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* complie boardd without python * not good, but don't want to lose the file, because it works * clean a bit * update dbc * should build on CI * not good, but don't want to lose the file, because it works * clean a bit * should build on CI * remove unneeded path * reorder paths * reduce diff * and now it works?! * ... should work in CI * add kj, 30% chance to fix macos * pydebug * new way to find path * fix :) * tested * sanity check * repl. MacOS flags * hope it works * need more logs * need more logs2 * test if it works * should work on CI * correct python file * should not work * cleanup * real cleanup * more removals * 50% of file * transformations * fixed a hardcoded variable * more logs * simpl. * kalman * all donw if it passes tests * cleanup * reduce code by 20 lines if this works * fix bugs * cleanup * SharedLibrary * cleanup * ... * remove unused * CI fix maybe? * add more valid path * more logs * ...: * fix webcam CI * remove WError flag * deprecated is not an error * more Wno things * reduce diff, add Wno to env * don't import nonexistent stuff * SharedLibrary v2 * less custom env * renaming, remove SharedLibs * pack libs in envCython * experiment * better docker caching * whitespace * more docker caching * improvement * improvements Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Run openpilot with webcam on PC/laptop
What's needed:
- Ubuntu 20.04
- Python 3.8.2
- 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
- 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=$HOME/openpilot" to your ~/.bashrc
- Install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5
- Install OpenCL Driver
- Install OpenCV4 (ignore the Python part)
Build openpilot for webcam
cd ~/openpilot
- check out selfdrive/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
USE_WEBCAM=1 scons -j$(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/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!