
     )
     builder.Finish(query)

examples/python/gRPC/pointcloud/gRPC_fb_queryPointCloud.py

@@ -101,14 +101,10 @@ def query_pcs_raw(
     )
 
     # filter for specific data
-    data_uuids = [
-        fb_builder.CreateString("3e12e18d-2d53-40bc-a8af-c5cca3c3b248")
-    ]
-    instance_uuids = [
-        fb_builder.CreateString("3e12e18d-2d53-40bc-a8af-c5cca3c3b248")
-    ]
+    data_uuids = ["3e12e18d-2d53-40bc-a8af-c5cca3c3b248"]
+    instance_uuids = ["3e12e18d-2d53-40bc-a8af-c5cca3c3b248"]
 
-    project_uuids = [fb_builder.CreateString(target_proj_uuid)]
+    project_uuids = [target_proj_uuid]
 
     # set the query parameters according to your needs
     query = createQuery(

examples/python/gRPC/pointcloud/gRPC_fb_queryPointCloudAndVisualize.py

@@ -139,14 +139,10 @@ def query_pcs(
     )
 
     # filter for specific data
-    data_uuids = [
-        fb_builder.CreateString("3e12e18d-2d53-40bc-a8af-c5cca3c3b248")
-    ]
-    instance_uuids = [
-        fb_builder.CreateString("3e12e18d-2d53-40bc-a8af-c5cca3c3b248")
-    ]
+    data_uuids = ["3e12e18d-2d53-40bc-a8af-c5cca3c3b248"]
+    instance_uuids = ["3e12e18d-2d53-40bc-a8af-c5cca3c3b248"]
 
-    project_uuids = [fb_builder.CreateString(target_proj_uuid)]
+    project_uuids = [target_proj_uuid]
 
     # set the query parameters according to your needs
     query = createQuery(

examples/python/gRPC/simulated-data/querySimulatedData.py

@@ -41,7 +41,7 @@
 timeMax = createTimeStamp(builder, 1654688940, 0)
 timeInterval = createTimeInterval(builder, timeMin, timeMax)
 
-projectUuids = [builder.CreateString(projectuuid)]
+projectUuids = [projectuuid]
 labels = createLabelsWithCategoryVector(
     builder, ["ground_truth"], [["Gänseblümchen"]]
 )