initial changes

seerep_hdf5/seerep_hdf5_core/include/seerep_hdf5_core/hdf5_core_datatype_interface.h

@@ -10,6 +10,9 @@
 
 namespace seerep_hdf5_core
 {
+typedef std::optional<std::pair<std::string, std::vector<seerep_core_msgs::Point>>>
+    frame_to_points_mapping;
+
 class Hdf5CoreDatatypeInterface
 {
 public:
@@ -19,6 +22,16 @@ class Hdf5CoreDatatypeInterface
   readDataset(const std::string& uuid) = 0;
 
   virtual std::vector<std::string> getDatasetUuids() = 0;
+
+  /**
+   * @brief a option to pass points down to check for spatially, the first
+   * return value are the points which should get checked, the second in which
+   * frame they should be checked
+   *
+   * @return the points which should get checked (if empty this should be a
+   * noop) and the frame_id in which they need to get transformed from
+   */
+  virtual frame_to_points_mapping getPolygonConstraintPoints() = 0;
 };
 
 }  // namespace seerep_hdf5_core

seerep_hdf5/seerep_hdf5_core/include/seerep_hdf5_core/hdf5_core_image.h

@@ -90,6 +90,15 @@ class Hdf5CoreImage : public virtual Hdf5CoreGeneral,
    */
   std::vector<std::string> getDatasetUuids();
 
+  /**
+   * @brief Get points which should get constraint by the query polygon,
+   *  otherwise the data is not fullyEncapsulated by the polygon
+   *
+   * @return the points which should get checked and the frame as a string in
+   *  which they should be checked
+   */
+  frame_to_points_mapping getPolygonConstraintPoints();
+
   /**
    * @brief Write generals labels based on C++ data structures to HdF5
    *

seerep_hdf5/seerep_hdf5_core/include/seerep_hdf5_core/hdf5_core_point.h

@@ -37,6 +37,13 @@ class Hdf5CorePoint : public Hdf5CoreGeneral, public Hdf5CoreDatatypeInterface
 
   std::vector<std::string> getDatasetUuids();
 
+  /**
+   * @brief THIS IS CURRENTLY A NOOP
+   *
+   * @return a empty vector and string
+   */
+  frame_to_points_mapping getPolygonConstraintPoints();
+
 public:
   inline static const std::string RAWDATA = "rawdata";
 

seerep_hdf5/seerep_hdf5_core/include/seerep_hdf5_core/hdf5_core_point_cloud.h

@@ -38,6 +38,13 @@ class Hdf5CorePointCloud : public Hdf5CoreGeneral,
 
   std::vector<std::string> getDatasetUuids();
 
+  /**
+   * @brief THIS IS CURRENTLY A NOOP
+   *
+   * @return a empty vector and string
+   */
+  frame_to_points_mapping getPolygonConstraintPoints();
+
 public:
   // image / pointcloud attribute keys
   inline static const std::string HEIGHT = "height";

seerep_hdf5/seerep_hdf5_core/src/hdf5_core_image.cpp

@@ -67,6 +67,11 @@ std::vector<std::string> Hdf5CoreImage::getDatasetUuids()
   return getGroupDatasets(HDF5_GROUP_IMAGE);
 }
 
+frame_to_points_mapping Hdf5CoreImage::getPolygonConstraintPoints()
+{
+  return std::nullopt;
+}
+
 void Hdf5CoreImage::writeLabels(
     const std::string& uuid,
     const std::vector<seerep_core_msgs::LabelCategory>& labelCategory)

seerep_hdf5/seerep_hdf5_core/src/hdf5_core_point.cpp

@@ -64,4 +64,9 @@ std::vector<std::string> Hdf5CorePoint::getDatasetUuids()
   return getGroupDatasets(HDF5_GROUP_POINT);
 }
 
+frame_to_points_mapping Hdf5CorePoint::getPolygonConstraintPoints()
+{
+  return std::nullopt;
+}
+
 }  // namespace seerep_hdf5_core

seerep_hdf5/seerep_hdf5_core/src/hdf5_core_point_cloud.cpp

@@ -61,4 +61,9 @@ std::vector<std::string> Hdf5CorePointCloud::getDatasetUuids()
   return getGroupDatasets(HDF5_GROUP_POINTCLOUD);
 }
 
+frame_to_points_mapping Hdf5CorePointCloud::getPolygonConstraintPoints()
+{
+  return std::nullopt;
+}
+
 }  // namespace seerep_hdf5_core

seerep_msgs/core/dataset_indexable.h

@@ -5,15 +5,16 @@
 
 #include "aabb.h"
 #include "header.h"
-#include "label_datumaro.h"
+#include "label_with_instance.h"
 
 namespace seerep_core_msgs
 {
 struct DatasetIndexable
 {
   Header header;
   AABB boundingbox;
-  std::unordered_map<std::string, LabelDatumaro> labelsCategory;
+  std::unordered_map<std::string, std::vector<LabelWithInstance>>
+      labelsWithInstancesWithCategory;
 };
 
 } /* namespace seerep_core_msgs */

seerep_msgs/core/polygon2d.h

@@ -8,8 +8,8 @@ namespace seerep_core_msgs
 struct Polygon2D
 {
   std::vector<Point2D> vertices;
-  double z;
-  double height;
+  int z;
+  int height;
 };
 }  // namespace seerep_core_msgs
 

seerep_msgs/core/query.h

@@ -18,9 +18,6 @@ struct Query
       projects;  ///< search all projects if not set
   std::optional<Polygon2D>
       polygon;  // query dataset in the region defined by this polygon
-  std::optional<Polygon2D>
-      polygonSensorPos;  // query dataset with the sensor position in the region
-                         // defined by this polygon
   bool fullyEncapsulated;  // if true, only return results fully inside the
                            // polygon defined above
   bool inMapFrame;  // if false the query polygon is in geodetic coordinates,

seerep_srv/seerep_core/include/seerep_core/core_dataset.h

@@ -352,10 +352,11 @@ class CoreDataset
    * @param queryFullyEncapsulated
    * @return std::optional<std::vector<seerep_core_msgs::AabbIdPair>>
    */
-  std::optional<std::vector<seerep_core_msgs::AabbIdPair>>
-  queryRtree(const seerep_core_msgs::rtree& rt,
-             const seerep_core_msgs::Polygon2D& polygon,
-             const bool queryFullyEncapsulated);
+  std::optional<std::vector<seerep_core_msgs::AabbIdPair>> queryRtree(
+      const seerep_core_msgs::rtree& rt,
+      const seerep_core_msgs::Polygon2D& polygon,
+      // const seerep_hdf5_core::frame_to_points_mapping frame_and_points,
+      const bool queryFullyEncapsulated);
 
   /**
    * @brief queries the temporal index and returns a vector of temporal bounding

seerep_srv/seerep_core/src/core_dataset.cpp

@@ -283,6 +283,7 @@ CoreDataset::querySpatialSensorPos(
 std::optional<std::vector<seerep_core_msgs::AabbIdPair>>
 CoreDataset::queryRtree(const seerep_core_msgs::rtree& rt,
                         const seerep_core_msgs::Polygon2D& polygon,
+                        // const seerep_hdf5_core::frame_to_points_mapping,
                         const bool queryFullyEncapsulated)
 {
   // generate rtree result container
@@ -307,6 +308,19 @@ CoreDataset::queryRtree(const seerep_core_msgs::rtree& rt,
     intersectionDegree(it->first, polygon, fullyEncapsulated,
                        partiallyEncapsulated);
 
+    // check thoroughly if a image has been passed and check whether the
+    // corresponding Frustum is in the polygon
+    // partial encapsulation is pre-condition for the case
+    // if the aabb of the data, which is a upper bound for the check, is
+    // already encapsulated we can skip the check
+    // if (partialEncapsulation && !fullEncapsulation)
+    // {
+    //   if (isPreciselyFullEncapsulated())
+    //   {
+    //     fullEncapsulation = true;
+    //   }
+    // }
+
     // if there is no intersection between the result and the user's
     // request, remove it from the iterator
     if (!partiallyEncapsulated && !fullyEncapsulated)