Release 260111

2026-01-11 18:23:29 +08:00
commit 3721ecbf8a
2601 changed files with 855070 additions and 0 deletions
--- a/tools/replay/rp_visualization.py
+++ b/tools/replay/rp_visualization.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+import numpy as np
+import rerun as rr
+import cereal.messaging as messaging
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette,
+                                         get_blank_lid_overlay,
+                                         update_radar_points, plot_lead,
+                                         plot_model)
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+
+os.environ['BASEDIR'] = BASEDIR
+
+UP.lidar_zoom = 6
+
+def visualize(addr):
+  sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+  while True:
+    if not vipc_client.is_connected():
+      vipc_client.connect(True)
+    new_data = vipc_client.recv()
+    if new_data is None or not new_data.data.any():
+      continue
+
+    sm.update(0)
+    lid_overlay = get_blank_lid_overlay(UP)
+    if sm.recv_frame['modelV2']:
+      plot_model(sm['modelV2'], lid_overlay)
+    if sm.recv_frame['radarState']:
+      plot_lead(sm['radarState'], lid_overlay)
+    liveTracksTime = sm.logMonoTime['liveTracks']
+    if sm.updated['liveTracks']:
+      update_radar_points(sm['liveTracks'], lid_overlay)
+    rr.set_time_nanos("TIMELINE", liveTracksTime)
+    rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1)))
+
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+    description="Show replay data in a UI.",
+    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
+                      help="The ip address on which to receive zmq messages.")
+  parser.add_argument("--frame-address", default=None,
+                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  return parser
+
+
+if __name__ == "__main__":
+  args = get_arg_parser().parse_args(sys.argv[1:])
+  if args.ip_address != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.reset_context()
+  rr.init("RadarPoints", spawn= True)
+  rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True)
+  visualize(args.ip_address)