mirror of https://github.com/commaai/openpilot.git
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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- Car harness with black panda (or the outdated grey panda/giraffe combo) to connect to your car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
- 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 lines 72 and 146 before building if any camera is upside down
scons use_webcam=1
touch prebuilt
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!