Shane Smiskol
ab43fd1369
* ui: speed up `mici/AugmentedRoadView` by optimizing _calc_frame_matrix caching (#36669) speed up AugmentedRoadView by optimizing _calc_frame_matrix caching * ui: apply rect.x/y as a 2D screen offset post-projection Removes the parent rect's screen position from the cached video_transform passed to ModelRenderer. Instead, ModelRenderer applies (rect.x, rect.y) as a 2D offset to projected_points at draw time. Why this works: the rect.x/y term in video_transform gets multiplied by P_calib[2] before the perspective divide, then divided by the same value, which cancels out to a simple additive shift on the final screen coordinate. So adding x to video_transform[0,2] is equivalent to adding x to screen_x post-projection. Net effect: the cache key in _calc_frame_matrix no longer needs to include rect.x/y. Cache stays hot under translation (e.g. swiping between layouts), and the model overlay tracks the camera at 60Hz because the offset is updated cheaply each frame. This addresses the original revert reason for #36669 (model overlay visually desyncs from camera during a home<->onroad swipe). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * ui: update model screen offset every frame, not just on cache miss set_screen_offset() was called inside the cache-miss path of _calc_frame_matrix, so the offset only updated at ~20Hz (calib publish rate). The model overlay visibly lagged the camera during a swipe. Move it out of the cached path so it updates each frame. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * fully clean up * shorter cmts * make non * clean up * fix ty --------- Co-authored-by: Dean Lee <deanlee3@gmail.com> Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
openpilot
openpilot is an operating system for robotics.
Currently, it upgrades the driver assistance system in 300+ supported cars.
Docs · Roadmap · Contribute · Community · Try it on a comma four
Quick start: bash <(curl -fsSL openpilot.comma.ai)
Using openpilot in a car
To use openpilot in a car, you need four things:
- Supported Device: a comma four, available at comma.ai/shop/comma-four.
- Software: The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL
openpilot.comma.aito install the release version. - Supported Car: Ensure that you have one of the 300+ supported cars.
- Car Harness: You will also need a car harness to connect your comma four to your car.
We have detailed instructions for how to install the harness and device in a car. Note that it's possible to run openpilot on other hardware, although it's not plug-and-play.
Branches
Running master and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
| comma four branch | comma 3X branch | URL | description |
|---|---|---|---|
release-mici |
release-tizi |
openpilot.comma.ai | This is openpilot's release branch. |
release-mici-staging |
release-tizi-staging |
openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
nightly |
nightly |
openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
nightly-dev |
nightly-dev |
installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
To start developing openpilot
openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub.
- Join the community Discord
- Check out the contributing docs
- Check out the openpilot tools
- Code documentation lives at https://docs.comma.ai
- Information about running openpilot lives on the community wiki
Want to get paid to work on openpilot? comma is hiring and offers lots of bounties for external contributors.
Safety and Testing
- openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
- openpilot has software-in-the-loop tests that run on every commit.
- The code enforcing the safety model lives in panda and is written in C, see code rigor for more details.
- panda has software-in-the-loop safety tests.
- Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
- panda has additional hardware-in-the-loop tests.
- We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
MIT Licensed
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
User Data and comma Account
By default, openpilot uploads driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.
openpilot is open source software, and users can disable data collection if they wish.
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.