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* Modeld: loop over platforms to find gpu
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49 lines
1.9 KiB
Markdown
49 lines
1.9 KiB
Markdown
Run openpilot with webcam on PC/laptop
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=====================
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What's needed:
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- Ubuntu 16.04
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- Python 3.7.3
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- GPU (recommended)
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- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
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- [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda (or the outdated grey panda/giraffe combo) to connect to your car
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- [Panda paw](https://comma.ai/shop/products/panda-paw) (or USB-A to USB-A cable) to connect panda to your computer
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- Tape, Charger, ...
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That's it!
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## Clone openpilot and install the requirements
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```
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cd ~
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git clone https://github.com/commaai/openpilot.git
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```
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- Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements
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- Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc
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- Install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5
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- Install [OpenCL Driver](http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
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- Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part)
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## Build openpilot for webcam
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```
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cd ~/openpilot
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```
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- check out selfdrive/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
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```
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scons use_webcam=1
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touch prebuilt
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```
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## Connect the hardware
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- Connect the road facing camera first, then the driver facing camera
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- (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc)
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- Connect your computer to panda
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## GO
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```
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cd ~/openpilot/tools/webcam
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./accept_terms.py # accept the user terms so that thermald can detect the car started
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cd ~/openpilot/selfdrive
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PASSIVE=0 NOSENSOR=1 WEBCAM=1 ./manager.py
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```
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- Start the car, then the UI should show the road webcam's view
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- Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera)
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- Finish calibration and engage!
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