  def camera_replay(lr, fr):
  
    spinner = Spinner()
  
    pm = messaging.PubMaster(['frame', 'liveCalibration'])
    sm = messaging.SubMaster(['model'])
  
    # TODO: add dmonitoringmodeld
    print("preparing procs")
    manager.prepare_managed_process("camerad")
 
</s> remove def camera_replay(lr, fr):
 </s> add def replace_calib(msg, calib):
  msg = msg.as_builder()
  if calib is not None:
    msg.liveCalibration.extrinsicMatrix = get_view_frame_from_road_frame(*calib, 1.22).flatten().tolist()
  return msg

def camera_replay(lr, fr, desire=None, calib=None): </s> remove     ref_commit = open("model_replay_ref_commit").read().strip()
 </s> add     ref_commit = open(ref_commit_fn).read().strip()
  pm = messaging.PubMaster(['frame', 'liveCalibration', 'pathPlan'])
  def camera_replay(lr, fr):
  
    spinner = Spinner()
  
  pm = messaging.PubMaster(['frame', 'liveCalibration', 'pathPlan'])
    sm = messaging.SubMaster(['model'])
  
    # TODO: add dmonitoringmodeld
    print("preparing procs")
    manager.prepare_managed_process("camerad")
keep keep keep keep replace keep keep keep keep keep
 Added model_replay and fixed some bugs in camera_replay (#2679)

* Added model_replay and fixed some bugs in camera_replay

* Unpack capnp logs on device

* add sync to device

* GPU now also works on PC

* update model ref

* update refs

* dont change this one

* Use pipeline calib instead of rlog calib

* remove that

* update refs

Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> 
selfdrive/test/process_replay/camera_replay.py