openpilot v0.11.1 release

date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
2026-06-04 09:50:05 -07:00
commit 6adb63b915
3381 changed files with 1044370 additions and 0 deletions
@@ -0,0 +1,31 @@
+# Run openpilot with webcam on PC
+
+What's needed:
+- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) or macOS
+- GPU (recommended)
+- One USB webcam, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615, NexiGo N60)
+- [Car harness](https://comma.ai/shop/products/comma-car-harness)
+- [panda](https://comma.ai/shop/panda)
+- USB-A to USB-A cable to connect panda to your computer
+
+## Setup openpilot
+- Follow [this readme](../README.md) to install and build the requirements
+
+## Connect the hardware
+- Connect the camera first
+- Connect your computer to panda
+
+## GO
+```
+USE_WEBCAM=1 system/manager/manager.py
+```
+- Start the car, then the UI should show the road webcam's view
+- Adjust and secure the webcam
+- Finish calibration and engage!
+
+## Specify Cameras
+
+Use the `ROAD_CAM` (default 0) and optional `DRIVER_CAM`, `WIDE_CAM` environment variables to specify which camera is which (ie. `ROAD_CAM=1` uses `/dev/video1`, on Ubuntu, for the road camera):
+```
+USE_WEBCAM=1 ROAD_CAM=1 system/manager/manager.py
+```
@@ -0,0 +1,39 @@
+import av
+import cv2 as cv
+
+class Camera:
+  def __init__(self, cam_type_state, stream_type, camera_id):
+    try:
+      camera_id = int(camera_id)
+    except ValueError: # allow strings, ex: /dev/video0
+      pass
+    self.cam_type_state = cam_type_state
+    self.stream_type = stream_type
+    self.cur_frame_id = 0
+
+    print(f"Opening {cam_type_state} at {camera_id}")
+
+    self.cap = cv.VideoCapture(camera_id)
+
+    self.cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280.0)
+    self.cap.set(cv.CAP_PROP_FRAME_HEIGHT, 720.0)
+    self.cap.set(cv.CAP_PROP_FPS, 25.0)
+
+    self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
+    self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
+
+  @classmethod
+  def bgr2nv12(self, bgr):
+    frame = av.VideoFrame.from_ndarray(bgr, format='bgr24')
+    return frame.reformat(format='nv12').to_ndarray()
+
+  def read_frames(self):
+    while True:
+      ret, frame = self.cap.read()
+      if not ret:
+        break
+      # Rotate the frame 180 degrees (flip both axes)
+      frame = cv.flip(frame, -1)
+      yuv = Camera.bgr2nv12(frame)
+      yield yuv.data.tobytes()
+    self.cap.release()
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import threading
+import os
+import platform
+from collections import namedtuple
+
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+from cereal import messaging
+
+from openpilot.tools.webcam.camera import Camera
+from openpilot.common.realtime import Ratekeeper
+
+ROAD_CAM = os.getenv("ROAD_CAM", "0")
+WIDE_CAM = os.getenv("WIDE_CAM")
+DRIVER_CAM = os.getenv("DRIVER_CAM")
+
+CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
+
+CAMERAS = [
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, ROAD_CAM)
+]
+if WIDE_CAM:
+  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
+if DRIVER_CAM:
+  CAMERAS.append(CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, DRIVER_CAM))
+
+class Camerad:
+  def __init__(self):
+    self.pm = messaging.PubMaster([c.msg_name for c in CAMERAS])
+    self.vipc_server = VisionIpcServer("camerad")
+
+    self.cameras = []
+    for c in CAMERAS:
+      cam_device = f"/dev/video{c.cam_id}" if platform.system() != "Darwin" else c.cam_id
+      cam = Camera(c.msg_name, c.stream_type, cam_device)
+      self.cameras.append(cam)
+      self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
+
+    self.vipc_server.start_listener()
+
+  def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
+    eof = int(frame_id * 0.05 * 1e9)
+    self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
+    dat = messaging.new_message(pub_type, valid=True)
+    msg = {
+      "frameId": frame_id,
+      "transform": [1.0, 0.0, 0.0,
+                    0.0, 1.0, 0.0,
+                    0.0, 0.0, 1.0]
+    }
+    setattr(dat, pub_type, msg)
+    self.pm.send(pub_type, dat)
+
+  def camera_runner(self, cam):
+    rk = Ratekeeper(20, None)
+    for yuv in cam.read_frames():
+      self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type)
+      cam.cur_frame_id += 1
+      rk.keep_time()
+
+  def run(self):
+    threads = []
+    for cam in self.cameras:
+      cam_thread = threading.Thread(target=self.camera_runner, args=(cam,))
+      cam_thread.start()
+      threads.append(cam_thread)
+
+    for t in threads:
+      t.join()
+
+
+def main():
+  camerad = Camerad()
+  camerad.run()
+
+
+if __name__ == "__main__":
+  main()