protobuf implementation

examples/python/ROS/ROS_publishSimplePointcloud.py

@@ -7,7 +7,6 @@
 
 import rospy
 from sensor_msgs import point_cloud2
-
 # PointCloud2 color cube
 # https://answers.ros.org/question/289576/understanding-the-bytes-in-a-pcl2-message/
 from sensor_msgs.msg import PointCloud2, PointField

examples/python/gRPC/images/gRPC_pb_sendLabeledImage.py

@@ -16,9 +16,9 @@
 from seerep.pb import image_pb2 as image
 from seerep.pb import image_service_pb2_grpc as imageService
 from seerep.pb import label_with_instance_pb2 as labelWithInstance
-from seerep.pb import (
-    labels_with_instance_with_category_pb2 as labels_with_instance_with_category,
-)
+from seerep.pb import \
+    labels_with_instance_with_category_pb2 as \
+    labels_with_instance_with_category
 from seerep.pb import meta_operations_pb2_grpc as metaOperations
 from seerep.pb import projectCreation_pb2 as projectCreation
 from seerep.pb import tf_service_pb2_grpc as tfService

examples/python/gRPC/images/gRPC_pb_sendLabeledImageGrid.py

@@ -5,15 +5,15 @@
 
 import numpy as np
 from seerep.pb import boundingbox2d_labeled_pb2 as boundingbox2d_labeled
-from seerep.pb import (
-    boundingbox2d_labeled_with_category_pb2 as boundingbox2d_labeled_with_category,
-)
+from seerep.pb import \
+    boundingbox2d_labeled_with_category_pb2 as \
+    boundingbox2d_labeled_with_category
 from seerep.pb import image_pb2 as image
 from seerep.pb import image_service_pb2_grpc as imageService
 from seerep.pb import label_with_instance_pb2 as labelWithInstance
-from seerep.pb import (
-    labels_with_instance_with_category_pb2 as labels_with_instance_with_category,
-)
+from seerep.pb import \
+    labels_with_instance_with_category_pb2 as \
+    labels_with_instance_with_category
 from seerep.pb import meta_operations_pb2_grpc as metaOperations
 from seerep.pb import projectCreation_pb2 as projectCreation
 from seerep.pb import tf_service_pb2_grpc as tfService

examples/python/gRPC/meta/gRPC_fb_getOverallBoundingBox.py

@@ -4,7 +4,7 @@
 import sys
 
 import flatbuffers
-from fb import Boundingbox, Datatype, TimeInterval
+from fb import Boundingbox, Datatype
 from fb import meta_operations_grpc_fb as metaOperations
 
 # importing util functions. Assuming that these files are in the parent dir
@@ -56,10 +56,3 @@
     + " , "
     + str(response.PointMax().Z())
 )
-
-responseBuf = stub.GetOverallTimeInterval(bytes(buf))
-response = TimeInterval.TimeInterval.GetRootAs(responseBuf)
-
-print("Min Time (Seconds, Nanoseconds): " + str(response.TimeMin().Seconds()) + " ," + str(response.TimeMin().Nanos()))
-
-print("Max Time (Seconds, Nanoseconds): " + str(response.TimeMax().Seconds()) + " ," + str(response.TimeMax().Nanos()))

examples/python/gRPC/meta/gRPC_fb_getOverallTime.py

@@ -4,7 +4,7 @@
 import sys
 
 import flatbuffers
-from fb import TimeInterval
+from fb import Datatype, TimeInterval
 from fb import meta_operations_grpc_fb as metaOperations
 
 # importing util functions. Assuming that these files are in the parent dir
@@ -22,7 +22,7 @@
 
 
 # 1. Get all projects from the server
-projectuuid = util_fb.getProject(builder, channel, 'geodeticProject')
+projectuuid = util_fb.getProject(builder, channel, 'LabeledImagesInGrid')
 
 # 2. Check if the defined project exist; if not exit
 if not projectuuid:
@@ -32,8 +32,9 @@
 # 3. Get gRPC service object
 stub = metaOperations.MetaOperationsStub(channel)
 
-projectInfo = util_fb.createProjectInfo(builder, "name", projectuuid)
-builder.Finish(projectInfo)
+UuidDatatypePair = util_fb.createUuidDatatypePair(builder, projectuuid, Datatype.Datatype().Image)
+
+builder.Finish(UuidDatatypePair)
 buf = builder.Output()
 
 responseBuf = stub.GetOverallTimeInterval(bytes(buf))

examples/python/gRPC/meta/gRPC_pb_getOverallBound.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+
+import datatype_pb2 as datatype
+import meta_operations_pb2_grpc as metaOperations
+import uuid_datatype_pair_pb2 as uuid_datatype_pair
+from google.protobuf import empty_pb2
+
+script_dir = os.path.dirname(__file__)
+util_dir = os.path.join(script_dir, '..')
+sys.path.append(util_dir)
+import util
+
+channel = util.get_gRPC_channel()
+
+stub = metaOperations.MetaOperationsStub(channel)
+
+response = stub.GetProjects(empty_pb2.Empty())
+
+# 3. Check if we have an existing test project, if not, we stop here
+projectuuid = ""
+for project in response.projects:
+    print(project.name + " " + project.uuid + "\n")
+    if project.name == "LabeledImagesInGrid":
+        projectuuid = project.uuid
+
+uuiddt = uuid_datatype_pair.UuidDatatypePair()
+uuiddt.projectuuid = projectuuid
+uuiddt.datatype = datatype.image
+
+response = stub.GetOverallTimeInterval(uuiddt)
+
+print(response)

examples/python/gRPC/meta/gRPC_pb_getProjects.py

@@ -10,7 +10,6 @@
 
 response = stub.GetProjects(empty_pb2.Empty())
 
-
 print("The server has the following projects (name/uuid):")
 for projectinfo in response.projects:
     print("\t" + projectinfo.name + " " + projectinfo.uuid)

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

@@ -5,23 +5,11 @@
 import numpy as np
 import quaternion
 import yaml
-from seerep.fb import (
-    Boundingbox2D,
-    BoundingBox2DLabeled,
-    BoundingBox2DLabeledWithCategory,
-    Header,
-    Image,
-    LabelsWithCategory,
-    LabelWithInstance,
-    Point,
-    Point2D,
-    PointStamped,
-    Quaternion,
-    Timestamp,
-    Transform,
-    TransformStamped,
-    Vector3,
-)
+from seerep.fb import (Boundingbox2D, BoundingBox2DLabeled,
+                       BoundingBox2DLabeledWithCategory, Header, Image,
+                       LabelsWithCategory, LabelWithInstance, Point, Point2D,
+                       PointStamped, Quaternion, Timestamp, Transform,
+                       TransformStamped, Vector3)
 from seerep.fb import image_service_grpc_fb as imageService
 from seerep.fb import point_service_grpc_fb as pointService
 from seerep.fb import tf_service_grpc_fb as tfService

examples/python/gRPC/util/fb_helper.py

@@ -528,7 +528,7 @@ def createUuidDatatypePair(builder, uuid, datatype):
 
     UuidDatatypePair.Start(builder)
     UuidDatatypePair.AddProjectuuid(builder, uuidStr)
-    UuidDatatypePair.AddDatatypes(builder, datatype)
+    UuidDatatypePair.AddDatatype(builder, datatype)
     return UuidDatatypePair.End(builder)
 
 

seerep-msgs/fbs/uuid_datatype_pair.fbs

@@ -5,5 +5,5 @@ namespace seerep.fb;
 
 table UuidDatatypePair {
     projectuuid:string;
-    datatypes:Datatype;
+    datatype:Datatype;
 }

seerep-msgs/protos/datatype.proto

@@ -0,0 +1,11 @@
+syntax = "proto3";
+
+package seerep;
+
+enum datatype
+{
+  unknown = 0;
+  image = 1;
+  pointcloud = 2;
+  point = 3;
+}

seerep-msgs/protos/uuid_datatype_pair.proto

@@ -0,0 +1,11 @@
+syntax = "proto3";
+
+package seerep;
+
+import "datatype.proto";
+
+message UuidDatatypePair
+{
+  string projectuuid = 1;
+  datatype datatype = 2;
+}

seerep_com/fbs/meta_operations.fbs

@@ -4,7 +4,6 @@ include "project_infos.fbs";
 include "projectCreation.fbs";
 include "empty.fbs";
 include "boundingbox.fbs";
-include "datatype.fbs";
 include "time_interval.fbs";
 include "uuid_datatype_pair.fbs";
 

seerep_com/protos/meta_operations.proto

@@ -7,9 +7,14 @@ import "google/protobuf/empty.proto";
 import "project_info.proto";
 import "project_infos.proto";
 import "projectCreation.proto";
+import "uuid_datatype_pair.proto";
+import "time_interval.proto";
+import "boundingbox.proto";
 
 service MetaOperations
 {
   rpc CreateProject(ProjectCreation) returns (ProjectInfo);
   rpc GetProjects(google.protobuf.Empty) returns (ProjectInfos);
+  rpc GetOverallTimeInterval(UuidDatatypePair) returns (TimeInterval);
+  rpc GetOverallBoundingBox(UuidDatatypePair) returns (Boundingbox);
 }

seerep_msgs/CMakeLists.txt

@@ -25,6 +25,7 @@ set(MY_PROTO_FILES
     protos/boundingbox2d.proto
     protos/camera_intrinsics.proto
     protos/camera_intrinsics_query.proto
+    protos/datatype.proto
     protos/frame_infos.proto
     protos/frame_query.proto
     protos/geodetic_coordinates.proto
@@ -60,6 +61,7 @@ set(MY_PROTO_FILES
     protos/twist_with_covariance_stamped.proto
     protos/twist_with_covariance.proto
     protos/twist.proto
+    protos/uuid_datatype_pair.proto
     protos/vector3_stamped.proto
     protos/vector3.proto
 )

seerep_srv/seerep_core/include/seerep_core/core.h

@@ -158,8 +158,21 @@ class Core
    */
   void deleteProject(boost::uuids::uuid uuid);
 
+  /**
+   * @brief Get the minimum and maximum time interval for a dataset
+   * @param uuid UUID of a dataset
+   * @param datatypes A vector of datatypes for which the time bound has to be computed
+   * @return seerep_core_msgs::AabbTime
+   */
   seerep_core_msgs::AabbTime getOverallTimeInterval(boost::uuids::uuid uuid,
                                                     std::vector<seerep_core_msgs::Datatype> datatypes);
+
+  /**
+   * @brief Get the minimum and maximum spatial bound for a dataset
+   * @param uuid UUID of a dataset
+   * @param datatypes A vector of datatypes for which the spatial bound has to be computed
+   * @return seerep_core_msgs::AABB
+   */
   seerep_core_msgs::AABB getOverallBound(boost::uuids::uuid uuid, std::vector<seerep_core_msgs::Datatype> datatypes);
 
 private:

seerep_srv/seerep_core/include/seerep_core/core_dataset.h

@@ -120,11 +120,17 @@ class CoreDataset
                  const boost::uuids::uuid& msgUuid);
 
   /**
-   * @brief Get the Time Bounds object
-   *
-   * @return seerep_core_msgs::AABB
+   * @brief Get the minimum and maximum time interval for a dataset
+   * @param datatypes A vector of datatypes for which the time bound has to be computed
+   * @return seerep_core_msgs::AabbTime
    */
   seerep_core_msgs::AabbTime getTimeBounds(std::vector<seerep_core_msgs::Datatype> datatypes);
+
+  /**
+   * @brief Get the minimum and maximum spatial bound for a dataset
+   * @param datatypes A vector of datatypes for which the spatial bound has to be computed
+   * @return seerep_core_msgs::AABB
+   */
   seerep_core_msgs::AABB getSpatialBounds(std::vector<seerep_core_msgs::Datatype> datatypes);
 
 private:

seerep_srv/seerep_server/include/seerep_server/pb_meta_operations.h

@@ -22,6 +22,10 @@ class PbMetaOperations final : public seerep::pb::MetaOperations::Service
                              seerep::pb::ProjectInfo* response);
   grpc::Status GetProjects(grpc::ServerContext* context, const google::protobuf::Empty* request,
                            seerep::pb::ProjectInfos* response);
+  grpc::Status GetOverallTimeInterval(grpc::ServerContext* context, const seerep::UuidDatatypePair* request,
+                                      seerep::TimeInterval* response);
+  grpc::Status GetOverallBoundingBox(grpc::ServerContext* context, const seerep::UuidDatatypePair* request,
+                                     seerep::Boundingbox* response);
 
 private:
   std::shared_ptr<seerep_core::Core> seerepCore;