betterosi

betterosi - a python library for reading and writing open-simulation-interface files using betterproto2

A python library for reading and writing ASAM OSI (Open-Simulation-Interace) files (either .osi binary traces or MCAP files) using betterproto2 instead of the default protobuf generated code (better typing and enum support).

• Supports writing and reading either mcap or osi files with betterosi.Writer and betterosi.read.
• View OSI or MCAP file containing OSI GroundTruth betterosi-viewer <filepath.mcap / filepath.osi>(adapted from esmini)
• Convert osi to mcap with betterosi-to-mcap <filepath to osi>.

The library uses code from esmini (betterosi/viewer.py) under MPL 2.0 license and the code from open-simulation-interface to read osi traces (betterosi/osi3trace.py).

The library uses code generation of python-betterproto2-compiler to generate python code from the protobuf definitions of open-simulation-interface.

Since OSI and esmini are under MPL, also this repository is published under MPL-2.0 license.

Differences to OSI 3.7.0

The proto definitions extend the OSI 3.7.0 definitions in the following ways:

• Add MapAsamOpenDrive Message: Packages the XML content of an ASAM OpenDRIVE map in a proto Message

See omega-prime for details.

Install

pip install betterosi

Create an OSI or MCAP trace

To create an OSI or MCAP trace, you need to use betterosi.Writer. After creating the OSI Message of your desire, just add it to the Writer as shown in the examples below for either MCAP traaces or OSI traces.

import betterosi

with betterosi.Writer('test.mcap') as writer:
    gt = betterosi.GroundTruth(...)
    writer.add(gt)

with betterosi.Writer('test.osi') as writer:
    sv = betterosi.SensorView(...)
    writer.add(sv)

Below a full example is given which creates three files, and MCAP trace and and OSI trace with GroundTruth messages and a MCAP trace of SensorViews. If you use the code, you obviously just need one of the writers.

import betterosi
NANOS_PER_SEC = 1_000_000_000


with betterosi.Writer('test.mcap') as writer_mcap, betterosi.Writer('test.osi') as writer_osi, betterosi.Writer('test_sv.mcap') as writer_sv:
    moving_object = betterosi.MovingObject(id=betterosi.Identifier(value=42),
        type = betterosi.MovingObjectType.TYPE_UNKNOWN,
        base=betterosi.BaseMoving(
            dimension= betterosi.Dimension3D(length=5, width=2, height=1),
            position = betterosi.Vector3D(x=0, y=0, z=0),
            orientation = betterosi.Orientation3D(roll = 0.0, pitch = 0.0, yaw = 0.0),
            velocity = betterosi.Vector3D(x=1, y=0, z=0)
    ))
    gt = betterosi.GroundTruth(
        version=betterosi.InterfaceVersion(version_major= 3, version_minor=7, version_patch=0),
        timestamp=betterosi.Timestamp(seconds=0, nanos=0),
        moving_object=[
            moving_object
        ],
        host_vehicle_id=betterosi.Identifier(value=0)
    )
    sv = betterosi.SensorView(
        version=betterosi.InterfaceVersion(version_major= 3, version_minor=7, version_patch=0),
        timestamp=betterosi.Timestamp(seconds=0, nanos=0),
        global_ground_truth=gt,
        host_vehicle_id=betterosi.Identifier(value=0)
    )
    # Generate 1000 OSI messages for a duration of 10 seconds
    for i in range(1000):
        total_nanos = i*0.01*NANOS_PER_SEC
        gt.timestamp.seconds = int(total_nanos // NANOS_PER_SEC)
        gt.timestamp.nanos = int(total_nanos % NANOS_PER_SEC)
        moving_object.base.position.x += 0.5
        sv.timestamp = gt.timestamp

        writer_mcap.add(gt)
        writer_osi.add(gt)
        writer_sv.add(sv)

When writing MCAP messages you can specifiy the topic in the writer and the add function by setting the topic argument. When reading such files, set the argument mcap_topic to the same string.

Read OSI and MCAP

With betterosi.read you can read an mcap or osi trace. read returns a generator. With the following code, you can get a list of the GroundTruth messages from a trace, even if the GroundTruth are nested inside SensorViews. It works the same for OSI traces.

import betterosi
ground_truths = list(betterosi.read('test_sv.mcap', return_ground_truth=True))
print([len(ground_truths), ground_truths[0]])

Above code prints the following:

[1000, GroundTruth(version=InterfaceVersion(version_major=3, version_minor=7), timestamp=Timestamp(), host_vehicle_id=Identifier(), moving_object=[MovingObject(id=Identifier(value=42), base=BaseMoving(dimension=Dimension3D(length=5.0, width=2.0, height=1.0), position=Vector3D(x=0.5), orientation=Orientation3D(), velocity=Vector3D(x=1.0)))])]

If you want a list of the sensor views directly:

import betterosi
sensor_views = betterosi.read('test_sv.mcap', return_sensor_view=True)
print(next(sensor_views))

The above prints:

SensorView(version=InterfaceVersion(version_major=3, version_minor=7), timestamp=Timestamp(), global_ground_truth=GroundTruth(version=InterfaceVersion(version_major=3, version_minor=7), timestamp=Timestamp(), host_vehicle_id=Identifier(), moving_object=[MovingObject(id=Identifier(value=42), base=BaseMoving(dimension=Dimension3D(length=5.0, width=2.0, height=1.0), position=Vector3D(x=0.5), orientation=Orientation3D(), velocity=Vector3D(x=1.0)))]), host_vehicle_id=Identifier())

If you want to read any OSI trace, you just need to give the filename.

import betterosi
any_osi_message = betterosi.read('test.osi')
any_osi_message = betterosi.read('test.mcap')

Generate library code

pip install grpcio-tools git+https://github.com/MichaelSchuldes/python-betterproto2-compiler@serialized_descriptors

cd into osi-proto and run the following command to generate the code

cd osi-proto

mkdir ../betterosi/generated

python -m grpc_tools.protoc -I . --python_betterproto2_out=../betterosi/generated osi_common.proto osi_datarecording.proto osi_detectedlane.proto osi_detectedobject.proto osi_detectedoccupant.proto osi_detectedroadmarking.proto osi_detectedtrafficlight.proto osi_detectedtrafficsign.proto osi_environment.proto osi_featuredata.proto osi_groundtruth.proto osi_hostvehicledata.proto osi_lane.proto osi_logicaldetectiondata.proto osi_logicallane.proto osi_motionrequest.proto osi_object.proto osi_occupant.proto osi_referenceline.proto osi_roadmarking.proto osi_route.proto osi_sensordata.proto osi_sensorspecific.proto osi_sensorview.proto osi_sensorviewconfiguration.proto osi_streamingupdate.proto osi_trafficcommand.proto osi_trafficcommandupdate.proto osi_trafficlight.proto osi_trafficsign.proto osi_trafficupdate.proto osi_version.proto osi_mapasamopendrive.proto

LICENSE and Copyright

This code is published under MPL-2.0 license. It utilizes and modifies parts of esmini (betterosi/viewer.py) under MPL-2.0 and open-simulation-interface (osi-proto/* and betterosi/osi3trace.py) under MPL-2.o