From 8a8d8c2272a8dc16a2fc46342ffac98aaa3a0af7 Mon Sep 17 00:00:00 2001 From: Will Date: Tue, 8 Oct 2024 15:50:55 -0600 Subject: [PATCH] rerun: fix rp_visualization TypeError (#33749) * Fixed iteration over liveTracks in radar visualization by ensuring the data structure is iterable and made the background black * Requested changes, moved conditional to function call * Simplified conditional, renamed method --- tools/replay/lib/rp_helpers.py | 5 +++-- tools/replay/rp_visualization.py | 5 +++-- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py index 95eef9d233..aa20ab8e32 100644 --- a/tools/replay/lib/rp_helpers.py +++ b/tools/replay/lib/rp_helpers.py @@ -8,7 +8,8 @@ rerunColorPalette = [(96, "red", (255, 0, 0)), (230, "vibrantpink", (255, 36, 170)), (240, "orange", (255, 146, 0)), (255, "white", (255, 255, 255)), - (110, "carColor", (255,0,127))] + (110, "carColor", (255,0,127)), + (0, "background", (0, 0, 0))] class UIParams: @@ -68,7 +69,7 @@ def plot_lead(rs, lid_overlay): lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0] -def maybe_update_radar_points(lt, lid_overlay): +def update_radar_points(lt, lid_overlay): ar_pts = [] if lt is not None: ar_pts = {} diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py index 01058967b2..25169b72ae 100755 --- a/tools/replay/rp_visualization.py +++ b/tools/replay/rp_visualization.py @@ -8,7 +8,7 @@ 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, - maybe_update_radar_points, plot_lead, + update_radar_points, plot_lead, plot_model) from msgq.visionipc import VisionIpcClient, VisionStreamType @@ -33,7 +33,8 @@ def visualize(addr): if sm.recv_frame['radarState']: plot_lead(sm['radarState'], lid_overlay) liveTracksTime = sm.logMonoTime['liveTracks'] - maybe_update_radar_points(sm['liveTracks'], lid_overlay) + 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)))