add another test for precise image encapsulation check

tests/python/gRPC/images/test_gRPC_fb_queryImagePrecise.py

@@ -113,13 +113,7 @@ def send_tf(
 
     header = createHeader(builder, ts, frame_id, project_uuid, str(uuid4()))
 
-    # make sure the frustum is above the query cube
     trans = createVector3(builder, translation)
-
-    # this is equivalent to a Euler XYZ rotation with:
-    #   X = 225°
-    #   Y = 0°
-    #   Z = -45°
     quat = createQuaternion(builder, create_quat(*quaternion))
 
     tf = createTransform(builder, trans, quat)
@@ -133,7 +127,7 @@ def send_tf(
     return serialized_tf
 
 
-def test_gRPC_fb_queryImagePrecise(grpc_channel, project_setup):
+def test_gRPC_fb_queryImagePreciseIntersect(grpc_channel, project_setup):
     _, proj_uuid = project_setup
 
     timestamp_secs = 1661336507
@@ -147,11 +141,17 @@ def test_gRPC_fb_queryImagePrecise(grpc_channel, project_setup):
         grpc_channel,
         proj_uuid,
         camera_intrinsics_uuid,
-        gRPC_fb_sendImages.generate_image_ressources(8),
-        8 * [ts],
+        gRPC_fb_sendImages.generate_image_ressources(1),
+        1 * [ts],
     )
 
+    # make sure the frustum is above the query cube
     trans = (-0.5, -0.5, 1.5)
+
+    # this is equivalent to a Euler XYZ rotation with:
+    #   X = 225°
+    #   Y = 0°
+    #   Z = -45°
     rot = (-0.354, 0.854, -0.354, 0.146)
     send_tf(grpc_channel, proj_uuid, ts, trans, rot)
 
@@ -178,3 +178,51 @@ def test_gRPC_fb_queryImagePrecise(grpc_channel, project_setup):
     assert sorted(
         sent_images, key=lambda img: img["header"]["uuid_msgs"]
     ) == sorted(queried_images, key=lambda img: img["header"]["uuid_msgs"])
+
+
+# this test should detect no intersection with the precise method
+# but would fail with the AABB approximation
+def test_gRPC_fb_queryImagePreciseNoIntersect(grpc_channel, project_setup):
+    _, proj_uuid = project_setup
+
+    timestamp_secs = 1661336507
+    timestamp_nanos = 1245
+
+    ts = (timestamp_secs, timestamp_nanos)
+
+    camera_intrinsics_uuid = send_simple_camintrinsics(grpc_channel, proj_uuid)
+
+    sent_images = gRPC_fb_sendImages.send_images(
+        grpc_channel,
+        proj_uuid,
+        camera_intrinsics_uuid,
+        gRPC_fb_sendImages.generate_image_ressources(1),
+        1 * [ts],
+    )
+
+    trans = (-2.3, 2, 1)
+    rot = (1, 0, 0, 0)
+    send_tf(grpc_channel, proj_uuid, ts, trans, rot)
+
+    builder = flatbuffers.Builder(1024)
+
+    verts = [
+        createPoint2d(builder, *p) for p in [(-1, 1), (-1, 3), (-2, 3), (-2, 1)]
+    ]
+
+    polygon = createPolygon2D(builder, height=2, z=-0.5, vertices=verts)
+
+    queried_images = gRPC_fb_queryImages.query_images_raw(
+        builder, grpc_channel, proj_uuid, polygon2d=polygon
+    )
+
+    sent_images = [
+        fb_flatc_dict(img, SchemaFileNames.IMAGE) for img in sent_images
+    ]
+
+    queried_images = [
+        fb_flatc_dict(img, SchemaFileNames.IMAGE) for img in queried_images
+    ]
+
+    assert len(sent_images) > 0
+    assert len(queried_images) == 0