rename coordinateSystem to crsString

DFKI-NI · Sep 2, 2024 · 1781263 · 1781263
1 parent d94a431
commit 1781263
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Showing 22 changed files with 125 additions and 84 deletions.
diff --git a/examples/python/gRPC/images/gRPC_fb_sendImages.py b/examples/python/gRPC/images/gRPC_fb_sendImages.py
@@ -156,7 +156,7 @@ def create_project(grpc_channel: Channel, project_name: str) -> str:
     """
     fbb = flatbuffers.Builder()
     return createProject(
-        grpc_channel, fbb, project_name, "map", "WGS84", 0.0, 85.0, 23.0
+        grpc_channel, fbb, project_name, "map", "EPSG:4326", 0.0, 85.0, 23.0
     )
 
 

diff --git a/examples/python/gRPC/images/gRPC_pb_queryImage.py b/examples/python/gRPC/images/gRPC_pb_queryImage.py
@@ -48,6 +48,7 @@ def query_images(
     theQuery.polygon.height = 800
 
     theQuery.inMapFrame = True
+    theQuery.crsString = "EPSG:4326"
 
     scale = 150
     vertices = [

diff --git a/examples/python/gRPC/util/fb_helper.py b/examples/python/gRPC/util/fb_helper.py
@@ -138,8 +138,8 @@ def getProjectInfo(
                     {project.GeodeticPosition().Latitude()},\
                     long: {project.GeodeticPosition().Longitude()},\
                     alt: {project.GeodeticPosition().Altitude()}",
-                "coordinate_system": project.GeodeticPosition()
-                .CoordinateSystem()
+                "crs_string": project.GeodeticPosition()
+                .CrsString()
                 .decode("utf-8"),
             }
 
@@ -151,7 +151,7 @@ def createProjectRaw(
     builder: Builder,
     name: str,
     frameId: str,
-    coordSys: str,
+    crsStr: str,
     altitude: float,
     latitude: float,
     longitude: float,
@@ -164,15 +164,14 @@ def createProjectRaw(
         builder: A flatbuffers Builder
         name: The name of the project
         frameId: The coordinate frame of the project
-        coordSys: The coordinate system type as a
-        [proj ellipsoid](https://proj.org/en/stable/usage/ellipsoids.html#built-in-ellipsoid-definitions)\
-            code
+        crsStr: The coordinate system type as a
+            [crs string](https://spatialreference.org/)
         altitude: The altitude of the projects position on the globe
-                  (according to coordSys)
+                  (according to crsStr)
         latitude: The latitude of the projects position on the globe
-                  (according to coordSys)
+                  (according to crsStr)
         longitude: The longitude of the project positition on the globe
-                  (according to coordSys)
+                  (according to crsStr)
 
     Returns:
         A flatbuffers object of type ProjectInfo representing the project
@@ -183,10 +182,10 @@ def createProjectRaw(
     nameBuf = builder.CreateString(name)
 
     # create a geodetic coordinates object
-    coordSysBuf = builder.CreateString(coordSys)
+    crsBuf = builder.CreateString(crsStr)
 
     GeodeticCoordinates.Start(builder)
-    GeodeticCoordinates.AddCoordinateSystem(builder, coordSysBuf)
+    GeodeticCoordinates.AddCrsString(builder, crsBuf)
     GeodeticCoordinates.AddAltitude(builder, altitude)
     GeodeticCoordinates.AddLatitude(builder, latitude)
     GeodeticCoordinates.AddLongitude(builder, longitude)
@@ -210,7 +209,7 @@ def createProject(
     builder: Builder,
     name: str,
     frameId: str,
-    coordSys: str,
+    crsStr: str,
     altitude: float,
     latitude: float,
     longitude: float,
@@ -223,14 +222,14 @@ def createProject(
         builder: A flatbuffers Builder
         name: The name of the project
         frameId: The coordinate frame of the project
-        coordSys: The coordinate system type as a [proj ellipsoid](https://proj.org/en/stable/usage/ellipsoids.html#built-in-ellipsoid-definitions)\
-            code
+        crsStr: The coordinate system type as a
+            [crs string](https://spatialreference.org/)
         altitude: The altitude of the projects position on the globe
-                  (according to coordSys)
+                  (according to crsStr)
         latitude: The latitude of the projects position on the globe
-                  (according to coordSys)
+                  (according to crsStr)
         longitude: The longitude of the project positition on the globe
-                  (according to coordSys)
+                  (according to crsStr)
 
     Returns:
         The UUID of the created project
@@ -242,7 +241,7 @@ def createProject(
                 builder,
                 name,
                 frameId,
-                coordSys,
+                crsStr,
                 altitude,
                 latitude,
                 longitude,
@@ -259,7 +258,7 @@ def getOrCreateProject(
     name: str,
     create: bool = True,
     mapFrameId: str = "map",
-    coordSys: str = "",
+    crsStr: str = "",
     altitude: float = 0.0,
     latitude: float = 0.0,
     longitude: float = 0.0,
@@ -273,14 +272,14 @@ def getOrCreateProject(
         name: The name of the project
         create: Whether to create the project if it does not exist
         mapFrameId: The coordinate frame of the project
-        coordSys: The coordinate system type as a [proj ellipsoid](https://proj.org/en/stable/usage/ellipsoids.html#built-in-ellipsoid-definitions)\
-            code
+        crsStr: The coordinate system type as a
+            [crs string](https://spatialreference.org/)
         altitude: The altitude of the projects position on the globe
-                  (according to coordSys)
+                  (according to )
         latitude: The latitude of the project position on the globe
-                  (according to coordSys)
+                  (according to crsStr)
         longitude: The longitude of the project position on the globe
-                  (according to coordSys)
+                  (according to crsStr)
 
     Returns:
         The UUID of the project
@@ -294,7 +293,7 @@ def getOrCreateProject(
                 builder,
                 name,
                 mapFrameId,
-                coordSys,
+                crsStr,
                 altitude,
                 latitude,
                 longitude,

diff --git a/seerep_hdf5/seerep_hdf5_core/include/seerep_hdf5_core/hdf5_core_general.h b/seerep_hdf5/seerep_hdf5_core/include/seerep_hdf5_core/hdf5_core_general.h
@@ -325,8 +325,8 @@ class Hdf5CoreGeneral
   inline static const std::string PROJECTFRAMEID = "projectframeid";
   inline static const std::string VERSION = "version";
 
-  inline static const std::string GEODETICLOCATION_COORDINATESYSTEM =
-      "geoloc_coordinatesystem";
+  inline static const std::string GEODETICLOCATION_CRSSTRING =
+      "geoloc_crsstring";
   inline static const std::string GEODETICLOCATION_ELLIPSOID =
       "geoloc_ellipsoid";
   inline static const std::string GEODETICLOCATION_ALTITUDE = "geoloc_altitude";

diff --git a/seerep_hdf5/seerep_hdf5_core/src/hdf5_core_general.cpp b/seerep_hdf5/seerep_hdf5_core/src/hdf5_core_general.cpp
@@ -348,8 +348,8 @@ Hdf5CoreGeneral::getHdf5Group(const std::string& group_path, bool create)
 void Hdf5CoreGeneral::writeGeodeticLocation(
     const seerep_core_msgs::GeodeticCoordinates& geo_coordinates)
 {
-  writeAttributeToHdf5<std::string>(*m_file, GEODETICLOCATION_COORDINATESYSTEM,
-                                    geo_coordinates.coordinateSystem);
+  writeAttributeToHdf5<std::string>(*m_file, GEODETICLOCATION_CRSSTRING,
+                                    geo_coordinates.crsString);
   writeAttributeToHdf5<double>(*m_file, GEODETICLOCATION_ALTITUDE,
                                geo_coordinates.altitude);
   writeAttributeToHdf5<double>(*m_file, GEODETICLOCATION_LATITUDE,
@@ -365,8 +365,8 @@ Hdf5CoreGeneral::readGeodeticLocation()
   seerep_core_msgs::GeodeticCoordinates geocoords;
   try
   {
-    geocoords.coordinateSystem = readAttributeFromHdf5<std::string>(
-        *m_file, GEODETICLOCATION_COORDINATESYSTEM, m_file->getName());
+    geocoords.crsString = readAttributeFromHdf5<std::string>(
+        *m_file, GEODETICLOCATION_CRSSTRING, m_file->getName());
     geocoords.altitude = readAttributeFromHdf5<double>(
         *m_file, GEODETICLOCATION_ALTITUDE, m_file->getName());
     geocoords.latitude = readAttributeFromHdf5<double>(

diff --git a/seerep_hdf5/seerep_hdf5_py/include/seerep_hdf5_py/hdf5_py_general.h b/seerep_hdf5/seerep_hdf5_py/include/seerep_hdf5_py/hdf5_py_general.h
@@ -41,7 +41,7 @@ class Hdf5FileWrapper
   void createProject(const std::string& projectName,
                      const std::string& rootFrameId);
 
-  void setProjectGeolocation(const std::string& coordinateSystem,
+  void setProjectGeolocation(const std::string& crsString,
                              const std::string& ellipsoid, double latitude,
                              double longitude, double altitude);
 
@@ -129,7 +129,7 @@ class Hdf5PyGeneral : public virtual seerep_hdf5_core::Hdf5CoreGeneral
   //  Project
   // #########
 
-  void setProjectGeolocation(const std::string& coordinateSystem,
+  void setProjectGeolocation(const std::string& crsString,
                              const std::string& ellipsoid, double latitude,
                              double longitude, double altitude);
 

diff --git a/seerep_hdf5/seerep_hdf5_py/src/hdf5_py_general.cpp b/seerep_hdf5/seerep_hdf5_py/src/hdf5_py_general.cpp
@@ -13,31 +13,29 @@ void Hdf5FileWrapper::createProject(const std::string& projectName,
   io.writeProjectFrameId(rootFrameId);
 }
 
-void Hdf5FileWrapper::setProjectGeolocation(const std::string& coordinateSystem,
+void Hdf5FileWrapper::setProjectGeolocation(const std::string& crsString,
                                             const std::string& ellipsoid,
                                             double latitude, double longitude,
                                             double altitude)
 {
   Hdf5PyGeneral io(*this);
 
-  io.setProjectGeolocation(coordinateSystem, ellipsoid, latitude, longitude,
-                           altitude);
+  io.setProjectGeolocation(crsString, ellipsoid, latitude, longitude, altitude);
 }
 
 Hdf5PyGeneral::Hdf5PyGeneral(Hdf5FileWrapper& hdf5File)
   : Hdf5CoreGeneral(hdf5File.getFile(), hdf5File.getMutex())
 {
 }
 
-void Hdf5PyGeneral::setProjectGeolocation(const std::string& coordinateSystem,
+void Hdf5PyGeneral::setProjectGeolocation(const std::string& crsString,
                                           const std::string& ellipsoid,
                                           double latitude, double longitude,
                                           double altitude)
 {
   const std::scoped_lock lock(*m_write_mtx);
 
-  writeAttributeToHdf5(*m_file, GEODETICLOCATION_COORDINATESYSTEM,
-                       coordinateSystem);
+  writeAttributeToHdf5(*m_file, GEODETICLOCATION_CRSSTRING, crsString);
   writeAttributeToHdf5(*m_file, GEODETICLOCATION_ELLIPSOID, ellipsoid);
   writeAttributeToHdf5(*m_file, GEODETICLOCATION_LATITUDE, latitude);
   writeAttributeToHdf5(*m_file, GEODETICLOCATION_LONGITUDE, longitude);

diff --git a/seerep_msgs/core/geodetic_coordinates.h b/seerep_msgs/core/geodetic_coordinates.h
@@ -7,7 +7,7 @@ namespace seerep_core_msgs
 {
 struct GeodeticCoordinates
 {
-  std::string coordinateSystem;
+  std::string crsString;
 
   double altitude;
   double latitude;

diff --git a/seerep_msgs/core/query.h b/seerep_msgs/core/query.h
@@ -26,7 +26,7 @@ struct Query
   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
+      crsString;  // the coordinate reference 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

diff --git a/seerep_msgs/fbs/geodeticCoordinates.fbs b/seerep_msgs/fbs/geodeticCoordinates.fbs
@@ -3,7 +3,7 @@ namespace seerep.fb;
 // source: https://en.wikipedia.org/wiki/Geodetic_coordinates
 
 table GeodeticCoordinates {
-    coordinateSystem:string; // e.g EPSG::4326
+    crsString:string; // e.g EPSG::4326
 
     longitude:double; // longitude measured in radians
     latitude:double; // latitude measured in radians

diff --git a/seerep_msgs/fbs/query.fbs b/seerep_msgs/fbs/query.fbs
@@ -9,7 +9,7 @@ table Query {
   polygon:Polygon2D;
   polygonSensorPosition:Polygon2D;
   fullyEncapsulated:bool;
-  coordinateSystem:string;
+  crsString:string;
   inMapFrame:bool;
   timeinterval:TimeInterval;
   label:[LabelCategory];

diff --git a/seerep_msgs/protos/geodetic_coordinates.proto b/seerep_msgs/protos/geodetic_coordinates.proto
@@ -4,7 +4,7 @@ package seerep;
 
 message GeodeticCoordinates
 {
-  string coordinateSystem = 1;
+  string crsString = 1;
 
   double altitude = 2;
   double latitude = 3;

diff --git a/seerep_msgs/protos/query.proto b/seerep_msgs/protos/query.proto
@@ -20,5 +20,5 @@ message Query
   bool withoutdata = 10;
   uint32 maxNumData = 11;
   bool sortByTime = 12;
-  string coordinateSystem = 13;
+  string crsString = 13;
 }
diff --git a/seerep_ros/seerep_ros_comm/src/point_dumper.cpp b/seerep_ros/seerep_ros_comm/src/point_dumper.cpp
@@ -53,7 +53,7 @@ void JsonPointDumper::readAndDumpJsonUos(const std::string& jsonFilePath)
   geoCoordinates.latitude = 0.0;
   geoCoordinates.longitude = 0.0;
   geoCoordinates.altitude = 0.0;
-  geoCoordinates.coordinateSystem = "EPSG:32632";
+  geoCoordinates.crsString = "EPSG:32632";
   ioCoreGeneral->writeGeodeticLocation(geoCoordinates);
 
   std::ifstream file(jsonFilePath, std::ifstream::binary);
@@ -122,7 +122,7 @@ void JsonPointDumper::readAndDumpJsonFr(const std::string& jsonFilePath,
   geoCoordinates.longitude =
       completeJsonData["anchor_lla"]["longitude"].asDouble();
   geoCoordinates.altitude = 0.0;
-  geoCoordinates.coordinateSystem = "EPSG:4326";
+  geoCoordinates.crsString = "EPSG:4326";
   ioCoreGeneral->writeGeodeticLocation(geoCoordinates);
 
   std::unordered_map<int64_t, std::string> classesMapping =

diff --git a/seerep_ros/seerep_ros_comm/src/rosbag_dumper.cpp b/seerep_ros/seerep_ros_comm/src/rosbag_dumper.cpp
@@ -89,7 +89,7 @@ void RosbagDumper::getGeoAnchor()
       geoCoordinates.latitude = msg->position.latitude;
       geoCoordinates.longitude = msg->position.longitude;
       geoCoordinates.altitude = msg->position.altitude;
-      geoCoordinates.coordinateSystem = "EPSG:4326";
+      geoCoordinates.crsString = "EPSG:4326";
       ioCoreGeneral->writeGeodeticLocation(geoCoordinates);
     }
   }