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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/tools/webcam
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README.md

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  • Car harness w/ black panda (or the outdated grey panda/giraffe combo) to connect to your car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 2.2 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!