formatter.py

class Vector3():
    def __init__(self, x, y, z):
        self.x = x
        self.y = y
        self.z = z

    def to_obj(self):
        return {
                'x': self.x,
                'y': self.y,
                'z': self.z,
                }

class Vector4():
    def __init__(self, x, y, z, i, is_ground = None):
        self.x = x
        self.y = y
        self.z = z
        self.i = i

    def to_obj(self):
        return {
                'x': self.x,
                'y': self.y,
                'z': self.z,
                'i': self.i,
                }

        # optional params
        if self.is_ground != None:
            obj['is_ground'] = self.is_ground
        return obj

class Quaternion():
    def __init__(self, x, y, z, w):
        self.x = x
        self.y = y
        self.z = z
        self.w = w

    def to_obj(self):
        return {
                'x': self.x,
                'y': self.y,
                'z': self.z,
                'w': self.w,
                }

class GPSPose():
    def __init__(self, lat, lon, bearing):
        self.lat = lat
        self.lon = lon
        self.bearing = bearing

    def to_obj(self):
        return {
                'lat': self.lat,
                'lon': self.lon,
                'bearing': self.bearing,
                }

class CameraImage():
    def __init__(self, image_url, scale_factor, position, heading, fx, fy, cx, cy, skew, k1, k2, k3, p1, p2, priority = None, timestamp = None):
        self.image_url = image_url
        self.scale_factor = scale_factor
        self.position = position
        self.heading = heading
        self.fx = fx
        self.fy = fy
        self.cx = cx
        self.cy = cy
        self.skew = skew
        self.k1 = k1
        self.k2 = k2
        self.k3 = k3
        self.p1 = p1
        self.p2 = p2
        self.priority = priority
        self.timestamp = timestamp

    def to_obj(self):
        obj = {
                'image_url': self.image_url,
                'scale_factor': self.scale_factor,
                'position': self.position.to_obj(),
                'heading': self.heading.to_obj(),
                'fx': self.fx,
                'fy': self.fy,
                'cx': self.cx,
                'cy': self.cy,
                'skew': self.skew,
                'k1': self.k1,
                'k2': self.k2,
                'k3': self.k3,
                'p1': self.p1,
                'p2': self.p2,
                }

        # optional params
        if self.priority != None:
            obj['priority'] = self.priority
        if self.timestamp != None:
            obj['timestamp'] = self.timestamp
        return obj

class Frame():
    def __init__(self, device_position, points, radar_points = None, images = None, timestamp = None, device_heading = None, device_gps_pose = None):
        self.device_position = device_position
        self.points = points
        self.radar_points = radar_points
        self.images = images
        self.timestamp = timestamp
        self.device_heading = device_heading
        self.device_gps_pose = device_gps_pose

    def to_obj(self):
        obj = {
            'device_position': self.device_position.to_obj(),
            'points': [point.to_obj() for point in self.points],
            }

        ## optional params
        if self.images != None:
            obj['images'] = [image.to_obj() for image in self.images]
        # TODO the rest of the optional params
        return obj

    def format(self):
        return json.dumps(self.to_obj())