feat: Transform.from_json()

raillabel/format/transform.py

@@ -5,6 +5,8 @@
 
 from dataclasses import dataclass
 
+from raillabel.json_format import JSONTransformData
+
 from .point3d import Point3d
 from .quaternion import Quaternion
 
@@ -25,6 +27,19 @@ class Transform:
     pos: Point3d
     quat: Quaternion
 
+    @classmethod
+    def from_json(cls, json: JSONTransformData) -> Transform:
+        """Construct an instant of this class from RailLabel JSON data."""
+        return Transform(
+            pos=Point3d(x=json.translation[0], y=json.translation[1], z=json.translation[2]),
+            quat=Quaternion(
+                x=json.quaternion[0],
+                y=json.quaternion[1],
+                z=json.quaternion[2],
+                w=json.quaternion[3],
+            ),
+        )
+
     @classmethod
     def fromdict(cls, data_dict: dict) -> Transform:
         """Generate a Transform object from a dict.

tests/test_raillabel/format/test_point3d.py

@@ -18,12 +18,12 @@
 
 @pytest.fixture
 def point3d_dict() -> dict:
-    return [420, 3.14, 0]
+    return [419, 3.14, 0]
 
 
 @pytest.fixture
 def point3d() -> dict:
-    return Point3d(420, 3.14, 0)
+    return Point3d(419, 3.14, 0)
 
 
 @pytest.fixture
@@ -40,21 +40,21 @@ def point3d_another() -> dict:
 
 
 def test_fromdict():
-    point3d = Point3d.fromdict([420, 3.14, 0])
+    point3d = Point3d.fromdict([419, 3.14, 0])
 
-    assert point3d.x == 420
+    assert point3d.x == 419
     assert point3d.y == 3.14
     assert point3d.z == 0
 
 
 def test_asdict():
     point3d = Point3d(
-        x=420,
+        x=419,
         y=3.14,
         z=0,
     )
 
-    assert point3d.asdict() == [420, 3.14, 0]
+    assert point3d.asdict() == [419, 3.14, 0]
 
 
 if __name__ == "__main__":

tests/test_raillabel/format/test_transform.py

@@ -3,15 +3,11 @@
 
 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 Transform
+from raillabel.json_format import JSONTransformData
+
 
 # == Fixtures =========================
 
@@ -22,13 +18,23 @@ def transform_dict(point3d_dict, quaternion_dict) -> dict:
 
 
 @pytest.fixture
-def transform(point3d, quaternion) -> dict:
+def transform_json(point3d_dict, quaternion_dict) -> JSONTransformData:
+    return JSONTransformData(translation=point3d_dict, quaternion=quaternion_dict)
+
+
+@pytest.fixture
+def transform(point3d, quaternion) -> Transform:
     return Transform(pos=point3d, quat=quaternion)
 
 
 # == Tests ============================
 
 
+def test_from_json(transform_json, transform):
+    actual = Transform.from_json(transform_json)
+    assert actual == transform
+
+
 def test_fromdict(point3d, point3d_dict, quaternion, quaternion_dict):
     transform = Transform.fromdict({"translation": point3d_dict, "quaternion": quaternion_dict})
 
@@ -43,5 +49,4 @@ def test_asdict(point3d, point3d_dict, quaternion, quaternion_dict):
 
 
 if __name__ == "__main__":
-    os.system("clear")
-    pytest.main([__file__, "--disable-pytest-warnings", "--cache-clear", "-v"])
+    pytest.main([__file__, "-v"])