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openpilot/tools/webcam
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README.md

Run openpilot with webcam on PC

What's needed:

  • Ubuntu 20.04
  • GPU (recommended)
  • Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
  • Car harness with black panda to connect to your car
  • Panda paw or USB-A to USB-A cable to connect panda to your computer That's it!

Setup openpilot

cd ~
git clone https://github.com/commaai/openpilot.git
  • Follow this readme to install the requirements
  • Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc
  • Install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5
  • Install OpenCL Driver
  • Install OpenCV4 (ignore the Python part)

Build openpilot for webcam

cd ~/openpilot
  • check out selfdrive/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
USE_WEBCAM=1 scons -j$(nproc)

Connect the hardware

  • 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

cd ~/openpilot/selfdrive/manager
PASSIVE=0 NOSENSOR=1 USE_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!