Geo cord polygon query

docker/base/Dockerfile

@@ -9,16 +9,25 @@ ENV FLATBUFFER_VER="2.0.0"
 ENV GRPC_VER="1.35.0"
 ENV PB_REL="https://github.com/protocolbuffers/protobuf/releases"
 ENV PB_VER="21.12"
+ENV PROJ_VER="9.4.0"
 ENV GTEST_VER="1.12.0"
 ENV DOX_REL="https://github.com/doxygen/doxygen/archive/refs/tags"
 ENV DOX_VER="Release_1_9_3"
 ENV CCACHE_VER="4.9.1"
 ENV HADOLINT_VER="2.12.0"
 ENV PIP3_VER="24.1.2"
 
+# make custom installed libraries available to the system
+ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH:+$LD_LIBRARY_PATH:}/usr/local/lib"
+
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
-#Install general required tools
+# Install general required tools
+
+# PROJ deps:
+ # - curl
+ # - libtiff5-dev
+ # - sqlite3
 RUN apt-get -qq update && apt-get -qq install -y --no-install-recommends -y \
         software-properties-common \
         bash-completion \
@@ -37,7 +46,6 @@ RUN apt-get -qq update && apt-get -qq install -y --no-install-recommends -y \
         vim \
         build-essential \
         pkg-config \
-        libproj-dev \
         python3-catkin-tools \
         python3-osrf-pycommon \
         ros-noetic-vision-msgs \
@@ -47,6 +55,8 @@ RUN apt-get -qq update && apt-get -qq install -y --no-install-recommends -y \
         bison \
         libjsoncpp-dev \
         libcurl4-openssl-dev \
+        sqlite3 \
+        libtiff5-dev \
         && rm -rf /var/lib/apt/lists/*
 
 
@@ -161,6 +171,20 @@ RUN wget --progress=dot:giga $PB_REL/download/v$PB_VER/protobuf-cpp-3.$PB_VER.zi
         && cd ../.. \
         && rm -rf protobuf-cpp-3.$PB_VER.zip protobuf-3.$PB_VER
 
+####################################################
+#Install PROJ
+####################################################
+RUN wget --progress=dot:giga https://download.osgeo.org/proj/proj-${PROJ_VER}.tar.gz \
+        && tar -xf proj-${PROJ_VER}.tar.gz \
+        && cd proj-${PROJ_VER} \
+        && mkdir build \
+        && cd build \
+        && cmake .. \
+        && cmake --build . \
+        && cmake --build . --target install \
+        && cd ../.. \
+        && rm -r proj-${PROJ_VER}.tar.gz proj-${PROJ_VER}
+
 ####################################################
 #Install GoogleTest
 ####################################################

docs/mkdocs/tutorials/geodetic-projects-and-queries.md

@@ -0,0 +1,81 @@
+# Geodetic projects and querying within another spatial reference system
+
+This tutorial features creating a project in a user-specified geographic
+spatial reference system and
+spatially querying SEEREP from another spatial reference system.
+
+The transforms are implemented with the help of [PROJ](https://proj.org/en/stable/)s
+C API.
+
+## Creating geodetic projects
+
+Source:
+[examples/python/gRPC/meta/gRPC_fb_createGeodeticCoordProject.py](https://github.com/agri-gaia/seerep/blob/main/examples/python/gRPC/meta/gRPC_fb_createGeodeticCoordProject.py)
+
+```python
+--8<-- "https://raw.githubusercontent.com/agri-gaia/seerep/main/examples/python/gRPC/meta/gRPC_fb_createGeodeticCoordProject.py:15:28"
+```
+
+This function call creates a project in the reference system `EPSG:4326`
+with its topocentric origin at `latitude=52.358199`, `longitude=8.279679`
+and `altitude=4`.
+With `latitude` and `longitude` in decimal degree and `altitude` in meters.
+Altitude specifies the ellipsoidal height of the origin.
+The `"2"` string here defines the name of the projects map frame.
+
+**NOTE**: Currently only SRIDs(Spatial Reference System Identifiers)
+with geographic coordinates are supported.
+The coordinates defined by the SRID also have to be in latitude first
+and longitude second order.
+
+## Query with polygons defined in other spatial reference systems
+
+Source: [examples/python/gRPC/images/gRPC_fb_queryImage.py](https://github.com/agri-gaia/seerep/blob/main/examples/python/gRPC/images/gRPC_fb_queryImages.py)
+
+```python
+--8<-- "https://raw.githubusercontent.com/agri-gaia/seerep/main/examples/python/gRPC/images/gRPC_fb_queryImages.py:146:169"
+```
+
+**NOTE**: This is not the full function definition.
+
+This queries SEEREP from another SRID, in this case `"EPSG:3857"`, in which the
+spatial polygon has to be defined in.
+In this case every SRID supported by `PROJ` can be used, `x` is the first coordinate
+and `y` the second.
+
+According to the used SRID this can mean a different type of
+coordinate. When using `"EPSG:4314"` for example `x` would be the `latitude` and
+`y` the `longitude` in decimal degree (see [EPSG:4314](https://epsg.io/4314))
+or when using `"EPSG:32632"` `x` would be `easting` and `y` would be `northing`
+in meters (see [EPSG:32632](https://epsg.io/32632)).
+
+The polygon will be transformed to the projects CRS (coordinate reference system)
+and then projected to topocentric using `PROJ` in the backend.
+
+**NOTE**: These transformations can have strong deviations or even use ballpark
+transformations with even larger errors in the resulting positions depending on
+the different SRIDs used.
+For testing [https://epsg.io/](https://epsg.io/) can be used,
+it uses `PROJ` in the backend as well.
+
+## Transforms backend
+
+For the first stage transform
+(transforming coordinates to the projects coordinate reference system) the
+[cs2cs](https://proj.org/en/stable/apps/cs2cs.html) [C API equivalent](https://proj.org/en/stable/development/reference/functions.html#c.proj_create_crs_to_crs)
+is used. The following example essentially simulates that step.
+
+```bash
+cs2cs EPSG:4326 EPSG:3857 <<<"52.3588799817  8.2796787735   -100.0000000000"
+```
+
+In the second stage projection to topocentric a `PROJ` string, like in the
+following [cct](https://proj.org/en/stable/apps/cct.html) pipeline, is used.
+
+```bash
+echo "8.2796787735   52.3588799817  -100.0000000000" | cct -d 10 +proj=pipeline
++step +proj=cart +step +proj=topocentric +lat_0=52.358199 +lon_0=8.279679 +h_0=0.000000
+```
+
+The source code for the transforms can be found [here](https://github.com/agri-gaia/seerep/blob/main/seerep_srv/seerep_core/src/core_project.cpp)
+in the `transformToMapFrame` method.

docs/mkdocs/tutorials/images.md

@@ -51,7 +51,7 @@ z-coordinate point and a height value. Queries are performed by forming an
 encompassing axis aligned bounding box from the polygon. This can lead to an
 AABB larger than the polygon and poses the potential problem of returning results
 to the user which are not fully inside the query polygon. That problem is
-resolved by providing a boolean variable called fullyEncapsulated`. If false,
+resolved by providing a boolean variable called `fullyEncapsulated`. If false,
 resultant polygons, which are partially inside the query polygon are also returned.
 
 ### A time interval (temporal query)
@@ -71,11 +71,18 @@ Only performs the query in these included projects specified by their uuids.
 
 If the pixel data of the image should not be returned in order to save bandwith.
 
-### InMapFrame
+### CrsString
 
-Whether the query is done in the map frame.
-If not, the provided polygon for the spatial query will be transformed from the
-geodesic coordinates of the project into the map frame beforehand.
+Specifies where the query is done.
+Valid values are `map`, `project` or any SRID from
+[https://spatialreference.org/ref/](https://spatialreference.org/ref/).
+
+If the query should be done from the origin of project (the map frame),
+use `map` (default).
+When querying in the same spatial reference system as specified in the project
+use `project`.
+
+Using the last option is explained in more detail [here](geodetic-projects-and-queries.md).
 
 ### Example code for querying images
 

docs/mkdocs/tutorials/overview.md

@@ -5,6 +5,7 @@ following topics are covered:
 
 - Creating and retrieving projects
 - Sending and querying images
+- Projects and querying in other spatial reference systems
 - Writing python examples
 - Writing python integration tests
 

examples/python/gRPC/images/gRPC_fb_queryImages.py

@@ -13,9 +13,8 @@
 from seerep.util.fb_helper import (
     create_label,
     create_label_category,
-    createPoint2d,
-    createPolygon2D,
     createQuery,
+    createRectangularPolygon2D,
     createTimeInterval,
     createTimeStamp,
     getOrCreateProject,
@@ -78,25 +77,26 @@ def query_images(
     ]
 
 
-if __name__ == "__main__":
+def query_example():
     fbb = flatbuffers.Builder()
     grpc_channel = get_gRPC_channel()
     project_uuid = getOrCreateProject(fbb, grpc_channel, "testproject")
 
-    # create the data for the query
-    scale = 100
-    vertices = [
-        createPoint2d(fbb, x * scale, y * scale)
-        for x, y in [(-1.0, -1.0), (-1.0, 1.0), (1.0, 1.0), (1.0, -1.0)]
-    ]
-
-    polygon_2d = createPolygon2D(fbb, 700, -100, vertices)
+    polygon_2d = createRectangularPolygon2D(
+        fbb,
+        x=-100,
+        extent_x=200,
+        extent_y=200,
+        y=-100,
+        z=-100,
+        height=700,
+    )
 
     time_min = createTimeStamp(fbb, 1610549273, 0)
     time_max = createTimeStamp(fbb, 1938549273, 0)
-    time_interval = createTimeInterval(fbb, time_min, time_max)
+    time_interval = createTimeInterval(fbb, time_min, time_max)  # noqa: F841
 
-    project_uuids = [project_uuid]
+    project_uuids = [project_uuid]  # noqa: F841
 
     labels = [
         create_label(builder=fbb, label=label_str, label_id=i)
@@ -121,7 +121,6 @@ def query_images(
         labels=labelsCategory,
         withoutData=True,
         fullyEncapsulated=False,
-        inMapFrame=True,
     )
 
     if matching_images is None or len(matching_images) == 0:
@@ -142,3 +141,53 @@ def query_images(
                 + img.Labels(0).Labels(0).Label().decode("utf-8")
             )
     print("------------------------------------------------------------------")
+
+
+def query_geodetic_example():
+    fbb = flatbuffers.Builder()
+    grpc_channel = get_gRPC_channel()
+    project_uuid = getOrCreateProject(fbb, grpc_channel, "geodeticProject")
+
+    polygon_epsg3857 = createRectangularPolygon2D(
+        fbb,
+        x=921689.630348,
+        y=6865153.476919,
+        extent_x=655,
+        extent_y=655,
+        z=0,
+        height=100,
+    )
+
+    matching_images = query_images(
+        fbb,
+        grpc_channel,
+        project_uuid,
+        polygon2d=polygon_epsg3857,
+        withoutData=True,
+        fullyEncapsulated=False,
+        crsString="EPSG:3857",
+    )
+
+    if matching_images is None or len(matching_images) == 0:
+        print("No images matched the query.")
+        sys.exit()
+
+    print(f"Number of images matching the query: {len(matching_images)}")
+
+    for img in matching_images:
+        print(
+            "------------------------------------------------------------------"
+        )
+        print(f"Msg UUID: {img.Header().UuidMsgs().decode('utf-8')}")
+        print(f"Number of labels: {img.LabelsLength()}")
+        if img.LabelsLength() > 0:
+            print(
+                "First label: "
+                + img.Labels(0).Labels(0).Label().decode("utf-8")
+            )
+    print("------------------------------------------------------------------")
+
+
+if __name__ == "__main__":
+    query_example()
+    # query_geodetic_example()