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I created a figure in Python with raster and vector data. I can save it to a PDF but I need to save it as a geospatial PDF with metadata like transform and PROJCS to open in apps like Avenza Maps. How can I do that?

I'm using rasterio, Cartopy, GeoPandas and matplotlib to create the image.

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You can find GDAL Python examples from https://github.com/OSGeo/gdal/blob/master/autotest/gdrivers/pdf.py. See how SetProjection and SetGeoTransform are used.

For example around line #741

 ds = gdal.Open("tmp/pdf_update_gt.pdf", gdal.GA_Update)
    sr = osr.SpatialReference()
    sr.ImportFromEPSG(4326)
    ds.SetProjection(sr.ExportToWkt())
    ds.SetGeoTransform([2, 1, 0, 49, 0, -1])
    ds = None
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