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Code Issues Packages Projects Releases Wiki Activity

webcam: make driver camera optional (#35455)

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* webcam: driverCamera optional

* webcam: update README
This commit is contained in:
Andrei Radulescu
2025-06-05 20:23:51 +03:00
committed by GitHub
parent 3ad74b440c
commit ef6719f24e
2 changed files with 17 additions and 12 deletions
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tools/webcam/README.md
+10 -10
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@@ -1,22 +1,22 @@
# Run openpilot with webcam on PC
What's needed:
- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216))
- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) or macOS
- GPU (recommended)
- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
- [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car
- [Panda paw](https://comma.ai/shop/products/panda-paw) or USB-A to USB-A cable to connect panda to your computer
That's it!
- 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
- Install OpenCL Driver
- Install OpenCL Driver (Ubuntu)
```
sudo apt install pocl-opencl-icd
```
## Connect the hardware
- Connect the road facing camera first, then the driver facing camera
- Connect the camera first
- Connect your computer to panda
## GO
@@ -24,12 +24,12 @@ sudo apt install pocl-opencl-icd
USE_WEBCAM=1 system/manager/manager.py
```
- Start the car, then the UI should show the road webcam's view
- Adjust and secure the webcams.
- Adjust and secure the webcam
- Finish calibration and engage!
## Specify Cameras
Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera):
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=4 WIDE_CAM=6 system/manager/manager.py
USE_WEBCAM=1 ROAD_CAM=1 system/manager/manager.py
```
tools/webcam/camerad.py
+7 -2
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@@ -9,14 +9,19 @@ 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, os.getenv("ROAD_CAM", "0")),
CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")),
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):