Release 260111

tools/rerun/README.md

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+# Rerun
+Rerun is a tool to quickly visualize time series data. It supports all openpilot logs , both the `logMessages` and video logs.
+
+[Instructions](https://rerun.io/docs/reference/viewer/overview) for navigation within the Rerun Viewer.
+
+## Usage
+```
+usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [route_or_segment_name]
+
+A helper to run rerun on openpilot routes
+
+positional arguments:
+  route_or_segment_name
+                        The route or segment name to plot (default: None)
+
+options:
+  -h, --help            show this help message and exit
+  --demo                Use the demo route instead of providing one (default: False)
+  --qcam                Show low-res road camera (default: False)
+  --fcam                Show driving camera (default: False)
+  --ecam                Show wide camera (default: False)
+  --dcam                Show driver monitoring camera (default: False)
+```
+
+Examples using route name to observe accelerometer and qcamera:
+
+`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
+
+Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
+
+`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+
+## Cautions:
+- Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
+
+## Demo
+`./run.py --qcam --demo`

tools/rerun/camera_reader.py

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+import tqdm
+import subprocess
+import multiprocessing
+from enum import StrEnum
+from functools import partial
+from collections import namedtuple
+
+from openpilot.tools.lib.framereader import ffprobe
+
+CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"])
+
+class CameraType(StrEnum):
+  qcam = "qcamera"
+  fcam = "fcamera"
+  ecam = "ecamera"
+  dcam = "dcamera"
+
+
+def probe_packet_info(camera_path):
+  args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path]
+  dat = subprocess.check_output(args)
+  dat = dat.decode().split()
+  return dat
+
+
+class _FrameReader:
+  def __init__(self, camera_path, segment, h, w, start_time):
+    self.camera_path = camera_path
+    self.segment = segment
+    self.h = h
+    self.w = w
+    self.start_time = start_time
+
+    self.ts = self._get_ts()
+
+  def _read_stream_nv12(self):
+    frame_sz = self.w * self.h * 3 // 2
+    proc = subprocess.Popen(
+             ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
+             stdin=subprocess.PIPE,
+             stdout=subprocess.PIPE,
+             stderr=subprocess.DEVNULL
+           )
+    try:
+      while True:
+        dat = proc.stdout.read(frame_sz)
+        if len(dat) == 0:
+          break
+        yield dat
+    finally:
+      proc.kill()
+
+  def _get_ts(self):
+    dat = probe_packet_info(self.camera_path)
+    try:
+      ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")]
+    except ValueError:
+      # pts_times aren't available. Infer timestamps from duration_times
+      ret = [d for d in dat if d.startswith("duration_time")]
+      ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)]
+    return ret
+
+  def __iter__(self):
+    for i, frame in enumerate(self._read_stream_nv12()):
+      yield self.ts[i], frame
+
+
+class CameraReader:
+  def __init__(self, camera_paths, start_time, seg_idxs):
+    self.seg_idxs = seg_idxs
+    self.camera_paths = camera_paths
+    self.start_time = start_time
+
+    probe = ffprobe(camera_paths[0])["streams"][0]
+    self.h = probe["height"]
+    self.w = probe["width"]
+
+    self.__frs = {}
+
+  def _get_fr(self, i):
+    if i not in self.__frs:
+      self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time)
+    return self.__frs[i]
+
+  def _run_on_segment(self, func, i):
+    return func(self._get_fr(i))
+
+  def run_across_segments(self, num_processes, func, desc=None):
+    with multiprocessing.Pool(num_processes) as pool:
+      num_segs = len(self.seg_idxs)
+      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc):
+        continue
+

tools/rerun/run.py

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+#!/usr/bin/env python3
+
+import sys
+import argparse
+import multiprocessing
+import rerun as rr
+import rerun.blueprint as rrb
+from functools import partial
+from collections import defaultdict
+
+from cereal.services import SERVICE_LIST
+from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route, SegmentRange
+
+
+NUM_CPUS = multiprocessing.cpu_count()
+DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+RR_TIMELINE_NAME = "Timeline"
+RR_WIN = "openpilot logs"
+
+
+"""
+Relevant upstream Rerun issues:
+- loading videos directly: https://github.com/rerun-io/rerun/issues/6532
+"""
+
+class Rerunner:
+  def __init__(self, route, segment_range, camera_config):
+    self.lr = LogReader(route_or_segment_name)
+
+    # hevc files don't have start_time. We get it from qcamera.ts
+    start_time = 0
+    dat = probe_packet_info(route.qcamera_paths()[0])
+    for d in dat:
+      if d.startswith("pts_time="):
+        start_time = float(d.split('=')[1])
+        break
+
+    qcam, fcam, ecam, dcam = camera_config
+    self.camera_readers = {}
+    if qcam:
+      self.camera_readers[CameraType.qcam] = CameraReader(route.qcamera_paths(), start_time, segment_range.seg_idxs)
+    if fcam:
+      self.camera_readers[CameraType.fcam] = CameraReader(route.camera_paths(), start_time, segment_range.seg_idxs)
+    if ecam:
+      self.camera_readers[CameraType.ecam] = CameraReader(route.ecamera_paths(), start_time, segment_range.seg_idxs)
+    if dcam:
+      self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs)
+
+  def _create_blueprint(self):
+    blueprint = None
+    service_views = []
+
+    for topic in sorted(SERVICE_LIST.keys()):
+      View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
+      service_views.append(View(name=topic, origin=f"/{topic}/", visible=False))
+      rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
+
+    center_view = [rrb.Vertical(*service_views, name="streams")]
+    if len(self.camera_readers):
+      center_view.append(rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()], name="cameras"))
+
+    blueprint = rrb.Blueprint(
+      rrb.Horizontal(
+        *center_view
+      ),
+      rrb.SelectionPanel(expanded=False),
+      rrb.TimePanel(expanded=False),
+    )
+    return blueprint
+
+  @staticmethod
+  def _parse_msg(msg, parent_key=''):
+    stack = [(msg, parent_key)]
+    while stack:
+      current_msg, current_parent_key = stack.pop()
+      if isinstance(current_msg, list):
+        for index, item in enumerate(current_msg):
+          new_key = f"{current_parent_key}/{index}"
+          if isinstance(item, (int, float)):
+            yield new_key, item
+          elif isinstance(item, dict):
+            stack.append((item, new_key))
+      elif isinstance(current_msg, dict):
+        for key, value in current_msg.items():
+          new_key = f"{current_parent_key}/{key}"
+          if isinstance(value, (int, float)):
+            yield new_key, value
+          elif isinstance(value, dict):
+            stack.append((value, new_key))
+          elif isinstance(value, list):
+            for index, item in enumerate(value):
+              if isinstance(item, (int, float)):
+                yield f"{new_key}/{index}", item
+      else:
+        pass  # Not a plottable value
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_log_msgs(blueprint, lr):
+    rr.init(RR_WIN)
+    rr.connect()
+    rr.send_blueprint(blueprint)
+
+    log_msgs = defaultdict(lambda: defaultdict(list))
+    for msg in lr:
+      msg_type = msg.which()
+
+      if msg_type == "thumbnail":
+        continue
+
+      for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type):
+        log_msgs[entity_path]["times"].append(msg.logMonoTime)
+        log_msgs[entity_path]["data"].append(dat)
+
+    for entity_path, log_msg in log_msgs.items():
+      rr.send_columns(
+        entity_path,
+        times=[rr.TimeNanosColumn(RR_TIMELINE_NAME, log_msg["times"])],
+        components=[rr.components.ScalarBatch(log_msg["data"])]
+      )
+
+    return []
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_cam_readers(blueprint, cam_type, h, w, fr):
+    rr.init(RR_WIN)
+    rr.connect()
+    rr.send_blueprint(blueprint)
+
+    for ts, frame in fr:
+      rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
+      rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12))
+
+  def load_data(self):
+    rr.init(RR_WIN, spawn=True)
+
+    startup_blueprint = self._create_blueprint()
+    self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, startup_blueprint), desc="Log messages")
+    for cam_type, cr in self.camera_readers.items():
+      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, startup_blueprint, cam_type, cr.h, cr.w), desc=cam_type)
+
+    rr.send_blueprint(self._create_blueprint())
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
+                                  formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
+  parser.add_argument("--qcam", action="store_true", help="Show low-res road camera")
+  parser.add_argument("--fcam", action="store_true", help="Show driving camera")
+  parser.add_argument("--ecam", action="store_true", help="Show wide camera")
+  parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
+  args = parser.parse_args()
+
+  if not args.demo and not args.route_or_segment_name:
+    parser.print_help()
+    sys.exit()
+
+  camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam)
+  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
+
+  sr = SegmentRange(route_or_segment_name)
+  r = Route(sr.route_name)
+
+  hevc_requested = any(camera_config[1:])
+  if len(sr.seg_idxs) > 1 and hevc_requested:
+    print("You're requesting more than 1 segment with hevc videos, " + \
+          "please be aware that might take a lot of memory " + \
+          "since rerun isn't yet well supported for high resolution video logging")
+    response = input("Do you wish to continue? (Y/n): ")
+    if response.strip().lower() != "y":
+      sys.exit()
+
+  rerunner = Rerunner(r, sr, camera_config)
+  rerunner.load_data()
+