feat: implement Radar.to_json()

DSD-DBS · Nov 14, 2024 · 3807d93 · 3807d93
1 parent 7d8c225
commit 3807d93
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Showing 4 changed files with 44 additions and 3 deletions.
diff --git a/raillabel/format/intrinsics_radar.py b/raillabel/format/intrinsics_radar.py
@@ -30,3 +30,11 @@ def from_json(cls, json: JSONIntrinsicsRadar) -> IntrinsicsRadar:
             width_px=json.width_px,
             height_px=json.height_px,
         )
+
+    def to_json(self) -> JSONIntrinsicsRadar:
+        """Export this object into the RailLabel JSON format."""
+        return JSONIntrinsicsRadar(
+            resolution_px_per_m=self.resolution_px_per_m,
+            width_px=self.width_px,
+            height_px=self.height_px,
+        )
diff --git a/raillabel/format/radar.py b/raillabel/format/radar.py
@@ -5,7 +5,12 @@
 
 from dataclasses import dataclass
 
-from raillabel.json_format import JSONCoordinateSystem, JSONStreamRadar, JSONTransformData
+from raillabel.json_format import (
+    JSONCoordinateSystem,
+    JSONStreamRadar,
+    JSONStreamRadarProperties,
+    JSONTransformData,
+)
 
 from .intrinsics_radar import IntrinsicsRadar
 from .transform import Transform
@@ -39,6 +44,24 @@ def from_json(
             description=json_stream.description,
         )
 
+    def to_json(self) -> tuple[JSONStreamRadar, JSONCoordinateSystem]:
+        """Export this object into the RailLabel JSON format."""
+        return (
+            JSONStreamRadar(
+                type="radar",
+                stream_properties=JSONStreamRadarProperties(
+                    intrinsics_radar=self.intrinsics.to_json()
+                ),
+                uri=self.uri,
+                description=self.description,
+            ),
+            JSONCoordinateSystem(
+                parent="base",
+                type="sensor",
+                pose_wrt_parent=self.extrinsics.to_json() if self.extrinsics is not None else None,
+            ),
+        )
+
 
 def _extrinsics_from_json(json_transform: JSONTransformData | None) -> Transform | None:
     if json_transform is None:

diff --git a/tests/test_raillabel/format/test_intrinsics_radar.py b/tests/test_raillabel/format/test_intrinsics_radar.py
@@ -37,5 +37,10 @@ def test_from_json(intrinsics_radar, intrinsics_radar_json):
     assert actual == intrinsics_radar
 
 
+def test_to_json(intrinsics_radar, intrinsics_radar_json):
+    actual = intrinsics_radar.to_json()
+    assert actual == intrinsics_radar_json
+
+
 if __name__ == "__main__":
     pytest.main([__file__, "--disable-pytest-warnings", "--cache-clear", "-v"])
diff --git a/tests/test_raillabel/format/test_radar.py b/tests/test_raillabel/format/test_radar.py
@@ -28,7 +28,7 @@ def radar_json(
             description="A very nice radar",
         ),
         JSONCoordinateSystem(
-            parent="base", type="sensor", pose_wrt_parent=transform_json, children=[]
+            parent="base", type="sensor", pose_wrt_parent=transform_json, children=None
         ),
     )
 
@@ -51,5 +51,10 @@ def test_from_json(radar, radar_json):
     assert actual == radar
 
 
+def test_to_json(radar, radar_json):
+    actual = radar.to_json()
+    assert actual == radar_json
+
+
 if __name__ == "__main__":
-    pytest.main([__file__, "--disable-pytest-warnings", "--cache-clear", "-v"])
+    pytest.main([__file__, "-vv"])