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Adeeb Shihadeh
8ec4fa1002
|
5 years ago | |
|---|---|---|
| .. | ||
| Dockerfile | 5 years ago | |
| README.md | 5 years ago | |
| front_mount_helper.py | 6 years ago | |
| warp_vis.py | 6 years ago | |
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!