Add pre-commit hooks (#1629)
Adeeb
GitHub
parent
2144154c32
commit
ab83e48ec4
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@ -6,6 +6,10 @@ repos:
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- id: check-json
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- id: check-xml
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- id: check-yaml
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- id: check-merge-conflict
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- id: check-symlinks
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- id: trailing-whitespace
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exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(phonelibs)|(lib_mpc_export)/'
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- repo: https://github.com/pre-commit/mirrors-mypy
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rev: master
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hooks:
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@ -1,7 +1,7 @@
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openpilot Safety
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======
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openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
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openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
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Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
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driver to be alert and to pay attention at all times.
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@ -22,7 +22,7 @@ hardware-in-the-loop and in-vehicle tests before each software release.
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Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
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ensuring two main safety requirements.
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1. The driver must always be capable to immediately retake manual control of the vehicle,
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1. The driver must always be capable to immediately retake manual control of the vehicle,
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by stepping on either pedal or by pressing the cancel button.
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2. The vehicle must not alter its trajectory too quickly for the driver to safely
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react. This means that while the system is engaged, the actuators are constrained
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@ -25,14 +25,14 @@ by generating a rotation matrix and multiplying.
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Orientation Conventations
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------
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Quaternions, rotation matrices and euler angles are three
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Quaternions, rotation matrices and euler angles are three
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equivalent representations of orientation and all three are
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used throughout the code base.
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For euler angles the preferred convention is [roll, pitch, yaw]
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which corresponds to rotations around the [x, y, z] axes. All
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euler angles should always be in radians or radians/s unless
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for plotting or display purposes. For quaternions the hamilton
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for plotting or display purposes. For quaternions the hamilton
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notations is preferred which is [q<sub>w</sub>, q<sub>x</sub>, q<sub>y</sub>, q<sub>z</sub>]. All quaternions
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should always be normalized with a strictly positive q<sub>w</sub>. **These
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quaternions are a unique representation of orientation whereas euler angles
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@ -49,7 +49,7 @@ EONs are not all mounted in the exact same way. To compensate for the effects of
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Example
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------
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To transform global Mesh3D positions and orientations (positions_ecef, quats_ecef) into the local frame described by the
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To transform global Mesh3D positions and orientations (positions_ecef, quats_ecef) into the local frame described by the
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first position and orientation from Mesh3D one would do:
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```
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ecef_from_local = rot_from_quat(quats_ecef[0])
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@ -261,7 +261,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
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power->power_settings[2].power_seq_type = 2; // digital
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power->power_settings[3].power_seq_type = 8; // reset low
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power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));
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unconditional_wait = (void*)power;
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unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
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unconditional_wait->delay = 5;
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@ -424,7 +424,7 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
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0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
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0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
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0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
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0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0};
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0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0};
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memcpy(buf2, tmp, sizeof(tmp));
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if (io_mem_handle != 0) {
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@ -610,7 +610,7 @@ static void camera_open(CameraState *s, VisionBuf* b) {
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acquire_dev_cmd.handle_type = CAM_HANDLE_USER_POINTER;
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acquire_dev_cmd.num_resources = 1;
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acquire_dev_cmd.resource_hdl = (uint64_t)&isp_resource;
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isp_resource.resource_id = CAM_ISP_RES_ID_PORT;
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isp_resource.length = sizeof(struct cam_isp_in_port_info) + sizeof(struct cam_isp_out_port_info)*(1-1);
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isp_resource.handle_type = CAM_HANDLE_USER_POINTER;
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@ -643,7 +643,7 @@ static void camera_open(CameraState *s, VisionBuf* b) {
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in_port_info->test_pattern = 0x2; // 0x3?
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in_port_info->usage_type = 0x0;
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in_port_info->left_start = 0x0;
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in_port_info->left_stop = FRAME_WIDTH - 1;
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in_port_info->left_width = FRAME_WIDTH;
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@ -664,10 +664,10 @@ static void camera_open(CameraState *s, VisionBuf* b) {
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in_port_info->num_out_res = 0x1;
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in_port_info->data[0] = (struct cam_isp_out_port_info){
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.res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
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.res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
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//.format = CAM_FORMAT_MIPI_RAW_12,
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.format = CAM_FORMAT_MIPI_RAW_10,
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.width = FRAME_WIDTH,
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.width = FRAME_WIDTH,
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.height = FRAME_HEIGHT,
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.comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
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};
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@ -700,7 +700,7 @@ static void camera_open(CameraState *s, VisionBuf* b) {
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CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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sensors_i2c(s, start_reg_array, sizeof(start_reg_array)/sizeof(struct i2c_random_wr_payload),
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CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
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sensors_i2c(s, stop_reg_array, sizeof(stop_reg_array)/sizeof(struct i2c_random_wr_payload),
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sensors_i2c(s, stop_reg_array, sizeof(stop_reg_array)/sizeof(struct i2c_random_wr_payload),
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CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
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// config csiphy
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@ -817,7 +817,7 @@ void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *ca
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s->rear.device_iommu = s->front.device_iommu = s->wide.device_iommu = device_iommu;
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s->rear.cdm_iommu = s->front.cdm_iommu = s->wide.cdm_iommu = cdm_iommu;
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// subscribe
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// subscribe
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LOG("-- Subscribing");
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static struct v4l2_event_subscription sub = {0};
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sub.type = 0x8000000;
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@ -302,8 +302,8 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
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};
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struct i2c_random_wr_payload poke_array_ov7750[] = {
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{0x3208, 0x0}, {0x380e, 0x1a}, {0x380f, 0xf0}, {0x3500, 0x0}, {0x3501, 0x0}, {0x3502, 0x10}, {0x350a, 0x0}, {0x350b, 0x10}, {0x3208, 0x10}, {0x3208, 0xa0},
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//{0x3208, 0x0}, {0x380e, 0x1a}, {0x380f, 0xf0}, {0x3500, 0x0}, {0x3501, 0x0}, {0x3502, 0x10}, {0x350a, 0x0}, {0x350b, 0x10}, {0x3208, 0x10}, {0x3208, 0xa0},
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{0x3208, 0x0}, {0x380e, 0x1a}, {0x380f, 0xf0}, {0x3500, 0x0}, {0x3501, 0x0}, {0x3502, 0x10}, {0x350a, 0x0}, {0x350b, 0x10}, {0x3208, 0x10}, {0x3208, 0xa0},
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//{0x3208, 0x0}, {0x380e, 0x1a}, {0x380f, 0xf0}, {0x3500, 0x0}, {0x3501, 0x0}, {0x3502, 0x10}, {0x350a, 0x0}, {0x350b, 0x10}, {0x3208, 0x10}, {0x3208, 0xa0},
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};
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struct i2c_random_wr_payload preinit_array_ov7750[] = {
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@ -3,7 +3,7 @@
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// convert input rgb image to single channel then conv
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__kernel void rgb2gray_conv2d(
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const __global uchar * input,
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const __global uchar * input,
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__global short * output,
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__constant short * filter,
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__local uchar3 * cached
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@ -23,8 +23,8 @@ __kernel void rgb2gray_conv2d(
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// pad
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if (
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get_global_id(0) < HALF_FILTER_SIZE ||
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get_global_id(0) > IMAGE_W - HALF_FILTER_SIZE - 1 ||
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get_global_id(0) < HALF_FILTER_SIZE ||
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get_global_id(0) > IMAGE_W - HALF_FILTER_SIZE - 1 ||
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get_global_id(1) < HALF_FILTER_SIZE ||
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get_global_id(1) > IMAGE_H - HALF_FILTER_SIZE - 1
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)
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@ -32,11 +32,11 @@ __kernel void rgb2gray_conv2d(
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barrier(CLK_LOCAL_MEM_FENCE);
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return;
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}
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else
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else
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{
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int localColOffset = -1;
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int globalColOffset = -1;
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// cache extra
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if ( get_local_id(0) < HALF_FILTER_SIZE )
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{
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@ -51,7 +51,7 @@ __kernel void rgb2gray_conv2d(
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{
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localColOffset = get_local_id(0) + TWICE_HALF_FILTER_SIZE;
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globalColOffset = HALF_FILTER_SIZE;
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cached[ myLocal + HALF_FILTER_SIZE ].x = input[ my * 3 + HALF_FILTER_SIZE * 3 ];
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cached[ myLocal + HALF_FILTER_SIZE ].y = input[ my * 3 + HALF_FILTER_SIZE * 3 + 1];
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cached[ myLocal + HALF_FILTER_SIZE ].z = input[ my * 3 + HALF_FILTER_SIZE * 3 + 2];
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@ -1,6 +1,6 @@
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// calculate variance in each subregion
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__kernel void var_pool(
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const __global char * input,
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const __global char * input,
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__global ushort * output // should not be larger than 128*128 so uint16
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)
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{
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@ -11,7 +11,7 @@ __kernel void var_pool(
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float fsum = 0;
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char mean, max;
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for (int i = 0; i < size; i++) {
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int x_offset = i % X_PITCH;
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int y_offset = i / X_PITCH;
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@ -43,7 +43,7 @@ void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_me
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err = clSetKernelArg(s->rgb_to_yuv_krnl, 1, sizeof(cl_mem), &yuv_cl);
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assert(err == 0);
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const size_t work_size[2] = {
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(size_t)(s->width + (s->width % 4 == 0 ? 0 : (4 - s->width % 4))) / 4,
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(size_t)(s->width + (s->width % 4 == 0 ? 0 : (4 - s->width % 4))) / 4,
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(size_t)(s->height + (s->height % 4 == 0 ? 0 : (4 - s->height % 4))) / 4
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};
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cl_event event;
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@ -70,7 +70,7 @@ void tbuffer_dispatch(TBuffer *tb, int idx) {
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efd_write(tb->efd);
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pthread_cond_signal(&tb->cv);
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pthread_mutex_unlock(&tb->lock);
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pthread_mutex_unlock(&tb->lock);
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}
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int tbuffer_acquire(TBuffer *tb) {
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@ -344,7 +344,7 @@ void pool_push(Pool *s, int idx) {
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for (int i=0; i<POOL_MAX_QUEUES; i++) {
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PoolQueue *c = &s->queues[i];
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if (!c->inited) continue;
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pthread_mutex_lock(&c->lock);
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if (((c->head+1) % c->num) == c->tail) {
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// queue is full. skip for now
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@ -98,7 +98,7 @@ extern "C" FramebufferState* framebuffer_init(
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assert(success);
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printf("egl version %d.%d\n", s->egl_major, s->egl_minor);
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EGLint num_configs;
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success = eglChooseConfig(s->display, attribs, &s->config, 1, &num_configs);
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assert(success);
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@ -138,7 +138,7 @@ int main(int argc, char *argv[]) {
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}
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if (sm.updated("cameraOdometry")){
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localizer.handle_log(sm["cameraOdometry"]);
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}
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}
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}
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return 0;
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}
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@ -15,7 +15,7 @@ public:
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int LogFrame(uint64_t ts, const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr, int *frame_segment) {
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std::lock_guard<std::recursive_mutex> guard(lock);
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if (opening) {
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Open(next_path);
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opening = false;
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@ -729,7 +729,7 @@ int main(int argc, char** argv) {
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for (auto s : socks){
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delete s;
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}
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delete poller;
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delete s.ctx;
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return 0;
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@ -44,7 +44,7 @@ void* live_thread(void *arg) {
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while (!do_exit) {
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if (sm.update(10) > 0){
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auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
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Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
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for (int i = 0; i < 4*3; i++){
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@ -180,7 +180,7 @@ if (intercept) {
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//disassemble((uint32_t *)qcmd.data(), qcmd.size()/4);
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//queue_cmds.push_back(qcmd);
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}
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#ifdef DUMP
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char tmp[0x100];
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snprintf(tmp, sizeof(tmp), "/tmp/thneed/run_%d_%d", run_num, ioctl_num++);
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@ -515,7 +515,7 @@ cl_mem clCreateImage(cl_context context, cl_mem_flags flags, const cl_image_form
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assert(image_desc->image_array_size == 0);
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assert(image_desc->image_slice_pitch == 0);
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//assert(image_desc->image_width * image_desc->image_height * 2 == image_desc->image_row_pitch);
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image img;
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img.image_width = image_desc->image_width;
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img.image_height = image_desc->image_height;
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@ -689,7 +689,7 @@ int main(int argc, char* argv[]) {
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maps[len] = '\0';
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fclose(f);
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printf("%s\n", maps);*/
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printf("buffers: %lu images: %lu\n", buffers.size(), images.size());
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printf("queues: %lu\n", queue_cmds.size());
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@ -14,8 +14,8 @@
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#pragma OPENCL EXTENSION cl_khr_fp16 : enable
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__kernel void gemm(const int M, const int N, const int K,
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read_only image2d_t A,
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read_only image2d_t B,
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read_only image2d_t A,
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read_only image2d_t B,
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write_only image2d_t C)
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{
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const sampler_t smp = CLK_NORMALIZED_COORDS_FALSE |
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@ -128,7 +128,7 @@ int main(int argc, char *argv[]) {
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M = N = K = 1024;
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//M = 128; K = 2112; N = 352;
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cl_kernel kern = clCreateKernel(prog, "gemm", &err);
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assert(err == 0);
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printf("creating kernel %p\n", kern);
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@ -255,7 +255,7 @@ int main(int argc, char *argv[]) {
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clSetKernelArg(kern, 20, sizeof(n), &n);
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clSetKernelArg(kern, 21, sizeof(n), &n);
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v = 16; clSetKernelArg(kern, 22, sizeof(v), &v);
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size_t global_work_size[3] = {88, 4, 8};
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size_t local_work_size[3] = {4, 4, 8};
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#endif
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@ -81,7 +81,7 @@ assert(font >= 0);
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float lineh;
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nvgTextMetrics(vg, NULL, NULL, &lineh);
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// nvgTextBox strips leading whitespace. We have to reimplement
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char * next = strtok(text, "\n");
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while (next != NULL){
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@ -18,7 +18,7 @@ static uint32_t read24be(const uint8_t* ptr) {
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}
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static void write32le(FILE *of, uint32_t v) {
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uint8_t va[4] = {
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v & 0xff, (v >> 8) & 0xff, (v >> 16) & 0xff, (v >> 24) & 0xff
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v & 0xff, (v >> 8) & 0xff, (v >> 16) & 0xff, (v >> 24) & 0xff
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};
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fwrite(va, 1, sizeof(va), of);
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}
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@ -135,7 +135,7 @@ static void hevc_index(const uint8_t *data, size_t file_size, FILE *of_prefix, F
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bs_get(&bs, 1);
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}
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uint32_t slice_type = bs_ue(&bs);
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// write the index
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write32le(of_index, slice_type);
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write32le(of_index, ptr - data);
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@ -244,7 +244,7 @@ static void h264_index(const uint8_t *data, size_t file_size, FILE *of_prefix, F
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uint32_t pic_parameter_set_id = bs_ue(&bs);
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uint32_t frame_num = bs_get(&bs, sps_log2_max_frame_num_minus4+4);
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|
||||
|
||||
if (first_mb_in_slice == 0) {
|
||||
write32le(of_index, slice_type);
|
||||
write32le(of_index, ptr - data);
|
||||
|
|
|
|||
|
|
@ -71,7 +71,7 @@ LogReader::LogReader(const QString& file, Events *events_, QReadWriteLock* event
|
|||
while (1) {
|
||||
mergeEvents(cdled.get());
|
||||
}
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
void LogReader::mergeEvents(int dled) {
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@
|
|||
#include <capnp/dynamic.h>
|
||||
#include <capnp/schema.h>
|
||||
|
||||
// include the dynamic struct
|
||||
// include the dynamic struct
|
||||
#include "cereal/gen/cpp/car.capnp.c++"
|
||||
#include "cereal/gen/cpp/log.capnp.c++"
|
||||
|
||||
|
|
@ -24,7 +24,7 @@ static inline uint64_t nanos_since_boot() {
|
|||
}
|
||||
|
||||
|
||||
Unlogger::Unlogger(Events *events_, QReadWriteLock* events_lock_, QMap<int, FrameReader*> *frs_, int seek)
|
||||
Unlogger::Unlogger(Events *events_, QReadWriteLock* events_lock_, QMap<int, FrameReader*> *frs_, int seek)
|
||||
: events(events_), events_lock(events_lock_), frs(frs_) {
|
||||
ctx = Context::create();
|
||||
YAML::Node service_list = YAML::LoadFile("../../cereal/service_list.yaml");
|
||||
|
|
|
|||
|
|
@ -44,7 +44,7 @@ class Window : public QWidget {
|
|||
|
||||
QMap<int, LogReader*> lrs;
|
||||
QMap<int, FrameReader*> frs;
|
||||
|
||||
|
||||
|
||||
// cache the bar
|
||||
QPixmap *px = NULL;
|
||||
|
|
@ -72,7 +72,7 @@ Window::Window(QString route_, int seek, int use_api_) : route(route_), use_api(
|
|||
file.open(QIODevice::ReadOnly | QIODevice::Text);
|
||||
settings = file.readAll();
|
||||
file.close();
|
||||
|
||||
|
||||
QJsonDocument sd = QJsonDocument::fromJson(settings.toUtf8());
|
||||
qWarning() << sd.isNull(); // <- print false :)
|
||||
QJsonObject sett2 = sd.object();
|
||||
|
|
@ -97,7 +97,7 @@ bool Window::addSegment(int i) {
|
|||
lrs.insert(i, new LogReader(fn, &events, &events_lock, &unlogger->eidx));
|
||||
} else {
|
||||
QString log_fn = this->log_paths.at(i).toString();
|
||||
lrs.insert(i, new LogReader(log_fn, &events, &events_lock, &unlogger->eidx));
|
||||
lrs.insert(i, new LogReader(log_fn, &events, &events_lock, &unlogger->eidx));
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -114,8 +114,8 @@ bool Window::addSegment(int i) {
|
|||
QString camera_fn = this->camera_paths.at(i).toString();
|
||||
frs.insert(i, new FrameReader(qPrintable(camera_fn)));
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
|
|
@ -193,9 +193,9 @@ void Window::paintEvent(QPaintEvent *event) {
|
|||
tt.drawLine(lt, 300-lvv, rt, 300-vv);
|
||||
|
||||
if (enabled) {
|
||||
tt.setPen(Qt::green);
|
||||
tt.setPen(Qt::green);
|
||||
} else {
|
||||
tt.setPen(Qt::blue);
|
||||
tt.setPen(Qt::blue);
|
||||
}
|
||||
|
||||
tt.drawLine(rt, 300, rt, 600);
|
||||
|
|
@ -237,7 +237,7 @@ int main(int argc, char *argv[]) {
|
|||
QApplication app(argc, argv);
|
||||
|
||||
QString route(argv[1]);
|
||||
|
||||
|
||||
int use_api = QString::compare(QString("use_api"), route, Qt::CaseInsensitive) == 0;
|
||||
int seek = QString(argv[2]).toInt();
|
||||
printf("seek: %d\n", seek);
|
||||
|
|
@ -251,7 +251,7 @@ int main(int argc, char *argv[]) {
|
|||
}
|
||||
|
||||
Window window(route, seek, use_api);
|
||||
|
||||
|
||||
window.resize(1920, 800);
|
||||
window.setWindowTitle("nui unlogger");
|
||||
window.show();
|
||||
|
|
|
|||
|
|
@ -9,4 +9,3 @@ if [ $# -gt 0 ]; then
|
|||
else
|
||||
echo "Please Enter a Route"
|
||||
fi
|
||||
|
||||
|
|
@ -10,24 +10,24 @@ git clone https://github.com/commaai/openpilot.git
|
|||
# Add export PYTHONPATH=$HOME/openpilot to your bashrc
|
||||
# Have a working tensorflow+keras in python3.7.3 (with [packages] in openpilot/Pipfile)
|
||||
```
|
||||
## Install (in tab 1)
|
||||
## Install (in tab 1)
|
||||
```
|
||||
cd ~/openpilot/tools/sim
|
||||
./start_carla.sh # install CARLA 0.9.7 and start the server
|
||||
```
|
||||
## openpilot (in tab 2)
|
||||
## openpilot (in tab 2)
|
||||
```
|
||||
cd ~/openpilot/selfdrive/
|
||||
PASSIVE=0 NOBOARD=1 ./manager.py
|
||||
```
|
||||
## bridge (in tab 3)
|
||||
## bridge (in tab 3)
|
||||
```
|
||||
# links carla to openpilot, will "start the car" according to manager
|
||||
cd ~/openpilot/tools/sim
|
||||
./bridge.py
|
||||
```
|
||||
## Controls
|
||||
Now you can control the simulator with the keys:
|
||||
## Controls
|
||||
Now you can control the simulator with the keys:
|
||||
|
||||
1: Cruise up 5 mph
|
||||
|
||||
|
|
|
|||
|
|
@ -15,4 +15,4 @@ if [ ! -d carla ]; then
|
|||
fi
|
||||
|
||||
cd carla
|
||||
./CarlaUE4.sh
|
||||
./CarlaUE4.sh
|
||||
|
|
|
|||
|
|
@ -1,49 +1,49 @@
|
|||
Run openpilot with webcam on PC/laptop
|
||||
=====================
|
||||
What's needed:
|
||||
- Ubuntu 16.04
|
||||
- Python 3.7.3
|
||||
- GPU (recommended)
|
||||
- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
|
||||
- [Car harness](https://comma.ai/shop/products/comma-car-harness) w/ black panda (or the outdated grey panda/giraffe combo) to connect to your car
|
||||
- [Panda paw](https://comma.ai/shop/products/panda-paw) (or USB-A to USB-A cable) to connect panda to your computer
|
||||
- Tape, Charger, ...
|
||||
That's it!
|
||||
What's needed:
|
||||
- Ubuntu 16.04
|
||||
- Python 3.7.3
|
||||
- GPU (recommended)
|
||||
- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
|
||||
- [Car harness](https://comma.ai/shop/products/comma-car-harness) w/ black panda (or the outdated grey panda/giraffe combo) to connect to your car
|
||||
- [Panda paw](https://comma.ai/shop/products/panda-paw) (or USB-A to USB-A cable) to connect panda to your computer
|
||||
- Tape, Charger, ...
|
||||
That's it!
|
||||
|
||||
## Clone openpilot and install the requirements
|
||||
## Clone openpilot and install the requirements
|
||||
```
|
||||
cd ~
|
||||
git clone https://github.com/commaai/openpilot.git
|
||||
cd ~
|
||||
git clone https://github.com/commaai/openpilot.git
|
||||
```
|
||||
- Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements
|
||||
- Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc
|
||||
- You also need to install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5
|
||||
- Install [OpenCL Driver](http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
|
||||
- (Note: the code assumes cl platforms order to be 0.GPU/1.CPU when running clinfo; if reverse, change the -1 to -2 in selfdrive/modeld/modeld.cc#L130; helping us refactor this mess is encouraged)
|
||||
- Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part)
|
||||
- Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements
|
||||
- Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc
|
||||
- You also need to install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5
|
||||
- Install [OpenCL Driver](http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
|
||||
- (Note: the code assumes cl platforms order to be 0.GPU/1.CPU when running clinfo; if reverse, change the -1 to -2 in selfdrive/modeld/modeld.cc#L130; helping us refactor this mess is encouraged)
|
||||
- Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part)
|
||||
|
||||
## Build openpilot for webcam
|
||||
## Build openpilot for webcam
|
||||
```
|
||||
cd ~/openpilot
|
||||
cd ~/openpilot
|
||||
```
|
||||
- check out selfdrive/camerad/cameras/camera_webcam.cc line72&146 before building if any camera is upside down
|
||||
- check out selfdrive/camerad/cameras/camera_webcam.cc line72&146 before building if any camera is upside down
|
||||
```
|
||||
scons use_webcam=1
|
||||
touch prebuilt
|
||||
scons use_webcam=1
|
||||
touch prebuilt
|
||||
```
|
||||
|
||||
## Connect the hardwares
|
||||
- Connect the road facing camera first, then the driver facing camera
|
||||
- (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc)
|
||||
- Connect your computer to panda
|
||||
## Connect the hardwares
|
||||
- Connect the road facing camera first, then the driver facing camera
|
||||
- (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc)
|
||||
- Connect your computer to panda
|
||||
|
||||
## GO
|
||||
## GO
|
||||
```
|
||||
cd ~/openpilot/tools/webcam
|
||||
./accept_terms.py # accept the user terms so that thermald can detect the car started
|
||||
cd ~/openpilot/selfdrive
|
||||
PASSIVE=0 NOSENSOR=1 WEBCAM=1 ./manager.py
|
||||
cd ~/openpilot/tools/webcam
|
||||
./accept_terms.py # accept the user terms so that thermald can detect the car started
|
||||
cd ~/openpilot/selfdrive
|
||||
PASSIVE=0 NOSENSOR=1 WEBCAM=1 ./manager.py
|
||||
```
|
||||
- Start the car, then the UI should show the road webcam's view
|
||||
- Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera)
|
||||
- Finish calibration and engage!
|
||||
- Start the car, then the UI should show the road webcam's view
|
||||
- Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera)
|
||||
- Finish calibration and engage!
|
||||
|
|
|
|||
Loading…
Reference in New Issue