  
      log_msgs = []
      frame_idx = 0
      for msg in tqdm(lr):
        if msg.which() == "liveCalibrationd":
          pm.send(msg.which(), msg.as_builder())
        elif msg.which() == "frame":
          f = msg.as_builder()
          img = fr.get(frame_idx, pix_fmt="rgb24")[0][:, ::, -1]
          f.frame.image = img.flatten().tobytes()
          frame_idx += 1
 
</s> remove         img = fr.get(frame_idx, pix_fmt="rgb24")[0][:, ::, -1]
 </s> add         img = fr.get(frame_idx, pix_fmt="rgb24")[0][:,:,::-1] </s> remove       pm.send(msg.which(), msg.as_builder())
 </s> add       pm.send(msg.which(), replace_calib(msg, calib)) </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):
      if msg.which() == "liveCalibration":
        pm.send(msg.which(), replace_calib(msg, calib))
  
      log_msgs = []
      frame_idx = 0
      for msg in tqdm(lr):
      if msg.which() == "liveCalibration":
        pm.send(msg.which(), replace_calib(msg, calib))
      if msg.which() == "liveCalibration":
        pm.send(msg.which(), replace_calib(msg, calib))
        elif msg.which() == "frame":
          f = msg.as_builder()
          img = fr.get(frame_idx, pix_fmt="rgb24")[0][:, ::, -1]
          f.frame.image = img.flatten().tobytes()
          frame_idx += 1
keep keep keep keep replace 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