tools/Rerun: Add video logging features (#32810)

* working

* multiprocessing

* fix that

* print services

* all services + fix

* less verbose

* start readme

* segment range

* cleanup

* update readme + fix bug in 'all'

* cleanup + update readme

* update readme

* cleanup

* cleanup

* rm frame_iter

* cleanup

* staticmethod

* proc kill

* split files

* fix range with hevc vids

* update reamde + add prompt

* readme

* readme

* readme
old-commit-hash: 5e0aff92ae

tools/rerun/README.md

@@ -0,0 +1,57 @@
+# 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] [--print_services] [--services [SERVICES ...]] [route_or_segment_name]
+
+A helper to run rerun on openpilot routes
+
+options:
+  -h, --help                  show this help message and exit
+  --demo                      Use the demo route instead of providing one (default: False)
+  --qcam                      Log decimated driving camera (default: False)
+  --fcam                      Log driving camera (default: False)
+  --ecam                      Log wide camera (default: False)
+  --dcam                      Log driver monitoring camera (default: False)
+  --print_services            List out openpilot services (default: False)
+  --services [SERVICES ...]   Specify openpilot services that will be logged. No service will be logged if not specified.
+                              To log all services include 'all' as one of your services (default: [])
+  --route [ROUTE]             The route or segment name to plot (default: None)
+```
+
+Examples using route name to observe accelerometer and qcamera:
+
+`./run.py --services accelerometer --qcam --route "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 --route "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+
+## Cautions:
+- You can specify `--services all` to visualize all `logMessage`, but it will draw a lot of memory usage and take a long time to log all messages. Rerun isn't ready for logging big number of data.
+
+- Logging 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
+
+This example draws 13GB of memory:
+
+`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
+
+
+## Openpilot services
+To list all openpilot services:
+
+`./run.py --print_services`
+
+Examples including openpilot services:
+
+`./run.py --services accelerometer cameraodometry --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
+
+Examples including all services:
+
+`./run.py --services all --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
+
+## Demo
+`./run.py --services accelerometer carcontrol caroutput --qcam --demo`

tools/rerun/camera_reader.py

@@ -0,0 +1,92 @@
+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", "-"],
+             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):
+    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):
+        continue
+

tools/rerun/run.py

@@ -6,84 +6,170 @@ import rerun as rr
 import rerun.blueprint as rrb
 from functools import partial
 
-from openpilot.tools.lib.logreader import LogReader
 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 = "rerun_test"
+
+
+class Rerunner:
+  def __init__(self, route, segment_range, camera_config, enabled_services):
+    self.enabled_services = [s.lower() for s in enabled_services]
+    self.log_all = "all" in self.enabled_services
+    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(r.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 _start_rerun(self):
+    self.blueprint = self._create_blueprint()
+    rr.init(RR_WIN, spawn=True)
+
+  def _create_blueprint(self):
+    blueprint = None
+    service_views = []
+
+    log_msg_visible = len(self.enabled_services) <= 3 and not self.log_all
+    for topic in sorted(SERVICE_LIST.keys()):
+      if not self.log_all and topic.lower() not in self.enabled_services:
+        continue
+      View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
+      service_views.append(View(name=topic, origin=f"/{topic}/", visible=log_msg_visible))
+      rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
+
+    blueprint = rrb.Blueprint(
+      rrb.Horizontal(
+        rrb.Vertical(*service_views),
+        rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()]),
+      ),
+      rrb.SelectionPanel(expanded=False),
+      rrb.TimePanel(expanded=False)
+    )
+    return blueprint
+
+  @staticmethod
+  def _log_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)):
+            rr.log(new_key, rr.Scalar(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)):
+            rr.log(new_key, rr.Scalar(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)):
+                rr.log(f"{new_key}/{index}", rr.Scalar(item))
+      else:
+        pass  # Not a plottable value
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_log_msgs(blueprint, enabled_services, log_all, lr):
+    rr.init(RR_WIN)
+    rr.connect(default_blueprint=blueprint)
+
+    for msg in lr:
+      rr.set_time_nanos(RR_TIMELINE_NAME, msg.logMonoTime)
+      msg_type = msg.which()
+
+      if not log_all and msg_type.lower() not in enabled_services:
+        continue
+
+      if msg_type != "thumbnail":
+        Rerunner._log_msg(msg.to_dict()[msg.which()], msg.which())
+      else:
+        rr.log("/thumbnail", rr.ImageEncoded(contents=msg.to_dict()[msg.which()].get("thumbnail")))
+
+    return []
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_cam_readers(blueprint, cam_type, h, w, fr):
+    rr.init(RR_WIN)
+    rr.connect(default_blueprint=blueprint)
+
+    size_hint = (h, w)
+    for ts, frame in fr:
+      rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
+      rr.log(cam_type, rr.ImageEncoded(contents=frame,format=rr.ImageFormat.NV12(size_hint)))
+
+  def load_data(self):
+    self._start_rerun()
+    if len(self.enabled_services) > 0:
+      self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, self.blueprint, self.enabled_services, self.log_all))
+    for cam_type, cr in self.camera_readers.items():
+      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, self.blueprint, cam_type, cr.h, cr.w))
 
-def log_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)):
-          rr.log(str(new_key), rr.Scalar(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)):
-          rr.log(str(new_key), rr.Scalar(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)):
-              rr.log(f"{new_key}/{index}", rr.Scalar(item))
-    else:
-      pass  # Not a plottable value
-
-def createBlueprint():
-  blueprint = None
-  timeSeriesViews = []
-  for topic in sorted(SERVICE_LIST.keys()):
-    timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False))
-    rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
-    blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)),
-                                        rrb.Spatial2DView(name="thumbnail", origin="/thumbnail")))
-  return blueprint
-
-def log_thumbnail(thumbnailMsg):
-  bytesImgData = thumbnailMsg.get('thumbnail')
-  rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
-
-@rr.shutdown_at_exit
-def process(blueprint, lr):
-  rr.init("rerun_test")
-  rr.connect(default_blueprint=blueprint)
-
-  ret = []
-  for msg in lr:
-    ret.append(msg)
-    rr.set_time_nanos("TIMELINE", msg.logMonoTime)
-    if msg.which() != "thumbnail":
-      log_msg(msg.to_dict()[msg.which()], msg.which())
-    else:
-      log_thumbnail(msg.to_dict()[msg.which()])
-  return ret
 
 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("route_or_segment_name", nargs='?', help="The route or segment name to plot")
+  parser.add_argument("--qcam", action="store_true", help="Log decimated driving camera")
+  parser.add_argument("--fcam", action="store_true", help="Log driving camera")
+  parser.add_argument("--ecam", action="store_true", help="Log wide camera")
+  parser.add_argument("--dcam", action="store_true", help="Log driver monitoring camera")
+  parser.add_argument("--print_services", action="store_true", help="List out openpilot services")
+  parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\
+                                                                No service will be logged if not specified.\
+                                                                To log all services include 'all' as one of your services")
+  parser.add_argument("--route", nargs='?', help="The route or segment name to plot")
+  args = parser.parse_args()
 
-  if len(sys.argv) == 1:
+  if not args.demo and not args.route:
     parser.print_help()
     sys.exit()
 
-  args = parser.parse_args()
+  if args.print_services:
+    print("\n".join(SERVICE_LIST.keys()))
+    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.strip()
+  sr = SegmentRange(route_or_segment_name)
+  r = Route(sr.route_name)
+
+  if len(sr.seg_idxs) > 10:
+    print("You're requesting more than 10 segments of the route, " + \
+          "please be aware that might take a lot of memory")
+    response = input("Do you wish to continue? (Y/n): ")
+    if response.strip() != "Y":
+      sys.exit()
 
-  blueprint = createBlueprint()
+  rerunner = Rerunner(r, sr, camera_config, args.services)
-  rr.init("rerun_test")
+  rerunner.load_data()
-  rr.spawn(connect=False) # child processes stream data to Viewer
 
-  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-  print("Getting route log paths")
-  lr = LogReader(route_or_segment_name)
-  lr.run_across_segments(NUM_CPUS, partial(process, blueprint))