From b93c6982558bbe7c0851fa27f96d9510b77a995b Mon Sep 17 00:00:00 2001 From: Will Date: Sun, 6 Oct 2024 02:49:49 -0600 Subject: [PATCH 1/5] Fixed iteration over liveTracks in radar visualization by ensuring the data structure is iterable --- tools/replay/rp_visualization.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py index 01058967b2cc56..25366ea60d2131 100755 --- a/tools/replay/rp_visualization.py +++ b/tools/replay/rp_visualization.py @@ -37,6 +37,10 @@ def visualize(addr): rr.set_time_nanos("TIMELINE", liveTracksTime) rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1))) +def maybe_update_radar_points(live_tracks, lid_overlay): + if hasattr(live_tracks, 'trackList'): + for track in live_tracks.trackList: + pass def get_arg_parser(): parser = argparse.ArgumentParser( @@ -57,3 +61,4 @@ def get_arg_parser(): rr.init("RadarPoints", spawn= True) rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True) visualize(args.ip_address) + From 989afe399834a74eaba1f7630939fb1de641acb0 Mon Sep 17 00:00:00 2001 From: Will Date: Sun, 6 Oct 2024 02:52:03 -0600 Subject: [PATCH 2/5] Set rp_visualization background to black --- tools/replay/lib/rp_helpers.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py index 95eef9d233da30..3ff0fc29eefa2b 100644 --- a/tools/replay/lib/rp_helpers.py +++ b/tools/replay/lib/rp_helpers.py @@ -8,7 +8,8 @@ (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: From 98feabf311738141b6a52efc78b697145bbb95fe Mon Sep 17 00:00:00 2001 From: Will Date: Sun, 6 Oct 2024 03:21:18 -0600 Subject: [PATCH 3/5] Updated rp_helpers.py, combined fix from rp_visualization.py with existing maybe_update_radar_points method --- tools/replay/lib/rp_helpers.py | 36 ++++++++++++++++------------------ 1 file changed, 17 insertions(+), 19 deletions(-) diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py index 3ff0fc29eefa2b..edaa37006e4efd 100644 --- a/tools/replay/lib/rp_helpers.py +++ b/tools/replay/lib/rp_helpers.py @@ -70,25 +70,23 @@ def plot_lead(rs, lid_overlay): 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, track.oncoming, track.stationary] - 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: - if pt[-1]: - color = rerunColorPalette[4][0] - elif pt[-2]: - color = rerunColorPalette[3][0] - else: - color = rerunColorPalette[5][0] - if int(ids) == 1: - lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0] - else: - lid_overlay[px - 2:px + 2, py - 2:py + 2] = color + if lt is not None and hasattr(lt, 'trackList'): + ar_pts = {} + for track in lt.trackList: + ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary] + for ids, pt in ar_pts.items(): + px, py = to_topdown_pt(pt[0], -pt[1]) + if px != -1: + if pt[-1]: + color = rerunColorPalette[4][0] + elif pt[-2]: + color = rerunColorPalette[3][0] + else: + color = rerunColorPalette[5][0] + if int(ids) == 1: + lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0] + else: + lid_overlay[px - 2:px + 2, py - 2:py + 2] = color def get_blank_lid_overlay(UP): From 0a21b6d58c807367e8f4766ece4a7d226f8535c2 Mon Sep 17 00:00:00 2001 From: Will Date: Sun, 6 Oct 2024 03:21:43 -0600 Subject: [PATCH 4/5] Removed redundant method --- tools/replay/rp_visualization.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py index 25366ea60d2131..22cdb1d426cf68 100755 --- a/tools/replay/rp_visualization.py +++ b/tools/replay/rp_visualization.py @@ -37,10 +37,6 @@ def visualize(addr): rr.set_time_nanos("TIMELINE", liveTracksTime) rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1))) -def maybe_update_radar_points(live_tracks, lid_overlay): - if hasattr(live_tracks, 'trackList'): - for track in live_tracks.trackList: - pass def get_arg_parser(): parser = argparse.ArgumentParser( From f8594b87f70c405c3c36fe66773c3471a6b161ce Mon Sep 17 00:00:00 2001 From: Will Date: Sun, 6 Oct 2024 03:31:28 -0600 Subject: [PATCH 5/5] Removed blank space --- tools/replay/rp_visualization.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py index 22cdb1d426cf68..13dc317d4ca222 100755 --- a/tools/replay/rp_visualization.py +++ b/tools/replay/rp_visualization.py @@ -57,4 +57,4 @@ def get_arg_parser(): rr.init("RadarPoints", spawn= True) rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True) visualize(args.ip_address) - +