added docs; corrected datatype

.isort.cfg

@@ -1,3 +1,3 @@
 [settings]
-known_third_party = cv2,flatbuffers,google,grpc,imageio,matplotlib,numpy,quaternion,rospy,seerep,sensor_msgs,setuptools,std_msgs,tf,yaml
+known_third_party = cv2,flatbuffers,google,grpc,imageio,matplotlib,numpy,quaternion,rospy,seerep,sensor_msgs,setuptools,std_msgs,tf,util,util_fb,yaml
 profile =black

seerep_srv/seerep_core/include/seerep_core/core.h

@@ -188,6 +188,9 @@ class Core
   /**
    * @brief Get the all labels saved in a project
    *
+   * @param uuid of project
+   * @param datatypes A vector of datatypes
+   * @param category the category across which all labels have to be aggregated
    * @return std::vector<std::string> uuid of project
    */
   std::unordered_set<std::string> getAllLabels(boost::uuids::uuid uuid,

seerep_srv/seerep_core/include/seerep_core/core_dataset.h

@@ -146,6 +146,8 @@ class CoreDataset
   /**
    * @brief Get the all labels saved in a project
    *
+   * @param datatypes datatypes across which this is determined
+   * @param category the category across which all labels have to be aggregated
    * @return std::vector<std::string> vector of labels
    */
   std::unordered_set<std::string> getAllLabels(std::vector<seerep_core_msgs::Datatype> datatypes, std::string category);

seerep_srv/seerep_core/include/seerep_core/core_project.h

@@ -203,6 +203,8 @@ class CoreProject
   /**
    * @brief Get the all labels saved in a project
    *
+   * @param datatypes datatypes across which this is determined
+   * @param category the category across which all labels have to be aggregated
    * @return std::vector<std::string> vector of labels
    */
   std::unordered_set<std::string> getAllLabels(std::vector<seerep_core_msgs::Datatype> datatypes, std::string category);

seerep_srv/seerep_core/src/core_dataset.cpp

@@ -549,9 +549,9 @@ seerep_core_msgs::AABB CoreDataset::getSpatialBounds(std::vector<seerep_core_msg
   seerep_core_msgs::AABB overallbb;
 
   // set the minimum to minimum possible for the datatype
-  overallbb.max_corner().set<0>(std::numeric_limits<int64_t>::min());
-  overallbb.max_corner().set<1>(std::numeric_limits<int64_t>::min());
-  overallbb.max_corner().set<2>(std::numeric_limits<int64_t>::min());
+  overallbb.max_corner().set<0>(std::numeric_limits<float>::min());
+  overallbb.max_corner().set<1>(std::numeric_limits<float>::min());
+  overallbb.max_corner().set<2>(std::numeric_limits<float>::min());
 
   // set the maximum for the maximum possible for the datatype
   overallbb.min_corner().set<0>(std::numeric_limits<float>::max());

seerep_srv/seerep_core_fb/include/seerep_core_fb/core_fb_camera_intrinsics.h

@@ -52,13 +52,6 @@ class CoreFbCameraIntrinsics
    */
   boost::uuids::uuid setData(const seerep::fb::CameraIntrinsics& cameraintrinsics);
 
-  /**
-   * @brief
-   *
-   * @param dt
-   * @return std::vector<seerep_core_msgs::Datatype>
-   */
-
 private:
   /** @brief a shared pointer to the general core */
   std::shared_ptr<seerep_core::Core> m_seerepCore;

seerep_srv/seerep_core_fb/src/core_fb_conversion.cpp

@@ -318,14 +318,14 @@ flatbuffers::Offset<seerep::fb::Boundingbox> CoreFbConversion::toFb(flatbuffers:
                                                                     seerep_core_msgs::AABB& aabb)
 {
   // center
-  int center_x = (aabb.min_corner().get<0>() + aabb.max_corner().get<0>()) / 2;
-  int center_y = (aabb.min_corner().get<1>() + aabb.max_corner().get<1>()) / 2;
-  int center_z = (aabb.min_corner().get<2>() + aabb.max_corner().get<2>()) / 2;
+  float center_x = (aabb.min_corner().get<0>() + aabb.max_corner().get<0>()) / 2;
+  float center_y = (aabb.min_corner().get<1>() + aabb.max_corner().get<1>()) / 2;
+  float center_z = (aabb.min_corner().get<2>() + aabb.max_corner().get<2>()) / 2;
 
   // spatial extent
-  int se_x = (aabb.max_corner().get<0>() - aabb.min_corner().get<0>());
-  int se_y = (aabb.max_corner().get<1>() - aabb.min_corner().get<1>());
-  int se_z = (aabb.max_corner().get<2>() - aabb.min_corner().get<2>());
+  float se_x = (aabb.max_corner().get<0>() - aabb.min_corner().get<0>());
+  float se_y = (aabb.max_corner().get<1>() - aabb.min_corner().get<1>());
+  float se_z = (aabb.max_corner().get<2>() - aabb.min_corner().get<2>());
 
   seerep::fb::PointBuilder centerPointBuilder(mb);
   centerPointBuilder.add_x(center_x);
@@ -350,14 +350,14 @@ flatbuffers::Offset<seerep::fb::TimeInterval> CoreFbConversion::toFb(flatbuffers
                                                                      seerep_core_msgs::AabbTime& timeinterval)
 {
   // isolate second and nano second bits from min time
-  uint64_t mintime = timeinterval.min_corner().get<0>();
-  uint32_t min_nanos = (uint32_t)mintime;
-  uint32_t min_seconds = (int32_t)(mintime >> 32);
+  int64_t mintime = timeinterval.min_corner().get<0>();
+  int32_t min_nanos = (uint32_t)mintime;
+  int32_t min_seconds = (int32_t)(mintime >> 32);
 
   // isolate second and nano second bits from max time
-  uint64_t maxtime = timeinterval.max_corner().get<0>();
-  uint32_t max_nanos = (uint32_t)maxtime;
-  uint32_t max_seconds = (int32_t)(maxtime >> 32);
+  int64_t maxtime = timeinterval.max_corner().get<0>();
+  int32_t max_nanos = (uint32_t)maxtime;
+  int32_t max_seconds = (int32_t)(maxtime >> 32);
 
   seerep::fb::TimestampBuilder minTimeStampBuilder(mb);
   minTimeStampBuilder.add_seconds(min_seconds);
@@ -649,23 +649,16 @@ std::vector<seerep_core_msgs::Datatype> CoreFbConversion::fromFbDatatypeVector(c
 {
   std::vector<seerep_core_msgs::Datatype> dt_vector;
 
-  if (dt == seerep::fb::Datatype_Image)
+  if (dt == seerep::fb::Datatype_All)
   {
     dt_vector.push_back(seerep_core_msgs::Datatype::Image);
-  }
-  else if (dt == seerep::fb::Datatype_PointCloud)
-  {
     dt_vector.push_back(seerep_core_msgs::Datatype::PointCloud);
-  }
-  else if (dt == seerep::fb::Datatype_Point)
-  {
     dt_vector.push_back(seerep_core_msgs::Datatype::Point);
   }
-  else if (dt == seerep::fb::Datatype_All)
+  else
   {
-    dt_vector.push_back(seerep_core_msgs::Datatype::Image);
-    dt_vector.push_back(seerep_core_msgs::Datatype::PointCloud);
-    dt_vector.push_back(seerep_core_msgs::Datatype::Point);
+    seerep_core_msgs::Datatype dtCore = fromFb(dt);
+    dt_vector.push_back(dtCore);
   }
 
   return dt_vector;

seerep_srv/seerep_core_pb/src/core_pb_conversion.cpp

@@ -427,14 +427,14 @@ void CorePbConversion::toPb(const seerep_core_msgs::AabbTime& timeinterval, seer
   // seerep::pb::TimeInterval ti_pb;
 
   // isolate second and nano second bits from min time
-  uint64_t mintime = timeinterval.min_corner().get<0>();
-  uint32_t min_nanos = (uint32_t)mintime;
-  uint32_t min_seconds = (int32_t)(mintime >> 32);
+  int64_t mintime = timeinterval.min_corner().get<0>();
+  int32_t min_nanos = (uint32_t)mintime;
+  int32_t min_seconds = (int32_t)(mintime >> 32);
 
   // isolate second and nano second bits from max time
-  uint64_t maxtime = timeinterval.max_corner().get<0>();
-  uint32_t max_nanos = (uint32_t)maxtime;
-  uint32_t max_seconds = (int32_t)(maxtime >> 32);
+  int64_t maxtime = timeinterval.max_corner().get<0>();
+  int32_t max_nanos = (uint32_t)maxtime;
+  int32_t max_seconds = (int32_t)(maxtime >> 32);
 
   ti_pb->mutable_time_min()->set_nanos(min_nanos);
   ti_pb->mutable_time_min()->set_seconds(min_seconds);
@@ -446,14 +446,14 @@ void CorePbConversion::toPb(const seerep_core_msgs::AabbTime& timeinterval, seer
 void CorePbConversion::toPb(const seerep_core_msgs::AABB& aabb, seerep::pb::Boundingbox* bb_pb)
 {
   // center
-  int center_x = (aabb.min_corner().get<0>() + aabb.max_corner().get<0>()) / 2;
-  int center_y = (aabb.min_corner().get<1>() + aabb.max_corner().get<1>()) / 2;
-  int center_z = (aabb.min_corner().get<2>() + aabb.max_corner().get<2>()) / 2;
+  float center_x = (aabb.min_corner().get<0>() + aabb.max_corner().get<0>()) / 2;
+  float center_y = (aabb.min_corner().get<1>() + aabb.max_corner().get<1>()) / 2;
+  float center_z = (aabb.min_corner().get<2>() + aabb.max_corner().get<2>()) / 2;
 
   // spatial extent
-  int se_x = (aabb.max_corner().get<0>() - aabb.min_corner().get<0>());
-  int se_y = (aabb.max_corner().get<1>() - aabb.min_corner().get<1>());
-  int se_z = (aabb.max_corner().get<2>() - aabb.min_corner().get<2>());
+  float se_x = (aabb.max_corner().get<0>() - aabb.min_corner().get<0>());
+  float se_y = (aabb.max_corner().get<1>() - aabb.min_corner().get<1>());
+  float se_z = (aabb.max_corner().get<2>() - aabb.min_corner().get<2>());
 
   bb_pb->mutable_center_point()->set_x(center_x);
   bb_pb->mutable_center_point()->set_y(center_y);

seerep_srv/seerep_server/src/fb_meta_operations.cpp

@@ -186,8 +186,7 @@ FbMetaOperations::GetOverallTimeInterval(grpc::ServerContext* context,
   // levels.
   std::vector<seerep_core_msgs::Datatype> dt_vector;
 
-  seerep::fb::Datatype casted_datatype = static_cast<seerep::fb::Datatype>(requestRoot->datatype());
-  dt_vector = seerep_core_fb::CoreFbConversion::fromFbDatatypeVector(casted_datatype);
+  dt_vector = seerep_core_fb::CoreFbConversion::fromFbDatatypeVector(requestRoot->datatype());
 
   try
   {
@@ -245,11 +244,8 @@ FbMetaOperations::GetOverallBoundingBox(grpc::ServerContext* context,
   // levels.
   std::vector<seerep_core_msgs::Datatype> dt_vector;
 
-  // flatbuffers::IsFieldPresent(requestRoot, seerep::fb::UuidDatatypePair::datatype);
-  // requestRoot->CheckField(seerep::fb::UuidDatatypePair::datatype);
-
   seerep::fb::Datatype casted_datatype = static_cast<seerep::fb::Datatype>(requestRoot->datatype());
-  dt_vector = seerep_core_fb::CoreFbConversion::fromFbDatatypeVector(casted_datatype);
+  dt_vector = seerep_core_fb::CoreFbConversion::fromFbDatatypeVector(requestRoot->datatype());
 
   try
   {
@@ -307,8 +303,7 @@ grpc::Status FbMetaOperations::GetAllCategories(grpc::ServerContext* context,
   // levels.
   std::vector<seerep_core_msgs::Datatype> dt_vector;
 
-  seerep::fb::Datatype casted_datatype = static_cast<seerep::fb::Datatype>(requestRoot->datatype());
-  dt_vector = seerep_core_fb::CoreFbConversion::fromFbDatatypeVector(casted_datatype);
+  dt_vector = seerep_core_fb::CoreFbConversion::fromFbDatatypeVector(requestRoot->datatype());
 
   try
   {
@@ -378,8 +373,7 @@ FbMetaOperations::GetAllLabels(grpc::ServerContext* context,
   // levels.
   std::vector<seerep_core_msgs::Datatype> dt_vector;
 
-  seerep::fb::Datatype casted_datatype = static_cast<seerep::fb::Datatype>(requestRoot->UuidAndDatatype()->datatype());
-  dt_vector = seerep_core_fb::CoreFbConversion::fromFbDatatypeVector(casted_datatype);
+  dt_vector = seerep_core_fb::CoreFbConversion::fromFbDatatypeVector(requestRoot->UuidAndDatatype()->datatype());
 
   try
   {