add test transform from epsg:32632 to map

examples/python/gRPC/images/gRPC_fb_queryImages.py

@@ -13,51 +13,14 @@
 from seerep.util.fb_helper import (
     create_label,
     create_label_category,
-    createPoint2d,
-    createPolygon2D,
     createQuery,
+    createRectangularPolygon2D,
     createTimeInterval,
     createTimeStamp,
     getOrCreateProject,
 )
 
 
-def create_polygon_rect(
-    builder: flatbuffers.Builder,
-    x: float,
-    y: float,
-    extent_x: float,
-    extent_y: float,
-    z: float,
-    height: float,
-) -> int:
-    """
-    Creates a rectangular shaped polygon.
-
-    Args:
-        builder (Builder): The flatbuffers builder.
-        x (float): The left bottom origin x coordinate.
-        y (float): The left bottom origin y coordinate.
-        extent_x (float): The extend of the rectangle in x direction.
-        extent_y (float): The extend of the rectangle in y direction.
-        z (float): The z-coordinate to start the polygon off.
-        height (float): The extent to which to expand the valid 3D region of the
-          polygon starting from z.
-
-    Returns: The created polygon2D type
-    """
-    polygon_vertices = []
-    (polygon_vertices.append(createPoint2d(builder, x, y)),)
-    (polygon_vertices.append(createPoint2d(builder, x + extent_x, y)),)
-    (
-        polygon_vertices.append(
-            createPoint2d(builder, x + extent_x, y + extent_y)
-        ),
-    )
-    polygon_vertices.append(createPoint2d(builder, x, y + extent_y))
-    return createPolygon2D(builder, height, z, polygon_vertices)
-
-
 def query_images_raw(
     fbb: flatbuffers.Builder,
     grpc_channel: Channel,
@@ -119,7 +82,7 @@ def query_example():
     grpc_channel = get_gRPC_channel()
     project_uuid = getOrCreateProject(fbb, grpc_channel, "testproject")
 
-    polygon_2d = create_polygon_rect(
+    polygon_2d = createRectangularPolygon2D(
         fbb,
         x=-100,
         extent_x=200,
@@ -185,7 +148,7 @@ def query_geodetic_example():
     grpc_channel = get_gRPC_channel()
     project_uuid = getOrCreateProject(fbb, grpc_channel, "geodeticProject")
 
-    polygon_epsg3857 = create_polygon_rect(
+    polygon_epsg3857 = createRectangularPolygon2D(
         fbb,
         x=921689.630348,
         y=6865153.476919,

examples/python/gRPC/util/fb_helper.py

@@ -584,6 +584,42 @@ def createPolygon2D(
     return Polygon2D.End(builder)
 
 
+def createRectangularPolygon2D(
+    builder: Builder,
+    x: float,
+    y: float,
+    extent_x: float,
+    extent_y: float,
+    z: float,
+    height: float,
+) -> int:
+    """
+    Creates a rectangular shaped polygon.
+
+    Args:
+        builder (Builder): The flatbuffers builder.
+        x (float): The left bottom origin x coordinate.
+        y (float): The left bottom origin y coordinate.
+        extent_x (float): The extend of the rectangle in x direction.
+        extent_y (float): The extend of the rectangle in y direction.
+        z (float): The z-coordinate to start the polygon off.
+        height (float): The extent to which to expand the valid 3D region of the
+          polygon starting from z.
+
+    Returns: The created polygon2D type
+    """
+    polygon_vertices = []
+    (polygon_vertices.append(createPoint2d(builder, x, y)),)
+    (polygon_vertices.append(createPoint2d(builder, x + extent_x, y)),)
+    (
+        polygon_vertices.append(
+            createPoint2d(builder, x + extent_x, y + extent_y)
+        ),
+    )
+    polygon_vertices.append(createPoint2d(builder, x, y + extent_y))
+    return createPolygon2D(builder, height, z, polygon_vertices)
+
+
 def addToBoundingBoxLabeledVector(
     builder: Builder, boundingBoxLabeledList: List[int]
 ) -> int:

tests/python/gRPC/images/test_gRPC_fb_sendAndQueryImages.py

@@ -1,13 +1,21 @@
 # test file for
 #   gRPC_fb_sendImages.py
 #   gRPC_fb_queryImages.py
-
+from typing import Dict
 
 import flatbuffers
+import seerep.util.fb_helper as fbh
 from gRPC.images import gRPC_fb_queryImages, gRPC_fb_sendImages
 from seerep.util.fb_to_dict import SchemaFileNames, fb_flatc_dict
 
 
+def get_header_timestamp_nanos(fb_dict: Dict) -> int:
+    return (
+        fb_dict["header"]["stamp"]["seconds"] * 10**9
+        + fb_dict["header"]["stamp"]["nanos"]
+    )
+
+
 def test_gRPC_fb_sendAndQueryImages(grpc_channel, project_setup, num_images=30):
     _, proj_uuid = project_setup
 
@@ -40,3 +48,70 @@ def test_gRPC_fb_sendAndQueryImages(grpc_channel, project_setup, num_images=30):
 
     for img in sent_images:
         assert img in queried_images
+
+
+def test_gRPC_fb_sendAndQueryImagesEPSG32632(
+    grpc_channel, epsg4326_project_setup, num_images=10
+):
+    proj_uuid = epsg4326_project_setup
+    fbb = flatbuffers.Builder()
+
+    camera_intrinsics_uuid = gRPC_fb_sendImages.send_cameraintrinsics(
+        grpc_channel, proj_uuid
+    )
+
+    timestamp_nanos = 1245
+    timestamps = [
+        (t, timestamp_nanos)
+        for t in range(1661336507, 1661336507 + num_images * 10, 10)
+    ]
+
+    sent_images = gRPC_fb_sendImages.send_images(
+        grpc_channel,
+        proj_uuid,
+        camera_intrinsics_uuid,
+        gRPC_fb_sendImages.generate_image_ressources(num_images),
+        timestamps,
+    )
+
+    gRPC_fb_sendImages.send_tfs(grpc_channel, proj_uuid, timestamps)
+
+    sent_images = [
+        fb_flatc_dict(img, SchemaFileNames.IMAGE) for img in sent_images
+    ]
+
+    offset_x = 394
+    offset_y = 394
+    # define polygon in epsg:32632
+    polygon_epsg32632 = fbh.createRectangularPolygon2D(
+        fbb,
+        x=450945.55942398345 + offset_x,
+        y=5801123.517354042 + offset_y,
+        extent_x=517,
+        extent_y=517,
+        z=60,
+        height=36,
+    )
+
+    queried_images = gRPC_fb_queryImages.query_images_raw(
+        fbb,
+        grpc_channel,
+        proj_uuid,
+        polygon2d=polygon_epsg32632,
+        fullyEncapsulated=True,
+        crsString="EPSG:32632",
+    )
+
+    queried_images = [
+        fb_flatc_dict(img, SchemaFileNames.IMAGE) for img in queried_images
+    ]
+
+    filtered_sent_imgs = sorted(
+        sent_images, key=lambda d: get_header_timestamp_nanos(d)
+    )
+    sorted_queried_imgs = sorted(
+        queried_images, key=lambda d: get_header_timestamp_nanos(d)
+    )
+
+    assert len(sorted_queried_imgs) > 0
+    assert filtered_sent_imgs[2:4] == sorted_queried_imgs