All labels/overall bounding box / overall timeinterval in project

.isort.cfg

@@ -1,3 +1,3 @@
 [settings]
-known_third_party = cv2,flatbuffers,google,grpc,imageio,matplotlib,numpy,quaternion,rospy,seerep,sensor_msgs,setuptools,std_msgs,tf,yaml
+known_third_party = cv2,flatbuffers,google,grpc,imageio,matplotlib,numpy,quaternion,rospy,seerep,sensor_msgs,setuptools,std_msgs,tf,util,util_fb,yaml
 profile =black

examples/python/gRPC/meta/gRPC_fb_getOverallBound.py

@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+
+import flatbuffers
+from seerep.fb import Boundingbox, Categories, Datatype, Labels, TimeInterval
+from seerep.fb import meta_operations_grpc_fb as metaOperations
+
+# importing util functions. Assuming that these files are in the parent dir
+# examples/python/gRPC/util.py
+# examples/python/gRPC/util_fb.py
+script_dir = os.path.dirname(__file__)
+util_dir = os.path.join(script_dir, '..')
+sys.path.append(util_dir)
+import util
+import util_fb
+
+builder = flatbuffers.Builder(1024)
+# Default server is localhost !
+channel = util.get_gRPC_channel()
+
+
+# 1. Get all projects from the server
+projectuuid = util_fb.getProject(builder, channel, 'LabeledImagesInGrid')
+
+# 2. Check if the defined project exist; if not exit
+if not projectuuid:
+    print("Project Not Found")
+    exit()
+
+# 3. Get gRPC service object
+stub = metaOperations.MetaOperationsStub(channel)
+
+UuidDatatypePair = util_fb.createUuidDatatypePair(builder, projectuuid, Datatype.Datatype().All)
+
+builder.Finish(UuidDatatypePair)
+buf = builder.Output()
+
+###
+# Fetching overall spatial bound
+
+responseBuf = stub.GetOverallBoundingBox(bytes(buf))
+response = Boundingbox.Boundingbox.GetRootAs(responseBuf)
+
+print(
+    "Center Point (X, Y, Z): "
+    + str(response.CenterPoint().X())
+    + " , "
+    + str(response.CenterPoint().Y())
+    + " , "
+    + str(response.CenterPoint().Z())
+)
+
+print(
+    "Spatial Extent Point (X, Y, Z): "
+    + str(response.SpatialExtent().X())
+    + " , "
+    + str(response.SpatialExtent().Y())
+    + " , "
+    + str(response.SpatialExtent().Z())
+)
+
+###
+# Fetching overall temporal bound
+
+responseBuf = stub.GetOverallTimeInterval(bytes(buf))
+response = TimeInterval.TimeInterval.GetRootAs(responseBuf)
+
+print(
+    " Minimum Time "
+    + str(response.TimeMin().Seconds())
+    + "s and "
+    + str(response.TimeMin().Nanos())
+    + "ms\n"
+    + " Maximum Time "
+    + str(response.TimeMax().Seconds())
+    + "s and "
+    + str(response.TimeMax().Nanos())
+    + "ms"
+)
+
+###
+# Fetching all category names
+
+responseBuf = stub.GetAllCategories(bytes(buf))
+response = Categories.Categories.GetRootAs(responseBuf)
+
+print("Saved Category names are:")
+for idx in range(response.CategoriesLength()):
+    print(response.Categories(idx).decode())
+
+###
+# Fetching all label names for a given category
+
+builder = flatbuffers.Builder(1024)
+
+UuidDatatypeWithCategory = util_fb.createUuidDatatypeWithCategory(builder, projectuuid, Datatype.Datatype().Image, "1")
+
+builder.Finish(UuidDatatypeWithCategory)
+buf = builder.Output()
+
+responseBuf = stub.GetAllLabels(bytes(buf))
+response = Labels.Labels.GetRootAs(responseBuf)
+
+print("Saved Label names are:")
+for idx in range(response.LabelsLength()):
+    print(response.Labels(idx).decode())

examples/python/gRPC/meta/gRPC_pb_getOverallBound.py

@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+
+import seerep.pb.datatype_pb2 as datatype
+import seerep.pb.meta_operations_pb2_grpc as metaOperations
+import seerep.pb.uuid_datatype_pair_pb2 as uuid_datatype_pair
+import seerep.pb.uuid_datatype_with_category_pb2 as uuid_datatype_with_category
+from google.protobuf import empty_pb2
+
+script_dir = os.path.dirname(__file__)
+util_dir = os.path.join(script_dir, '..')
+sys.path.append(util_dir)
+import util
+
+channel = util.get_gRPC_channel()
+
+stub = metaOperations.MetaOperationsStub(channel)
+
+response = stub.GetProjects(empty_pb2.Empty())
+
+# 3. Check if we have an existing test project, if not, we stop here
+projectuuid = ""
+for project in response.projects:
+    print(project.name + " " + project.uuid + "\n")
+    if project.name == "LabeledImagesInGrid":
+        projectuuid = project.uuid
+
+uuiddt = uuid_datatype_pair.UuidDatatypePair()
+uuiddt.projectuuid = projectuuid
+uuiddt.datatype = datatype.image
+
+response = stub.GetOverallTimeInterval(uuiddt)
+print(response)
+
+response = stub.GetOverallBoundingBox(uuiddt)
+print(response)
+
+response = stub.GetAllCategories(uuiddt)
+print(response)
+
+uuiddt_category = uuid_datatype_with_category.UuidDatatypeWithCategory()
+uuiddt_category.category = "1"
+uuiddt_category.uuid_with_datatype.projectuuid = projectuuid
+uuiddt_category.uuid_with_datatype.datatype = datatype.all
+
+response = stub.GetAllLabels(uuiddt_category)
+print(response)

examples/python/gRPC/meta/gRPC_pb_getProjects.py

@@ -10,7 +10,6 @@
 
 response = stub.GetProjects(empty_pb2.Empty())
 
-
 print("The server has the following projects (name/uuid):")
 for projectinfo in response.projects:
     print("\t" + projectinfo.name + " " + projectinfo.uuid)

examples/python/gRPC/util/fb_helper.py

@@ -28,6 +28,8 @@
     TimeInterval,
     Timestamp,
     TransformStampedQuery,
+    UuidDatatypePair,
+    UuidDatatypeWithCategory,
 )
 from seerep.fb import meta_operations_grpc_fb as metaOperations
 
@@ -521,3 +523,33 @@ def createCameraIntrinsicsQuery(builder, ci_uuid, project_uuid):
     CameraIntrinsicsQuery.AddUuidProject(builder, project_uuid_str)
 
     return CameraIntrinsicsQuery.End(builder)
+
+
+def createUuidDatatypePair(builder, uuid, datatype):
+    uuidStr = builder.CreateString(uuid)
+
+    UuidDatatypePair.Start(builder)
+    UuidDatatypePair.AddProjectuuid(builder, uuidStr)
+    UuidDatatypePair.AddDatatype(builder, datatype)
+    return UuidDatatypePair.End(builder)
+
+
+def createUuidDatatypeWithCategory(builder, uuid, datatype, category):
+    categoryStr = builder.CreateString(category)
+
+    UuidDatatypePair = createUuidDatatypePair(builder, uuid, datatype)
+
+    UuidDatatypeWithCategory.Start(builder)
+    UuidDatatypeWithCategory.AddCategory(builder, categoryStr)
+    UuidDatatypeWithCategory.AddUuidAndDatatype(builder, UuidDatatypePair)
+    return UuidDatatypeWithCategory.End(builder)
+
+
+def createProjectInfo(builder, name, uuid):
+    nameStr = builder.CreateString(name)
+    uuidStr = builder.CreateString(uuid)
+
+    ProjectInfo.Start(builder)
+    ProjectInfo.AddName(builder, nameStr)
+    ProjectInfo.AddUuid(builder, uuidStr)
+    return ProjectInfo.End(builder)

seerep_com/fbs/meta_operations.fbs

@@ -3,6 +3,12 @@ include "project_info.fbs";
 include "project_infos.fbs";
 include "projectCreation.fbs";
 include "empty.fbs";
+include "boundingbox.fbs";
+include "time_interval.fbs";
+include "uuid_datatype_pair.fbs";
+include "uuid_datatype_with_category.fbs";
+include "labels.fbs";
+include "categories.fbs";
 
 namespace seerep.fb;
 
@@ -11,4 +17,8 @@ rpc_service MetaOperations {
   GetProjects(seerep.fb.Empty):seerep.fb.ProjectInfos;
   LoadProjects(seerep.fb.Empty):seerep.fb.Empty;
   DeleteProject(seerep.fb.ProjectInfo):seerep.fb.Empty;
+  GetOverallTimeInterval(seerep.fb.UuidDatatypePair):seerep.fb.TimeInterval;
+  GetOverallBoundingBox(seerep.fb.UuidDatatypePair):seerep.fb.Boundingbox;
+  GetAllCategories(seerep.fb.UuidDatatypePair):seerep.fb.Categories;
+  GetAllLabels(seerep.fb.UuidDatatypeWithCategory):seerep.fb.Labels;
 }

seerep_com/protos/meta_operations.proto

@@ -7,9 +7,19 @@ import "google/protobuf/empty.proto";
 import "project_info.proto";
 import "project_infos.proto";
 import "projectCreation.proto";
+import "uuid_datatype_pair.proto";
+import "time_interval.proto";
+import "boundingbox.proto";
+import "labels.proto";
+import "categories.proto";
+import "uuid_datatype_with_category.proto";
 
 service MetaOperations
 {
   rpc CreateProject(ProjectCreation) returns (ProjectInfo);
   rpc GetProjects(google.protobuf.Empty) returns (ProjectInfos);
+  rpc GetOverallTimeInterval(UuidDatatypePair) returns (TimeInterval);
+  rpc GetOverallBoundingBox(UuidDatatypePair) returns (Boundingbox);
+  rpc GetAllCategories(UuidDatatypePair) returns (Categories);
+  rpc GetAllLabels(UuidDatatypeWithCategory) returns (Labels);
 }

seerep_msgs/CMakeLists.txt

@@ -25,13 +25,16 @@ set(MY_PROTO_FILES
     protos/boundingbox2d.proto
     protos/camera_intrinsics.proto
     protos/camera_intrinsics_query.proto
+    protos/categories.proto
+    protos/datatype.proto
     protos/frame_infos.proto
     protos/frame_query.proto
     protos/geodetic_coordinates.proto
     protos/header.proto
     protos/image.proto
     protos/label_with_instance.proto
     protos/label.proto
+    protos/labels.proto
     protos/labels_with_category.proto
     protos/labels_with_instance_with_category.proto
     protos/point_cloud_2.proto
@@ -60,6 +63,8 @@ set(MY_PROTO_FILES
     protos/twist_with_covariance_stamped.proto
     protos/twist_with_covariance.proto
     protos/twist.proto
+    protos/uuid_datatype_with_category.proto
+    protos/uuid_datatype_pair.proto
     protos/vector3_stamped.proto
     protos/vector3.proto
 )
@@ -77,6 +82,7 @@ set(MY_FBS_FILES
     fbs/boundingboxes2d_labeled_stamped.fbs
     fbs/camera_intrinsics.fbs
     fbs/camera_intrinsics_query.fbs
+    fbs/categories.fbs
     fbs/datatype.fbs
     fbs/empty.fbs
     fbs/frame_infos.fbs
@@ -86,6 +92,7 @@ set(MY_FBS_FILES
     fbs/image.fbs
     fbs/label_with_instance.fbs
     fbs/label.fbs
+    fbs/labels.fbs
     fbs/labels_with_category.fbs
     fbs/labels_with_instance_with_category.fbs
     fbs/point_cloud_2.fbs
@@ -118,6 +125,8 @@ set(MY_FBS_FILES
     fbs/union_map_entry.fbs
     fbs/uuids_per_project.fbs
     fbs/uuids_project_pair.fbs
+    fbs/uuid_datatype_with_category.fbs
+    fbs/uuid_datatype_pair.fbs
     fbs/vector3_stamped.fbs
     fbs/vector3.fbs
 )

seerep_msgs/core/datatype.h

@@ -9,7 +9,8 @@ enum class Datatype
   Unknown,  // default value
   Image,
   PointCloud,
-  Point
+  Point,
+  All
 };
 
 } /* namespace seerep_core_msgs */

seerep_msgs/fbs/categories.fbs

@@ -0,0 +1,6 @@
+
+namespace seerep.fb;
+
+table Categories {
+  categories:[string];
+}

seerep_msgs/fbs/datatype.fbs

@@ -2,8 +2,8 @@
 namespace seerep.fb;
 
 enum Datatype:byte {
-  Unknown=0,
   Image,
   PointCloud,
-  Point
+  Point,
+  All
 }

seerep_msgs/fbs/labels.fbs

@@ -0,0 +1,6 @@
+
+namespace seerep.fb;
+
+table Labels {
+  labels:[string];
+}

seerep_msgs/fbs/uuid_datatype_pair.fbs

@@ -0,0 +1,9 @@
+
+include "datatype.fbs";
+
+namespace seerep.fb;
+
+table UuidDatatypePair {
+    projectuuid:string;
+    datatype:Datatype;
+}

seerep_msgs/fbs/uuid_datatype_with_category.fbs

@@ -0,0 +1,9 @@
+
+include "uuid_datatype_pair.fbs";
+
+namespace seerep.fb;
+
+table UuidDatatypeWithCategory {
+    category:string;
+    UuidAndDatatype:UuidDatatypePair;
+}

seerep_msgs/protos/categories.proto

@@ -0,0 +1,8 @@
+syntax = "proto3";
+
+package seerep.pb;
+
+message Categories
+{
+  repeated string categories = 1;
+}

seerep_msgs/protos/datatype.proto

@@ -0,0 +1,11 @@
+syntax = "proto3";
+
+package seerep;
+
+enum datatype
+{
+  image = 0;
+  pointcloud = 1;
+  point = 2;
+  all = 3;
+}

seerep_msgs/protos/labels.proto

@@ -0,0 +1,8 @@
+syntax = "proto3";
+
+package seerep.pb;
+
+message Labels
+{
+  repeated string labels = 1;
+}