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.

Install

pip install betterosi

Read OSI and MCAP

The following code creates a list of GroundTruth messages from an MCAP file for OSI trace containing SensorViews or GroundTruth messages.

import betterosi

ground_truths = betterosi.read('filepath.mcap/filepath.osi', return_ground_truth=True)
sensor_views = betterosi.read('filepath.osi', return_sensor_view=True)
any_osi_message = betterosi.read('filepath.mcap')

Writing MCAP file

With the following code you can create an MCAP file. If you change the filepath test.mcap to test.osi, an OSI tracefile will be created.

Create MCAP

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

Create OSI

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

Full example

import betterosi
NANOS_PER_SEC = 1_000_000_000


with betterosi.Writer(f'test.mcap') as writer:
    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)
    )
    # 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

        writer.add(gt)

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