video diff

Author: adeebshihadeh

pyproject.toml

@@ -85,6 +85,7 @@ docs = [
 ]
 
 testing = [
+  "coverage",
   "hypothesis ==6.47.*",
   "mypy",
   "pytest",

selfdrive/ui/tests/.gitignore

@@ -2,3 +2,8 @@ test
 test_translations
 test_ui/report_1
 test_ui/raylib_report
+
+diff/*.mp4
+diff/*.html
+diff/.coverage
+diff/htmlcov/

selfdrive/ui/tests/diff/diff.py

@@ -0,0 +1,193 @@
+#!/usr/bin/env python3
+import os
+import sys
+import subprocess
+import tempfile
+import base64
+import webbrowser
+import argparse
+from pathlib import Path
+
+
+def extract_frames(video_path, output_dir):
+  output_pattern = str(output_dir / "frame_%04d.png")
+  cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
+  subprocess.run(cmd, capture_output=True, check=True)
+  frames = sorted(output_dir.glob("frame_*.png"))
+  return frames
+
+
+def compare_frames(frame1_path, frame2_path):
+  result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
+  return result.returncode == 0
+
+
+def frame_to_data_url(frame_path):
+  with open(frame_path, 'rb') as f:
+    data = f.read()
+  return f"data:image/png;base64,{base64.b64encode(data).decode()}"
+
+
+def create_diff_video(video1, video2, output_path):
+  """Create a diff video using ffmpeg blend filter with difference mode."""
+  print("Creating diff video...")
+  cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
+  subprocess.run(cmd, capture_output=True, check=True)
+
+
+def find_differences(video1, video2):
+  with tempfile.TemporaryDirectory() as tmpdir:
+    tmpdir = Path(tmpdir)
+
+    print(f"Extracting frames from {video1}...")
+    frames1_dir = tmpdir / "frames1"
+    frames1_dir.mkdir()
+    frames1 = extract_frames(video1, frames1_dir)
+
+    print(f"Extracting frames from {video2}...")
+    frames2_dir = tmpdir / "frames2"
+    frames2_dir.mkdir()
+    frames2 = extract_frames(video2, frames2_dir)
+
+    if len(frames1) != len(frames2):
+      print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
+      min_frames = min(len(frames1), len(frames2))
+      frames1 = frames1[:min_frames]
+      frames2 = frames2[:min_frames]
+
+    print(f"Comparing {len(frames1)} frames...")
+    different_frames = []
+    frame_data = []
+
+    for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
+      is_different = not compare_frames(f1, f2)
+      if is_different:
+        different_frames.append(i)
+
+      if i < 10 or i >= len(frames1) - 10 or is_different:
+        frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
+
+    return different_frames, frame_data, len(frames1)
+
+
+def generate_html_report(video1, video2, different_frames, frame_data, total_frames):
+  chunks = []
+  if different_frames:
+    current_chunk = [different_frames[0]]
+    for i in range(1, len(different_frames)):
+      if different_frames[i] == different_frames[i - 1] + 1:
+        current_chunk.append(different_frames[i])
+      else:
+        chunks.append(current_chunk)
+        current_chunk = [different_frames[i]]
+    chunks.append(current_chunk)
+
+  result_text = (
+    f"✅ Videos are identical! ({total_frames} frames)"
+    if len(different_frames) == 0
+    else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
+  )
+
+  html = f"""<h2>UI Diff</h2>
+<table>
+<tr>
+<td width='33%'>
+  <p><strong>Video 1</strong></p>
+  <video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.basename(video1)}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Video 2</strong></p>
+  <video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.basename(video2)}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Pixel Diff</strong></p>
+  <video id='diffVideo' width='100%' autoplay muted loop>
+    <source src='diff.mp4' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+</tr>
+</table>
+<script>
+function syncVideos() {{
+  const video1 = document.getElementById('video1');
+  const video2 = document.getElementById('video2');
+  const diffVideo = document.getElementById('diffVideo');
+  video1.currentTime = video2.currentTime = diffVideo.currentTime;
+}}
+video1.addEventListener('timeupdate', () => {{
+  if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
+    video2.currentTime = video1.currentTime;
+  }}
+  if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video1.currentTime;
+  }}
+}});
+video2.addEventListener('timeupdate', () => {{
+  if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = video2.currentTime;
+  }}
+  if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video2.currentTime;
+  }}
+}});
+diffVideo.addEventListener('timeupdate', () => {{
+  if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = diffVideo.currentTime;
+    video2.currentTime = diffVideo.currentTime;
+  }}
+}});
+</script>
+<hr>
+<p><strong>Results:</strong> {result_text}</p>
+"""
+  return html
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
+  parser.add_argument('video1', help='First video file')
+  parser.add_argument('video2', help='Second video file')
+  parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
+  parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
+
+  args = parser.parse_args()
+
+  print("=" * 60)
+  print("VIDEO DIFF - HTML REPORT")
+  print("=" * 60)
+  print(f"Video 1: {args.video1}")
+  print(f"Video 2: {args.video2}")
+  print(f"Output: {args.output}")
+  print()
+
+  # Create diff video
+  diff_video_path = os.path.join(os.path.dirname(args.output), "diff.mp4")
+  create_diff_video(args.video1, args.video2, diff_video_path)
+
+  different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
+
+  if different_frames is None:
+    sys.exit(1)
+
+  print()
+  print("Generating HTML report...")
+  html = generate_html_report(args.video1, args.video2, different_frames, frame_data, total_frames)
+
+  with open(args.output, 'w') as f:
+    f.write(html)
+
+  # Open in browser by default
+  if not args.no_open:
+    print(f"Opening {args.output} in browser...")
+    webbrowser.open(f'file://{os.path.abspath(args.output)}')
+
+
+if __name__ == "__main__":
+  main()

selfdrive/ui/tests/diff/replay.py

@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import os
+import time
+import coverage
+import pyray as rl
+
+os.environ["RECORD"] = "1"
+if "RECORD_OUTPUT" not in os.environ:
+  os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
+
+from openpilot.common.params import Params
+from openpilot.system.version import terms_version, training_version
+from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+
+
+FPS = 60
+HEADLESS = os.getenv("WINDOWED", "0") == "1"
+
+SCRIPT = [
+  (0, None),
+  (FPS * 1, (100, 100)),
+  (FPS * 2, None),
+]
+
+
+def setup_state():
+  params = Params()
+  params.put("HasAcceptedTerms", terms_version)
+  params.put("CompletedTrainingVersion", training_version)
+  params.put("DongleId", "test123456789")
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
+  return None
+
+
+def inject_click(x, y):
+  press_event = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=True, t=time.monotonic())
+
+  release_event = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic())
+
+  with gui_app._mouse._lock:
+    gui_app._mouse._events.append(press_event)
+    gui_app._mouse._events.append(release_event)
+
+
+def run_replay():
+  setup_state()
+
+  if not HEADLESS:
+    rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
+  gui_app.init_window("ui diff test", fps=FPS)
+  main_layout = MiciMainLayout()
+  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+  frame = 0
+  script_index = 0
+
+  for should_render in gui_app.render():
+    while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
+      _, coords = SCRIPT[script_index]
+      if coords is not None:
+        inject_click(*coords)
+      script_index += 1
+
+    ui_state.update()
+
+    if should_render:
+      main_layout.render()
+
+    frame += 1
+
+    if script_index >= len(SCRIPT):
+      break
+
+  gui_app.close()
+
+  print(f"Total frames: {frame}")
+  print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
+
+
+def main():
+  cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
+  with cov.collect():
+    run_replay()
+  cov.stop()
+  cov.save()
+  cov.report()
+  cov.html_report(directory='htmlcov')
+  print("HTML report: htmlcov/index.html")
+
+if __name__ == "__main__":
+  main()