openpilot/tools/webcam

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• Car harness w/ black panda (or the outdated grey panda/giraffe combo) to connect to your car
• 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

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
• You also need to install tensorflow-gpu 2.1.0 (if not working, try 2.0.0) and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5
• Install OpenCL Driver
• (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 (ignore the Python part)

Build openpilot for webcam

cd ~/openpilot  

• check out selfdrive/camerad/cameras/camera_webcam.cc line72&146 before building if any camera is upside down

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

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  

• 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!