From a3a9da048b0359c03bd5de5e524c3524825e61d5 Mon Sep 17 00:00:00 2001
From: unexcellent <>
Date: Mon, 11 Nov 2024 20:21:32 +0100
Subject: [PATCH] feat: implement OtherSensor.from_json()

---
 raillabel/format/__init__.py                  |  2 +
 raillabel/format/other_sensor.py              |  8 ++++
 raillabel/format/scene.py                     |  5 +-
 .../format/test_other_sensor.py               | 46 +++++++++++++++++++
 4 files changed, 60 insertions(+), 1 deletion(-)
 create mode 100644 raillabel/format/other_sensor.py
 create mode 100644 tests/test_raillabel/format/test_other_sensor.py

diff --git a/raillabel/format/__init__.py b/raillabel/format/__init__.py
index cb56171..caab9fc 100644
--- a/raillabel/format/__init__.py
+++ b/raillabel/format/__init__.py
@@ -14,6 +14,7 @@
 from .metadata import Metadata
 from .num import Num
 from .object import Object
+from .other_sensor import OtherSensor
 from .point2d import Point2d
 from .point3d import Point3d
 from .poly2d import Poly2d
@@ -41,6 +42,7 @@
     "Metadata",
     "Num",
     "Object",
+    "OtherSensor",
     "Point2d",
     "Point3d",
     "Poly2d",
diff --git a/raillabel/format/other_sensor.py b/raillabel/format/other_sensor.py
new file mode 100644
index 0000000..385214c
--- /dev/null
+++ b/raillabel/format/other_sensor.py
@@ -0,0 +1,8 @@
+# Copyright DB InfraGO AG and contributors
+# SPDX-License-Identifier: Apache-2.0
+
+from ._sensor_without_intrinsics import _SensorWithoutIntrinsics
+
+
+class OtherSensor(_SensorWithoutIntrinsics):
+    """A sensor that is not represented by the available options."""
diff --git a/raillabel/format/scene.py b/raillabel/format/scene.py
index 44ab918..d163de1 100644
--- a/raillabel/format/scene.py
+++ b/raillabel/format/scene.py
@@ -8,8 +8,11 @@
 from .camera import Camera
 from .frame import Frame
 from .frame_interval import FrameInterval
+from .gps_imu import GpsImu
+from .lidar import Lidar
 from .metadata import Metadata
 from .object import Object
+from .other_sensor import OtherSensor
 from .radar import Radar
 
 
@@ -36,7 +39,7 @@ class Scene:
     """
 
     metadata: Metadata
-    sensors: dict[str, Camera | Radar] = field(default_factory=dict)
+    sensors: dict[str, Camera | Lidar | Radar | GpsImu | OtherSensor] = field(default_factory=dict)
     objects: dict[str, Object] = field(default_factory=dict)
     frames: dict[int, Frame] = field(default_factory=dict)
 
diff --git a/tests/test_raillabel/format/test_other_sensor.py b/tests/test_raillabel/format/test_other_sensor.py
new file mode 100644
index 0000000..25e30b5
--- /dev/null
+++ b/tests/test_raillabel/format/test_other_sensor.py
@@ -0,0 +1,46 @@
+# Copyright DB InfraGO AG and contributors
+# SPDX-License-Identifier: Apache-2.0
+
+from __future__ import annotations
+
+import pytest
+
+from raillabel.format import OtherSensor
+from raillabel.json_format import JSONCoordinateSystem, JSONStreamOther
+
+# == Fixtures =========================
+
+
+@pytest.fixture
+def other_json(transform_json) -> tuple[JSONStreamOther, JSONCoordinateSystem]:
+    return (
+        JSONStreamOther(
+            type="other",
+            uri="/path/to/sensor/data",
+            description="A very nice generic sensor",
+        ),
+        JSONCoordinateSystem(
+            parent="base", type="sensor", pose_wrt_parent=transform_json, children=[]
+        ),
+    )
+
+
+@pytest.fixture
+def other(transform) -> dict:
+    return OtherSensor(
+        extrinsics=transform,
+        uri="/path/to/sensor/data",
+        description="A very nice generic sensor",
+    )
+
+
+# == Tests ============================
+
+
+def test_from_json(other, other_json):
+    actual = OtherSensor.from_json(other_json[0], other_json[1])
+    assert actual == other
+
+
+if __name__ == "__main__":
+    pytest.main([__file__, "--disable-pytest-warnings", "--cache-clear", "-v"])