Merge pull request #37 from dbinfrago/feature/osdar26-ontology-and-validation-improvements

Feature/osdar26 ontology and validation improvements

Author: ZekiyeOez

raillabel_providerkit/_util/_sensor_metadata.py

@@ -4,6 +4,7 @@
 from raillabel.format import Camera, GpsImu, Lidar, Radar
 
 SENSOR_METADATA = {
+    # OSDAR23 sensors
     "rgb_center": Camera,
     "rgb_left": Camera,
     "rgb_right": Camera,
@@ -19,4 +20,14 @@
     "lidar": Lidar,
     "radar": Radar,
     "gps_imu": GpsImu,
+    # OSDAR26 sensors
+    "rgb_12mp_left": Camera,
+    "rgb_12mp_middle": Camera,
+    "rgb_12mp_right": Camera,
+    "rgb_5mp_left": Camera,
+    "rgb_5mp_middle": Camera,
+    "rgb_5mp_right": Camera,
+    "ir_middle": Camera,
+    "lidar_merged": Lidar,
+    "radar_cartesian": Radar,
 }

raillabel_providerkit/validation/validate_horizon/validate_horizon.py

@@ -27,31 +27,39 @@
 _OSDAR26_SENSOR_PATTERN = re.compile(r"^rgb_\d+mp_(left|middle|right)$|^ir_(left|middle|right)$")
 
 
-def _uses_osdar26_calibration(sensor_id: str) -> bool:
-    """Detect if the sensor uses OSDAR26 calibration conventions.
+def _scene_uses_osdar26_calibration(scene: raillabel.Scene) -> bool:
+    """Detect if the scene uses OSDAR26 calibration conventions.
 
     OSDAR26 sensors have different extrinsics rotation axis conventions
-    compared to OSDAR23. This function detects the calibration type based on
-    sensor naming patterns.
+    compared to OSDAR23. This function checks ALL sensors in the scene and
+    determines the calibration type based on naming patterns.
+
+    A scene is considered OSDAR26 if ANY of its sensors match the OSDAR26
+    naming pattern. This is more robust than checking individual sensors,
+    as a scene is either entirely OSDAR23 or entirely OSDAR26.
 
     Parameters
     ----------
-    sensor_id : str
-        The sensor identifier to check.
+    scene : raillabel.Scene
+        The scene to check.
 
     Returns
     -------
     bool
-        True if the sensor uses OSDAR26 calibration conventions.
+        True if the scene uses OSDAR26 calibration conventions.
     """
-    return bool(_OSDAR26_SENSOR_PATTERN.match(sensor_id))
+    for sensor_id in scene.sensors:
+        if _OSDAR26_SENSOR_PATTERN.match(sensor_id):
+            return True
+    return False
 
 
 def validate_horizon(scene: raillabel.Scene) -> list[Issue]:
     """Validate whether all track/transition annotations are below the horizon.
 
     The horizon validation automatically detects the calibration format based on
     sensor naming conventions and applies the appropriate coordinate transformation.
+    The detection is done once per scene by checking all sensor names.
 
     Parameters
     ----------
@@ -66,6 +74,9 @@ def validate_horizon(scene: raillabel.Scene) -> list[Issue]:
     """
     issues = []
 
+    # Detect calibration format once for the entire scene
+    uses_osdar26 = _scene_uses_osdar26_calibration(scene)
+
     filtered_scene = scene.filter(
         [
             IncludeObjectTypeFilter(["track", "transition"]),
@@ -80,7 +91,6 @@ def validate_horizon(scene: raillabel.Scene) -> list[Issue]:
                 raise AssertionError  # noqa: TRY004
 
             sensor_id = annotation.sensor_id
-            uses_osdar26 = _uses_osdar26_calibration(sensor_id)
 
             identifiers = IssueIdentifiers(
                 annotation=annotation_uid,