feat: IntrinsicsPinhole.from_json()

raillabel/format/intrinsics_pinhole.py

@@ -5,6 +5,8 @@
 
 from dataclasses import dataclass
 
+from raillabel.json_format import JSONIntrinsicsPinhole
+
 
 @dataclass
 class IntrinsicsPinhole:
@@ -33,6 +35,16 @@ class IntrinsicsPinhole:
     width_px: int
     height_px: int
 
+    @classmethod
+    def from_json(cls, json: JSONIntrinsicsPinhole) -> IntrinsicsPinhole:
+        """Construct an instant of this class from RailLabel JSON data."""
+        return IntrinsicsPinhole(
+            camera_matrix=json.camera_matrix,
+            distortion=json.distortion_coeffs,
+            width_px=json.width_px,
+            height_px=json.height_px,
+        )
+
     @classmethod
     def fromdict(cls, data_dict: dict) -> IntrinsicsPinhole:
         """Generate a IntrinsicsPinhole object from a dict.

tests/test_raillabel/format/test_intrinsics_pinhole.py

@@ -3,15 +3,10 @@
 
 from __future__ import annotations
 
-import os
-import sys
-from pathlib import Path
-
 import pytest
 
-sys.path.insert(1, str(Path(__file__).parent.parent.parent.parent.parent))
-
 from raillabel.format import IntrinsicsPinhole
+from raillabel.json_format import JSONIntrinsicsPinhole
 
 # == Fixtures =========================
 
@@ -26,6 +21,16 @@ def intrinsics_pinhole_dict() -> dict:
     }
 
 
+@pytest.fixture
+def intrinsics_pinhole_json() -> dict:
+    return JSONIntrinsicsPinhole(
+        camera_matrix=[0.48, 0, 0.81, 0, 0, 0.16, 0.83, 0, 0, 0, 1, 0],
+        distortion_coeffs=[0.49, 0.69, 0.31, 0.81, 0.99],
+        width_px=2464,
+        height_px=1600,
+    )
+
+
 @pytest.fixture
 def intrinsics_pinhole() -> dict:
     return IntrinsicsPinhole(
@@ -39,6 +44,11 @@ def intrinsics_pinhole() -> dict:
 # == Tests ============================
 
 
+def test_from_json(intrinsics_pinhole, intrinsics_pinhole_json):
+    actual = IntrinsicsPinhole.from_json(intrinsics_pinhole_json)
+    assert actual == intrinsics_pinhole
+
+
 def test_fromdict():
     intrinsics_pinhole = IntrinsicsPinhole.fromdict(
         {
@@ -72,5 +82,4 @@ def test_asdict():
 
 
 if __name__ == "__main__":
-    os.system("clear")
     pytest.main([__file__, "--disable-pytest-warnings", "--cache-clear", "-v"])