cleanups

selfdrive/camerad/cameras/camera_webcam.cc

@@ -54,8 +54,8 @@ static void* rear_thread(void *arg) {
   CameraState* s = (CameraState*)arg;
 
   cv::VideoCapture cap_rear(1); // road
-  cap_rear.set(cv::CAP_PROP_FRAME_WIDTH, 1280);
-  cap_rear.set(cv::CAP_PROP_FRAME_HEIGHT, 720);
+  cap_rear.set(cv::CAP_PROP_FRAME_WIDTH, 853);
+  cap_rear.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
   cap_rear.set(cv::CAP_PROP_FPS, s->fps);
   cap_rear.set(cv::CAP_PROP_AUTOFOCUS, 0); // off
   cap_rear.set(cv::CAP_PROP_FOCUS, 0); // 0 - 255?
@@ -66,9 +66,13 @@ static void* rear_thread(void *arg) {
   size.width = s->ci.frame_width;
 
   // transforms calculation see tools/webcam/warp_vis.py
-  float ts[9] = {1.00220264, 0.0, -59.40969163, 
-                  0.0, 1.00220264, 76.20704846, 
+  float ts[9] = {1.50330396, 0.0, -59.40969163,
+                  0.0, 1.50330396, 76.20704846,
                   0.0, 0.0, 1.0};
+  // if camera upside down:
+  // float ts[9] = {-1.50330396, 0.0, 1223.4,
+  //                 0.0, -1.50330396, 797.8,
+  //                 0.0, 0.0, 1.0};
   const cv::Mat transform = cv::Mat(3, 3, CV_32F, ts);
 
   if (!cap_rear.isOpened()) {
@@ -126,8 +130,8 @@ void front_thread(CameraState *s) {
   int err;
 
   cv::VideoCapture cap_front(2); // driver
-  cap_front.set(cv::CAP_PROP_FRAME_WIDTH, 1280);
-  cap_front.set(cv::CAP_PROP_FRAME_HEIGHT, 720);
+  cap_front.set(cv::CAP_PROP_FRAME_WIDTH, 853);
+  cap_front.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
   cap_front.set(cv::CAP_PROP_FPS, s->fps);
   // cv::Rect roi_front(320, 0, 960, 720);
 
@@ -136,9 +140,13 @@ void front_thread(CameraState *s) {
   size.width = s->ci.frame_width;
 
   // transforms calculation see tools/webcam/warp_vis.py
-  float ts[9] = {0.94713656, 0.0, -30.16740088, 
-                  0.0, 0.94713656, 91.030837, 
+  float ts[9] = {1.42070485, 0.0, -30.16740088,
+                  0.0, 1.42070485, 91.030837,
                   0.0, 0.0, 1.0};
+  // if camera upside down:
+  // float ts[9] = {-1.42070485, 0.0, 1182.2,
+  //                 0.0, -1.42070485, 773.0,
+  //                 0.0, 0.0, 1.0};
   const cv::Mat transform = cv::Mat(3, 3, CV_32F, ts);
 
   if (!cap_front.isOpened()) {
@@ -266,4 +274,4 @@ void cameras_run(DualCameraState *s) {
   err = pthread_join(rear_thread_handle, NULL);
   assert(err == 0);
   cameras_close(s);
-}
+}

selfdrive/manager.py

@@ -189,8 +189,13 @@ persistent_processes = [
   'thermald',
   'logmessaged',
   'ui',
-  'uploader',
 ]
+
+if not WEBCAM:
+  persistent_processes += [
+    'uploader',
+  ]
+
 if ANDROID:
   persistent_processes += [
     'logcatd',
@@ -201,7 +206,6 @@ if ANDROID:
 car_started_processes = [
   'controlsd',
   'plannerd',
-  'loggerd',
   'radard',
   'dmonitoringd',
   'calibrationd',
@@ -209,13 +213,19 @@ car_started_processes = [
   'camerad',
   'modeld',
   'proclogd',
-  'ubloxd',
   'locationd',
 ]
-if WEBCAM:
+
+if not WEBCAM:
+  car_started_processes += [
+    'loggerd',
+    'ubloxd',
+  ]
+else:
   car_started_processes += [
     'dmonitoringmodeld',
   ]
+
 if ANDROID:
   car_started_processes += [
     'sensord',

tools/webcam/README.md

@@ -23,14 +23,15 @@ git clone https://github.com/commaai/openpilot.git
 ```
 ## Build openpilot for webcam
 ```
-cd ~/openpilot
-scons use_webcam=1
+cd ~/openpilot 
+# check out selfdrive/camerad/cameras/camera_webcam.cc line72&146 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)
+# (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc) 
 # Connect your computer to panda
 ```
 ## GO 

tools/webcam/warp_vis.py

@@ -5,7 +5,7 @@ import numpy as np
 eon_focal_length = 910.0 # pixels
 eon_dcam_focal_length = 860.0 # pixels
 
-webcam_focal_length = 908.0 # pixels
+webcam_focal_length = -908.0/1.5 # pixels
 
 eon_intrinsics = np.array([
   [eon_focal_length,   0.,   1164/2.],
@@ -18,8 +18,8 @@ eon_dcam_intrinsics = np.array([
   [  0,    0,     1]])
 
 webcam_intrinsics = np.array([
-  [webcam_focal_length,   0.,   1280/2.],
-  [  0.,  webcam_focal_length,  720/2.],
+  [webcam_focal_length,   0.,   1280/2/1.5],
+  [  0.,  webcam_focal_length,  720/2/1.5],
   [  0.,    0.,     1.]])
 
 if __name__ == "__main__":
@@ -30,8 +30,8 @@ if __name__ == "__main__":
   print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front)
 
   cap = cv2.VideoCapture(1)
-  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
-  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
+  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853)
+  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
 
   while (True):
     ret, img = cap.read()