From 0539df7685b97c9490bfd61769d76bc96139b59b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 15 Jan 2025 18:50:44 -0800 Subject: [PATCH] bring back ui.py (#34396) * bring back uipy * fix it * fix --- tools/replay/lib/ui_helpers.py | 226 +++++++++++++++++++++++++++++++ tools/replay/ui.py | 238 +++++++++++++++++++++++++++++++++ 2 files changed, 464 insertions(+) create mode 100644 tools/replay/lib/ui_helpers.py create mode 100755 tools/replay/ui.py diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py new file mode 100644 index 0000000000..39431eca10 --- /dev/null +++ b/tools/replay/lib/ui_helpers.py @@ -0,0 +1,226 @@ +import itertools +from typing import Any + +import matplotlib.pyplot as plt +import numpy as np +import pygame + +from matplotlib.backends.backend_agg import FigureCanvasAgg + +from openpilot.common.transformations.camera import get_view_frame_from_calib_frame +from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA + + +RED = (255, 0, 0) +GREEN = (0, 255, 0) +BLUE = (0, 0, 255) +YELLOW = (255, 255, 0) +BLACK = (0, 0, 0) +WHITE = (255, 255, 255) + +class UIParams: + lidar_x, lidar_y, lidar_zoom = 384, 960, 6 + lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 + car_hwidth = 1.7272 / 2 * lidar_zoom + car_front = 2.6924 * lidar_zoom + car_back = 1.8796 * lidar_zoom + car_color = 110 +UP = UIParams + +METER_WIDTH = 20 + +class Calibration: + def __init__(self, num_px, rpy, intrinsic, calib_scale): + self.intrinsic = intrinsic + self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3] + self.zoom = calib_scale + + def car_space_to_ff(self, x, y, z): + car_space_projective = np.column_stack((x, y, z)).T + + ep = self.extrinsics_matrix.dot(car_space_projective) + kep = self.intrinsic.dot(ep) + return (kep[:-1, :] / kep[-1, :]).T + + def car_space_to_bb(self, x, y, z): + pts = self.car_space_to_ff(x, y, z) + return pts / self.zoom + + +_COLOR_CACHE : dict[tuple[int, int, int], Any] = {} +def find_color(lidar_surface, color): + if color in _COLOR_CACHE: + return _COLOR_CACHE[color] + tcolor = 0 + ret = 255 + for x in lidar_surface.get_palette(): + if x[0:3] == color: + ret = tcolor + break + tcolor += 1 + _COLOR_CACHE[color] = ret + return ret + + +def to_topdown_pt(y, x): + px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y + if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y: + return int(px), int(py) + return -1, -1 + + +def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0): + x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off + pts = calibration.car_space_to_bb(x, y, z) + pts = np.round(pts).astype(int) + + # draw lidar path point on lidar + # find color in 8 bit + if lid_color is not None and top_down is not None: + tcolor = find_color(top_down[0], lid_color) + for i in range(len(x)): + px, py = to_topdown_pt(x[i], y[i]) + if px != -1: + top_down[1][px, py] = tcolor + + height, width = img.shape[:2] + for x, y in pts: + if 1 < x < width - 1 and 1 < y < height - 1: + for a, b in itertools.permutations([-1, 0, -1], 2): + img[y + a, x + b] = color + + +def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles): + color_palette = { "r": (1, 0, 0), + "g": (0, 1, 0), + "b": (0, 0, 1), + "k": (0, 0, 0), + "y": (1, 1, 0), + "p": (0, 1, 1), + "m": (1, 0, 1)} + + dpi = 90 + fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi) + canvas = FigureCanvasAgg(fig) + + fig.set_facecolor((0.2, 0.2, 0.2)) + + axs = [] + for pn in range(len(plot_ylims)): + ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1) + ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1]) + ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1]) + ax.patch.set_facecolor((0.4, 0.4, 0.4)) + axs.append(ax) + + plots, idxs, plot_select = [], [], [] + for i, pl_list in enumerate(plot_names): + for j, item in enumerate(pl_list): + plot, = axs[i].plot(arr[:, name_to_arr_idx[item]], + label=item, + color=color_palette[plot_colors[i][j]], + linestyle=plot_styles[i][j]) + plots.append(plot) + idxs.append(name_to_arr_idx[item]) + plot_select.append(i) + axs[i].set_title(", ".join(f"{nm} ({cl})" + for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) + axs[i].tick_params(axis="x", colors="white") + axs[i].tick_params(axis="y", colors="white") + axs[i].title.set_color("white") + + if i < len(plot_ylims) - 1: + axs[i].set_xticks([]) + + canvas.draw() + + def draw_plots(arr): + for ax in axs: + ax.draw_artist(ax.patch) + for i in range(len(plots)): + plots[i].set_ydata(arr[:, idxs[i]]) + axs[plot_select[i]].draw_artist(plots[i]) + + raw_data = canvas.buffer_rgba() + plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert() + return plot_surface + + return draw_plots + + +def pygame_modules_have_loaded(): + return pygame.display.get_init() and pygame.font.get_init() + + +def plot_model(m, img, calibration, top_down): + if calibration is None or top_down is None: + return + + for lead in m.leadsV3: + if lead.prob < 0.5: + continue + + x, y = lead.x[0], lead.y[0] + x_std = lead.xStd[0] + x -= RADAR_TO_CAMERA + + _, py_top = to_topdown_pt(x + x_std, y) + px, py_bottom = to_topdown_pt(x - x_std, y) + top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) + + for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True): + color = (0, int(255 * prob), 0) + draw_path(path, color, img, calibration, top_down, YELLOW) + + for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True): + prob = max(1 - std, 0) + color = (int(255 * prob), 0, 0) + draw_path(edge, color, img, calibration, top_down, RED) + + color = (255, 0, 0) + draw_path(m.position, color, img, calibration, top_down, RED, 1.22) + + +def plot_lead(rs, top_down): + for lead in [rs.leadOne, rs.leadTwo]: + if not lead.status: + continue + + x = lead.dRel + px_left, py = to_topdown_pt(x, -10) + px_right, _ = to_topdown_pt(x, 10) + top_down[1][px_left:px_right, py] = find_color(top_down[0], RED) + + +def maybe_update_radar_points(lt, lid_overlay): + ar_pts = [] + if lt is not None: + ar_pts = {} + for track in lt: + ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel] + for ids, pt in ar_pts.items(): + # negative here since radar is left positive + px, py = to_topdown_pt(pt[0], -pt[1]) + if px != -1: + color = 255 + if int(ids) == 1: + lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100 + else: + lid_overlay[px - 2:px + 2, py - 2:py + 2] = color + +def get_blank_lid_overlay(UP): + lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') + # Draw the car. + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( + round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - + UP.car_front))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( + round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( + round(UP.lidar_car_y - UP.car_front)):int(round( + UP.lidar_car_y + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( + round(UP.lidar_car_y - UP.car_front)):int(round( + UP.lidar_car_y + UP.car_back))] = UP.car_color + return lid_overlay diff --git a/tools/replay/ui.py b/tools/replay/ui.py new file mode 100755 index 0000000000..03f3a0c37c --- /dev/null +++ b/tools/replay/ui.py @@ -0,0 +1,238 @@ +#!/usr/bin/env python3 +import argparse +import os +import sys + +import cv2 +import numpy as np +import pygame + +import cereal.messaging as messaging +from openpilot.common.numpy_fast import clip +from openpilot.common.basedir import BASEDIR +from openpilot.common.transformations.camera import DEVICE_CAMERAS +from openpilot.tools.replay.lib.ui_helpers import (UP, + BLACK, GREEN, + YELLOW, Calibration, + get_blank_lid_overlay, init_plots, + maybe_update_radar_points, plot_lead, + plot_model, + pygame_modules_have_loaded) +from msgq.visionipc import VisionIpcClient, VisionStreamType + +os.environ['BASEDIR'] = BASEDIR + +ANGLE_SCALE = 5.0 + +def ui_thread(addr): + cv2.setNumThreads(1) + pygame.init() + pygame.font.init() + assert pygame_modules_have_loaded() + + disp_info = pygame.display.Info() + max_height = disp_info.current_h + + hor_mode = os.getenv("HORIZONTAL") is not None + hor_mode = True if max_height < 960+300 else hor_mode + + if hor_mode: + size = (640+384+640, 960) + write_x = 5 + write_y = 680 + else: + size = (640+384, 960+300) + write_x = 645 + write_y = 970 + + pygame.display.set_caption("openpilot debug UI") + screen = pygame.display.set_mode(size, pygame.DOUBLEBUF) + + alert1_font = pygame.font.SysFont("arial", 30) + alert2_font = pygame.font.SysFont("arial", 20) + info_font = pygame.font.SysFont("arial", 15) + + camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert() + top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8) + + sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', + 'selfdriveState', 'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr) + + img = np.zeros((480, 640, 3), dtype='uint8') + imgff = None + num_px = 0 + calibration = None + + lid_overlay_blank = get_blank_lid_overlay(UP) + + # plots + name_to_arr_idx = { "gas": 0, + "computer_gas": 1, + "user_brake": 2, + "computer_brake": 3, + "v_ego": 4, + "v_pid": 5, + "angle_steers_des": 6, + "angle_steers": 7, + "angle_steers_k": 8, + "steer_torque": 9, + "v_override": 10, + "v_cruise": 11, + "a_ego": 12, + "a_target": 13} + + plot_arr = np.zeros((100, len(name_to_arr_idx.values()))) + + plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])] + plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)] + plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"], + ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"], + ["v_ego", "v_override", "v_pid", "v_cruise"], + ["a_ego", "a_target"]] + plot_colors = [["b", "b", "g", "r", "y"], + ["b", "g", "y", "r"], + ["b", "g", "r", "y"], + ["b", "r"]] + plot_styles = [["-", "-", "-", "-", "-"], + ["-", "-", "-", "-"], + ["-", "-", "-", "-"], + ["-", "-"]] + + draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles) + + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) + while True: + for event in pygame.event.get(): + if event.type == pygame.QUIT: + pygame.quit() + sys.exit() + + screen.fill((64, 64, 64)) + lid_overlay = lid_overlay_blank.copy() + top_down = top_down_surface, lid_overlay + + # ***** frame ***** + if not vipc_client.is_connected(): + vipc_client.connect(True) + + yuv_img_raw = vipc_client.recv() + if yuv_img_raw is None or not yuv_img_raw.data.any(): + continue + + sm.update(0) + + camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))] + + imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride)) + num_px = vipc_client.width * vipc_client.height + rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12) + + qcam = "QCAM" in os.environ + bb_scale = (528 if qcam else camera.fcam.width) / 640. + calib_scale = camera.fcam.width / 640. + zoom_matrix = np.asarray([ + [bb_scale, 0., 0.], + [0., bb_scale, 0.], + [0., 0., 1.]]) + cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) + + intrinsic_matrix = camera.fcam.intrinsics + + w = sm['controlsState'].lateralControlState.which() + if w == 'lqrStateDEPRECATED': + angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg + elif w == 'indiState': + angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg + else: + angle_steers_k = np.inf + + plot_arr[:-1] = plot_arr[1:] + plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg + plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg + plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k + plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas + # TODO gas is deprecated + plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0) + plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake + plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE + # TODO brake is deprecated + plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0) + plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo + plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed + plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo + + if len(sm['longitudinalPlan'].accels): + plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0] + + if sm.recv_frame['modelV2']: + plot_model(sm['modelV2'], img, calibration, top_down) + + if sm.recv_frame['radarState']: + plot_lead(sm['radarState'], top_down) + + # draw all radar points + maybe_update_radar_points(sm['liveTracks'].points, top_down[1]) + + if sm.updated['liveCalibration'] and num_px: + rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib) + calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale) + + # *** blits *** + pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1)) + screen.blit(camera_surface, (0, 0)) + + # display alerts + alert_line1 = alert1_font.render(sm['selfdriveState'].alertText1, True, (255, 0, 0)) + alert_line2 = alert2_font.render(sm['selfdriveState'].alertText2, True, (255, 0, 0)) + screen.blit(alert_line1, (180, 150)) + screen.blit(alert_line2, (180, 190)) + + if hor_mode: + screen.blit(draw_plots(plot_arr), (640+384, 0)) + else: + screen.blit(draw_plots(plot_arr), (0, 600)) + + pygame.surfarray.blit_array(*top_down) + screen.blit(top_down[0], (640, 0)) + + SPACING = 25 + + lines = [ + info_font.render("ENABLED", True, GREEN if sm['selfdriveState'].enabled else BLACK), + info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW), + info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW), + info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW), + None, + info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW), + info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW), + info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW), + info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW) + ] + + for i, line in enumerate(lines): + if line is not None: + screen.blit(line, (write_x, write_y + i * SPACING)) + + # this takes time...vsync or something + pygame.display.flip() + +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() + + ui_thread(args.ip_address)