From 6a8575b5419c3e6dbc103371311a02dd928f363f Mon Sep 17 00:00:00 2001 From: Antoine Beyeler Date: Fri, 21 Feb 2025 16:38:24 +0100 Subject: [PATCH] WIP --- examples/python/px4_ulog/README.md | 37 +++ examples/python/px4_ulog/px4_ulog.py | 200 ++++++++++++++++ examples/python/px4_ulog/pyproject.toml | 19 ++ pixi.lock | 297 ++++++++++++++++++------ 4 files changed, 481 insertions(+), 72 deletions(-) create mode 100644 examples/python/px4_ulog/README.md create mode 100644 examples/python/px4_ulog/px4_ulog.py create mode 100644 examples/python/px4_ulog/pyproject.toml diff --git a/examples/python/px4_ulog/README.md b/examples/python/px4_ulog/README.md new file mode 100644 index 000000000000..a3e1da90bed0 --- /dev/null +++ b/examples/python/px4_ulog/README.md @@ -0,0 +1,37 @@ + + + + + +TODO: complete thse + +## Run the code + +To run this example, make sure you have Python version at least 3.9, the Rerun repository checked out and the latest SDK installed: +```bash +pip install --upgrade rerun-sdk # install the latest Rerun SDK +git clone git@github.com:rerun-io/rerun.git # Clone the repository +cd rerun +git checkout latest # Check out the commit matching the latest SDK release +``` +Install the necessary libraries specified in the requirements file: +```bash +pip install -e examples/python/air_traffic_data +``` +To experiment with the provided example, simply execute the main Python script: +```bash +python -m air_traffic_data +``` +If you wish to customize it, explore additional features, or save it use the CLI with the `--help` option for guidance: +```bash +python -m air_traffic_data --help +``` diff --git a/examples/python/px4_ulog/px4_ulog.py b/examples/python/px4_ulog/px4_ulog.py new file mode 100644 index 000000000000..a5bbdf77e4e6 --- /dev/null +++ b/examples/python/px4_ulog/px4_ulog.py @@ -0,0 +1,200 @@ +from __future__ import annotations + +import io +from argparse import ArgumentParser +from pathlib import Path + +import numpy as np +import requests +import rerun as rr +import rerun.blueprint as rrb +from pyulog import ULog +from tqdm import tqdm + +DATASET_DIR = Path(__file__).parent / "dataset" +if not DATASET_DIR.exists(): + DATASET_DIR.mkdir() + +ULOG_FILE_PATH = DATASET_DIR / "log_file.ulg" + +ULOG_FILE_URL = "https://github.com/foxglove/ulog/raw/refs/heads/main/tests/log_6_2021-7-20-11-41-56.ulg" + + +def download_with_progress(url: str, what: str) -> io.BytesIO: + """Download file with tqdm progress bar.""" + chunk_size = 1024 * 1024 + resp = requests.get(url, stream=True) + total_size = int(resp.headers.get("content-length", 0)) + with tqdm( + desc=f"Downloading {what}…", + total=total_size, + unit="iB", + unit_scale=True, + unit_divisor=1024, + ) as progress: + download_file = io.BytesIO() + for data in resp.iter_content(chunk_size): + download_file.write(data) + progress.update(len(data)) + + download_file.seek(0) + return download_file + + +def log_initial_parameters(log_file: ULog) -> None: + param_table_content = "\n".join([f"| {param} | {value} |" for param, value in log_file.initial_parameters.items()]) + + param_text = f""" +## Initial Parameters + +| Parameter | Value | +|-----------|-------| +{param_table_content} +""" + + rr.log("initial_parameters", rr.TextDocument(text=param_text, media_type="text/markdown"), static=True) + + +def log_messages(log_file: ULog) -> None: + for msg in log_file.logged_messages: + rr.set_time_seconds("timestamp", msg.timestamp / 1e6) + rr.log("messages", rr.TextLog(text=msg.message, level=msg.log_level_str())) + + +def log_data(log_file: ULog) -> None: + for data in log_file.data_list: + name = data.name + + columns = data.data.keys() - {"timestamp"} + + time_columns = [rr.TimeSecondsColumn("timestamp", data.data["timestamp"] / 1e6)] + + if "timestamp_sample" in columns: + time_columns.append(rr.TimeSecondsColumn("timestamp_sample", data.data["timestamp_sample"] / 1e6)) + columns.remove("timestamp_sample") + + all_columns = {} + for column in columns: + try: + col_name, idx = column.split("[") + idx = int(idx.strip("]")) + except ValueError: + col_name = column + idx = None + + if idx is None: + all_columns[col_name] = data.data[column] + else: + all_columns.setdefault(col_name, {})[idx] = data.data[column] + + for col_name, col_data in all_columns.items(): + entity_path = f"{name}/{col_name.replace('.', '/')}" + + if isinstance(col_data, dict): + arr = np.vstack([col_data[i] for i in sorted(col_data.keys())]).T + else: + arr = col_data + + rr.send_columns(entity_path, indexes=time_columns, columns=rr.Scalar.columns(scalar=arr)) + + if name == "vehicle_global_position": + latlon = np.vstack([data.data["lat"], data.data["lon"]]).T + rr.send_columns(name, indexes=time_columns, columns=rr.GeoPoints.columns(positions=latlon)) + elif name == "vehicle_local_position": + pos3d = np.vstack([data.data["x"], data.data["y"], -data.data["z"]]).T + pos2d = np.vstack([data.data["x"], data.data["y"]]).T + rr.send_columns( + f"{name}/pos", + indexes=time_columns, + columns=[ + *rr.Points3D.columns(positions=pos3d), + *rr.Points2D.columns(positions=pos2d), + ], + ) + + v2d = np.vstack([data.data["vx"], data.data["vy"]]).T + v3d = np.vstack([data.data["vx"], data.data["vy"], -data.data["vz"]]).T + rr.send_columns( + f"{name}/vel", + indexes=time_columns, + columns=[ + *rr.Arrows3D.columns(origins=pos3d, vectors=v3d), + *rr.Arrows2D.columns(origins=pos2d, vectors=v2d), + ], + ) + elif name == "position_setpoint_triplet": + latlon = np.vstack([data.data["next.lat"], data.data["next.lon"]]).T + radius = data.data["next.loiter_radius"] + + rr.send_columns( + f"{name}/next/latlon", + indexes=time_columns, + columns=rr.GeoPoints.columns(positions=latlon, radii=radius) + ) + + +def main() -> None: + parser = ArgumentParser(description="Loada and visualize a PX4 ulog file") + + parser.add_argument("--uuid", type=str, help="UUID of log file on `review.px4.io`") + + rr.script_add_args(parser) + args = parser.parse_args() + + rr.script_setup(args, "rerun_example_px4_log") + + if args.uuid is not None: + # TODO: download + file_path = DATASET_DIR / f"{args.uuid}.ulg" + else: + file_path = ULOG_FILE_PATH + if not file_path.exists(): + ulog_file_data = download_with_progress(ULOG_FILE_URL, "ulog file") + file_path.write_bytes(ulog_file_data.read()) + + log_file = ULog(str(file_path)) + log_initial_parameters(log_file) + log_messages(log_file) + log_data(log_file) + + blueprint = rrb.Vertical( + rrb.Horizontal( + rrb.Tabs( + rrb.Spatial2DView( + name="2D", + overrides={ + "vehicle_local_position/pos": [ + # TODO: broken because of #8557 + rrb.VisibleTimeRange( + "timestamp", + start=rrb.TimeRangeBoundary.infinite(), + end=rrb.TimeRangeBoundary.infinite(), + ) + ], + }, + ), + rrb.Spatial3DView( + name="3D", + overrides={ + "vehicle_local_position/pos": [ + rrb.VisibleTimeRange( + "timestamp", + start=rrb.TimeRangeBoundary.infinite(), + end=rrb.TimeRangeBoundary.infinite(), + ) + ], + }, + ), + rrb.MapView(name="Map"), + ), + rrb.TextLogView(), + column_shares=[3, 1], + ), + rrb.Tabs(*[rrb.TimeSeriesView(origin=data.name) for data in log_file.data_list]), + ) + + rr.send_blueprint(blueprint, make_active=False, make_default=True) + + +if __name__ == "__main__": + main() diff --git a/examples/python/px4_ulog/pyproject.toml b/examples/python/px4_ulog/pyproject.toml new file mode 100644 index 000000000000..42ee727c8589 --- /dev/null +++ b/examples/python/px4_ulog/pyproject.toml @@ -0,0 +1,19 @@ +[project] +name = "px4_ulog" +version = "0.1.0" +readme = "README.md" +dependencies = [ + "numpy", + "pyulog", + "requests", + "rerun-sdk", + "tqdm", +] + +[project.scripts] +px4_ulog = "px4_ulog:main" + + +[build-system] +requires = ["hatchling"] +build-backend = "hatchling.build" diff --git a/pixi.lock b/pixi.lock index 35c5d77d6c36..2b9d6528c0ad 100644 --- a/pixi.lock +++ b/pixi.lock @@ -2420,7 +2420,7 @@ environments: - 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great-tables>=0.8.0 ; extra == 'style' - backports-zoneinfo ; python_full_version < '3.9' and extra == 'timezone' - - tzdata ; platform_system == 'Windows' and extra == 'timezone' + - tzdata ; sys_platform == 'win32' and extra == 'timezone' - cudf-polars-cu12 ; extra == 'gpu' - polars[async,cloudpickle,database,deltalake,excel,fsspec,graph,iceberg,numpy,pandas,plot,pyarrow,pydantic,style,timezone] ; extra == 'all' requires_python: '>=3.9' @@ -28374,7 +28407,7 @@ packages: - altair>=5.4.0 ; extra == 'plot' - great-tables>=0.8.0 ; extra == 'style' - backports-zoneinfo ; python_full_version < '3.9' and extra == 'timezone' - - tzdata ; platform_system == 'Windows' and extra == 'timezone' + - tzdata ; sys_platform == 'win32' and extra == 'timezone' - cudf-polars-cu12 ; extra == 'gpu' - polars[async,cloudpickle,database,deltalake,excel,fsspec,graph,iceberg,numpy,pandas,plot,pyarrow,pydantic,style,timezone] ; extra == 'all' requires_python: '>=3.9' @@ -28409,7 +28442,7 @@ packages: - altair>=5.4.0 ; extra == 'plot' - great-tables>=0.8.0 ; extra == 'style' - backports-zoneinfo ; python_full_version < '3.9' and extra == 'timezone' - - tzdata ; platform_system == 'Windows' and extra == 'timezone' + - tzdata ; sys_platform == 'win32' and extra == 'timezone' - cudf-polars-cu12 ; extra == 'gpu' - polars[async,cloudpickle,database,deltalake,excel,fsspec,graph,iceberg,numpy,pandas,plot,pyarrow,pydantic,style,timezone] ; extra == 'all' requires_python: '>=3.9' @@ -28444,7 +28477,7 @@ packages: - altair>=5.4.0 ; extra == 'plot' - great-tables>=0.8.0 ; extra == 'style' - backports-zoneinfo ; python_full_version < '3.9' and extra == 'timezone' - - tzdata ; platform_system == 'Windows' and extra == 'timezone' + - tzdata ; sys_platform == 'win32' and extra == 'timezone' - cudf-polars-cu12 ; extra == 'gpu' - polars[async,cloudpickle,database,deltalake,excel,fsspec,graph,iceberg,numpy,pandas,plot,pyarrow,pydantic,style,timezone] ; extra == 'all' requires_python: '>=3.9' @@ -28479,7 +28512,7 @@ packages: - altair>=5.4.0 ; extra == 'plot' - great-tables>=0.8.0 ; extra == 'style' - backports-zoneinfo ; python_full_version < '3.9' and extra == 'timezone' - - tzdata ; platform_system == 'Windows' and extra == 'timezone' + - tzdata ; sys_platform == 'win32' and extra == 'timezone' - cudf-polars-cu12 ; extra == 'gpu' - polars[async,cloudpickle,database,deltalake,excel,fsspec,graph,iceberg,numpy,pandas,plot,pyarrow,pydantic,style,timezone] ; extra == 'all' requires_python: '>=3.9' @@ -30541,8 +30574,6 @@ packages: - python_abi 3.11.* *_cp311 constrains: - __glibc >=2.17 - arch: x86_64 - platform: linux license: MIT license_family: MIT purls: @@ -30560,8 +30591,6 @@ packages: - python_abi 3.11.* *_cp311 constrains: - __glibc >=2.17 - arch: aarch64 - platform: linux license: MIT license_family: MIT purls: @@ -30578,8 +30607,6 @@ packages: - python_abi 3.11.* *_cp311 constrains: - __osx >=10.13 - arch: x86_64 - platform: osx license: MIT license_family: MIT purls: @@ -30597,8 +30624,6 @@ packages: - python_abi 3.11.* *_cp311 constrains: - __osx >=11.0 - arch: arm64 - platform: osx license: MIT license_family: MIT purls: @@ -30614,8 +30639,6 @@ packages: - ucrt >=10.0.20348.0 - vc >=14.2,<15 - vc14_runtime >=14.29.30139 - arch: x86_64 - platform: win license: MIT license_family: MIT purls: @@ -31688,7 +31711,7 @@ packages: - cryptography>=2.0 - jeepney>=0.6 requires_python: '>=3.6' -- pypi: git+https://github.com/facebookresearch/segment-anything.git@dca509fe793f601edb92606367a655c15ac00fdf +- pypi: git+https://github.com/facebookresearch/segment-anything.git#dca509fe793f601edb92606367a655c15ac00fdf name: segment-anything version: '1.0' requires_dist: @@ -32670,6 +32693,32 @@ packages: - opt-einsum>=3.3 ; extra == 'opt-einsum' - optree>=0.9.1 ; extra == 'optree' requires_python: '>=3.8.0' +- pypi: https://files.pythonhosted.org/packages/02/af/81abea3d73fddfde26afd1ce52a4ddfa389cd2b684c89d6c4d0d5d8d0dfa/torch-2.2.2-cp311-cp311-manylinux2014_aarch64.whl + name: torch + version: 2.2.2 + sha256: 32827fa1fbe5da8851686256b4cd94cc7b11be962862c2293811c94eea9457bf + requires_dist: + - filelock + - typing-extensions>=4.8.0 + - sympy + - networkx + - jinja2 + - fsspec + - nvidia-cuda-nvrtc-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cuda-runtime-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cuda-cupti-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cudnn-cu12==8.9.2.26 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cublas-cu12==12.1.3.1 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cufft-cu12==11.0.2.54 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-curand-cu12==10.3.2.106 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cusolver-cu12==11.4.5.107 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cusparse-cu12==12.1.0.106 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-nccl-cu12==2.19.3 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - 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fsspec + - nvidia-cuda-nvrtc-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cuda-runtime-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cuda-cupti-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cudnn-cu12==8.9.2.26 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cublas-cu12==12.1.3.1 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cufft-cu12==11.0.2.54 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-curand-cu12==10.3.2.106 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cusolver-cu12==11.4.5.107 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cusparse-cu12==12.1.0.106 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-nccl-cu12==2.19.3 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-nvtx-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - 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nvidia-cuda-runtime-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cuda-cupti-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cudnn-cu12==8.9.2.26 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cublas-cu12==12.1.3.1 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cufft-cu12==11.0.2.54 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-curand-cu12==10.3.2.106 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cusolver-cu12==11.4.5.107 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cusparse-cu12==12.1.0.106 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-nccl-cu12==2.19.3 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-nvtx-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - triton==2.2.0 ; python_full_version < '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux' + - 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nvidia-cuda-cupti-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cudnn-cu12==8.9.2.26 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cublas-cu12==12.1.3.1 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cufft-cu12==11.0.2.54 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-curand-cu12==10.3.2.106 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cusolver-cu12==11.4.5.107 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-cusparse-cu12==12.1.0.106 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-nccl-cu12==2.19.3 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - nvidia-nvtx-cu12==12.1.105 ; platform_machine == 'x86_64' and sys_platform == 'linux' + - triton==2.2.0 ; python_full_version < '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux' + - opt-einsum>=3.3 ; extra == 'opt-einsum' + - optree>=0.9.1 ; extra == 'optree' + requires_python: '>=3.8.0' - 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- colorama ; platform_system == 'Windows' + - colorama ; sys_platform == 'win32' - pytest>=6 ; extra == 'dev' - pytest-cov ; extra == 'dev' - pytest-timeout ; extra == 'dev'