Updated COSMO to use shared orbit-georef and opendrive-map libraries to get a single shared source for multiple tools using the same functionality

.github/workflows/ci.yml

@@ -21,43 +21,39 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v6
 
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v6
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
         with:
           python-version: ${{ matrix.python-version }}
 
       - name: Install package + dev extras
-        run: |
-          python -m pip install --upgrade pip
-          # [dependency-groups] is uv syntax; pip doesn't resolve it, so install tools explicitly
-          python -m pip install -e . pytest ruff
+        run: uv sync --group dev
 
       - name: Lint (ruff)
-        run: ruff check .
+        run: uv run ruff check .
 
       # Optional but recommended: verifies console scripts + dispatch without launching GUI.
       # NOTE: calling plain `cosmo` (no args) attempts to start the GUI by default.
       - name: CLI sanity check (no GUI)
         run: |
-          cosmo --version
-          cosmo convert --help
-          cosmo calibrate --help
+          uv run cosmo --version
+          uv run cosmo convert --help
+          uv run cosmo calibrate --help
 
       # Run smoke tests first for fast feedback, then run the rest (skip smoke).
       - name: Run smoke tests (CLI / entrypoints)
         env:
           MPLBACKEND: Agg
-        run: pytest -q -m smoke
+        run: uv run pytest -q -m smoke
 
       - name: Run full test suite (skip smoke)
         env:
           MPLBACKEND: Agg
-        run: pytest -q -m "not smoke"
+        run: uv run pytest -q -m "not smoke"
 
       - name: Build wheel/sdist
         run: |
-          python -m pip install build
-          python -m build
+          uv build
           ls -la dist
 
   integration:
@@ -66,16 +62,13 @@ jobs:
     if: github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'
     steps:
       - uses: actions/checkout@v6
-      - uses: actions/setup-python@v6
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
         with:
           python-version: "3.12"
       - name: Install package + dev extras
-        run: |
-          python -m pip install --upgrade pip
-          python -m pip install -e . pytest ruff
-          # ensure optional deps are available
-          python -m pip install betterosi mcap
+        run: uv sync --group dev --group mcap
       - name: Run integration tests
         env:
           MPLBACKEND: Agg
-        run: pytest -q -m integration
+        run: uv run pytest -q -m integration

pyproject.toml

@@ -4,11 +4,11 @@ build-backend = "hatchling.build"
 
 [project]
 name = "cosmo"
-version = "0.4.1"
+version = "0.5.0"
 description = "COSMO conversion tools (OpenLABEL -> OSI/MCAP + Omega-Prime CSV) with GUI"
 readme = "README.md"
 requires-python = ">=3.10"
-dependencies = ["numpy", "pandas", "pillow", "matplotlib", "dataprov", "reverse_geocoder", "pycountry"]
+dependencies = ["numpy", "pandas", "pillow", "matplotlib", "dataprov", "reverse_geocoder", "pycountry", "orbit-georef", "opendrive-map"]
 
 
 [dependency-groups]
@@ -26,6 +26,12 @@ cosmo-cli            = [{include-group = "mcap"}, {include-group = "plot"}]
 cosmo-gui            = [{include-group = "gui"}, {include-group = "mcap"}, {include-group = "plot"}]
 trajectory-explorer  = [{include-group = "gui"}, {include-group = "mcap"}, {include-group = "ontology"}]
 
+# orbit-georef and opendrive-map are standalone packages living as subdirectories
+# of the ORBIT repo, pinned here to per-lib git tags. Bump the tag to upgrade.
+[tool.uv.sources]
+orbit-georef = { git = "https://github.com/RI-SE/ORBIT.git", subdirectory = "orbit-georef", tag = "orbit-georef-v0.1.2" }
+opendrive-map = { git = "https://github.com/RI-SE/ORBIT.git", subdirectory = "opendrive-map", tag = "opendrive-map-v0.1.0" }
+
 [project.scripts]
 cosmo = "cosmo.cli.main:main"
 cosmo-gui = "cosmo.cli.gui:main"

src/cosmo/app/convert_app.py

@@ -59,6 +59,10 @@ class ConvertConfig:
     # ISO 3166-1 numeric country code; auto-derived from georef lat/lon if None
     country_code: Optional[int] = None
 
+    # object output frame: "global" (absolute proj_string CRS) or "local"
+    # (map-local; offset recorded in OSI proj_frame_offset)
+    object_frame: str = "global"
+
     # output control
     out_dir: Optional[str] = None  # If None => <project>/runs/<timestamp>_convert_<stem>/
     run_name: Optional[str] = None  # Optional override for the run folder name
@@ -277,6 +281,7 @@ def run_convert(cfg: ConvertConfig, log_fn: Optional[LogFn] = None) -> ConvertRe
         corrector=corrector,
         stabilize_size=cfg.stabilize_size,
         country_code=cfg.country_code,
+        object_frame=cfg.object_frame,
     )
 
     # determine produced outputs

src/cosmo/cli/convert.py

@@ -141,6 +141,11 @@ def build_parser() -> argparse.ArgumentParser:
                     help="ISO 3166-1 numeric country code (e.g. 752=Sweden); "
                          "auto-derived from georef lat/lon if omitted.")
 
+    ap.add_argument("--object-frame", choices=["global", "local"], default="global",
+                    help="Object coordinate frame: 'global' = absolute proj_string CRS "
+                         "(default); 'local' = map-local, shifted by the OpenDRIVE header "
+                         "<offset> and recorded in OSI proj_frame_offset (requires --odr).")
+
     # Run folder naming
     ap.add_argument("--run-name", required=False, help="Optional override for run folder name")
 
@@ -279,6 +284,7 @@ def main(argv=None) -> int:
         output_prefix=getattr(args, "output_prefix", None),
         stabilize_size=args.stabilize_size,
         country_code=args.country_code,
+        object_frame=args.object_frame,
     )
 
     def _log(line: str) -> None:

src/cosmo/converters/openlabel_to_omega.py

@@ -39,6 +39,18 @@
 except ImportError:  # pragma: no cover
     betterosi = None
 
+# orbit-georef owns the ORBIT georef JSON format + pixel→ground transform.
+try:
+    from orbit_georef import GeoTransformer
+except ImportError:  # pragma: no cover
+    GeoTransformer = None
+
+# opendrive-map owns the authoritative OpenDRIVE header <offset> (map frame origin).
+try:
+    from opendrive_map import read_offset as _read_map_offset
+except ImportError:  # pragma: no cover
+    _read_map_offset = None
+
 from cosmo.converters.ontology_mapper import OntologyMapper
 
 # -----------------------------------------------------------------------------
@@ -308,7 +320,14 @@ def load_alignment(
                 f"Unsupported ORBIT georef transform_method='{georef.get('transform_method')}'. "
                 "Expected homography-style pixel->ground transform."
             )
-        if "transformation_matrix" in georef:
+        # orbit-georef owns the ORBIT georef format; use it for full exports and
+        # fall back to inline parsing for partial/legacy calibration-style files.
+        is_full_orbit_georef = all(
+            k in georef for k in ("transformation_matrix", "inverse_matrix", "reference_point")
+        )
+        if GeoTransformer is not None and georef_data_path and is_full_orbit_georef:
+            H = GeoTransformer.from_file(georef_data_path).transform_matrix
+        elif "transformation_matrix" in georef:
             H = np.array(georef["transformation_matrix"], dtype=np.float64)
         elif "homography" in georef:
             H = np.array(georef["homography"], dtype=np.float64)
@@ -556,6 +575,7 @@ def convert_openlabel_to_omega(
     corrector=None,
     stabilize_size: bool = False,
     country_code: Optional[int] = None,
+    object_frame: str = "global",
 ):
     """
     Convert OpenLABEL -> Omega-Prime CSV and optionally OSI GroundTruth MCAP.
@@ -598,6 +618,20 @@ def _log(msg: str) -> None:
     if write_mcap and betterosi is None:
         _log('[COSMO] MCAP requested but betterosi is not installed; will write CSV only.')
 
+    # Object output frame. "global": absolute coords in the proj_string CRS (default).
+    # "local": coords shifted by the map's header <offset> so objects and the embedded
+    # OpenDRIVE share one frame; the offset is recorded in OSI proj_frame_offset.
+    frame_off = (0.0, 0.0, 0.0)
+    if object_frame == "local":
+        if not (odr_path and _read_map_offset and os.path.isfile(odr_path)):
+            raise ValueError(
+                "object_frame='local' requires --odr with a header <offset> "
+                "(and opendrive-map installed)."
+            )
+        frame_off = _read_map_offset(odr_path)
+        _log(f"[COSMO] object_frame=local; subtracting map offset {frame_off}")
+    elif object_frame != "global":
+        raise ValueError(f"object_frame must be 'global' or 'local', got {object_frame!r}")
 
     vt_name_to_code, vr_name_to_code, vt_default, vr_default = build_enum_code_maps()
 
@@ -752,6 +786,13 @@ def _write_ground_truth(writer_mcap, t_sec: float, total_nanos: int, moving_obje
             gt.proj_string = _gt_proj_string
         if _gt_country_code:
             gt.country_code = _gt_country_code
+        if object_frame == "local" and any(frame_off):
+            # OSI: world = proj_frame_offset + osi, then proj_string. Records the
+            # local→projected-CRS shift so local coords stay fully georeferenced.
+            gt.proj_frame_offset = betterosi.GroundTruthProjFrameOffset(
+                position=betterosi.Vector3D(x=frame_off[0], y=frame_off[1], z=frame_off[2]),
+                yaw=0.0,
+            )
         # Provide log_time explicitly; readers often build indices from it. [4](https://ika-rwth-aachen.github.io/omega-prime/notebooks/tutorial/)
         writer_mcap.add(gt, topic="ground_truth", log_time=total_nanos)
 
@@ -809,6 +850,8 @@ def _write_ground_truth(writer_mcap, t_sec: float, total_nanos: int, moving_obje
                         else:
                             length, width, height = estimate_dims(label_type, w_px, h_px, oid)
 
+                    X, Y, Z = X - frame_off[0], Y - frame_off[1], Z - frame_off[2]
+
                     if stabilize_size:
                         length, width, height = size_avg.get(oid, (length, width, height))
 
@@ -911,6 +954,8 @@ def _write_ground_truth(writer_mcap, t_sec: float, total_nanos: int, moving_obje
                     else:
                         length, width, height = estimate_dims(label_type, w_px, h_px, oid)
 
+                X, Y, Z = X - frame_off[0], Y - frame_off[1], Z - frame_off[2]
+
                 if stabilize_size:
                     length, width, height = size_avg.get(oid, (length, width, height))