Add openpilot tools

2024-01-12 22:39:30 -07:00
parent d1bee2c971
commit 0174873f46
154 changed files with 16477 additions and 0 deletions
--- a/tools/webcam/Dockerfile
+++ b/tools/webcam/Dockerfile
@@ -0,0 +1,41 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+ENV PYTHONUNBUFFERED 1
+ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
+
+# Install opencv
+ENV OPENCV_VERSION '4.2.0'
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      libvtk6-dev \
+      libdc1394-22-dev \
+      libavcodec-dev \
+      libavformat-dev \
+      libswscale-dev \
+      libtheora-dev \
+      libvorbis-dev \
+      libxvidcore-dev \
+      libx264-dev \
+      yasm \
+      libopencore-amrnb-dev \
+      libopencore-amrwb-dev \
+      libv4l-dev \
+      libxine2-dev \
+      libtbb-dev \
+    && rm -rf /var/lib/apt/lists/* && \
+
+    mkdir /tmp/opencv_build && \
+    cd /tmp/opencv_build && \
+
+    curl -L -O https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.tar.gz && \
+    tar -xvf ${OPENCV_VERSION}.tar.gz && \
+    mv opencv-${OPENCV_VERSION} OpenCV && \
+    cd OpenCV && mkdir build && cd build && \
+    cmake -DWITH_OPENGL=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON \
+          -DWITH_XINE=ON -DENABLE_PRECOMPILED_HEADERS=OFF -DBUILD_TESTS=OFF \
+          -DBUILD_PERF_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_opencv_apps=OFF .. && \
+    make -j8 && \
+    make install && \
+    ldconfig && \
+
+    cd / && rm -rf /tmp/*
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -0,0 +1,45 @@
+# NOTE: this README is outdated. #24590 tracks adding back webcam support
+
+# Run openpilot with webcam on PC
+
+What's needed:
+- Ubuntu 20.04
+- 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!
+
+## Setup openpilot
+```
+cd ~
+git clone https://github.com/commaai/openpilot.git
+```
+- Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements
+- Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc
+- Install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5
+- Install [OpenCL Driver](https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
+- Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part)
+
+## Build openpilot for webcam
+```
+cd ~/openpilot
+```
+- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
+```
+USE_WEBCAM=1 scons -j$(nproc)
+```
+
+## Connect the hardware
+- Connect the road facing camera first, then the driver facing camera
+- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc)
+- Connect your computer to panda
+
+## GO
+```
+cd ~/openpilot/selfdrive/manager
+NOSENSOR=1 USE_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!
--- a/tools/webcam/front_mount_helper.py
+++ b/tools/webcam/front_mount_helper.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+import numpy as np
+
+# copied from openpilot.common.transformations/camera.py
+eon_dcam_focal_length = 860.0  # pixels
+webcam_focal_length = 908.0  # pixels
+
+eon_dcam_intrinsics = np.array([
+  [eon_dcam_focal_length,   0,   1152/2.],
+  [  0,  eon_dcam_focal_length,  864/2.],
+  [  0,    0,     1]])
+
+webcam_intrinsics = np.array([
+  [webcam_focal_length,   0.,   1280/2.],
+  [  0.,  webcam_focal_length,  720/2.],
+  [  0.,    0.,     1.]])
+
+cam_id = 2
+
+if __name__ == "__main__":
+  import cv2
+
+  trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
+
+  cap = cv2.VideoCapture(cam_id)
+  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
+  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
+
+  while (True):
+    ret, img = cap.read()
+    if ret:
+      img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152, 864), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
+      img = img[:, -864//2:, :]
+      cv2.imshow('preview', img)
+      cv2.waitKey(10)
--- a/tools/webcam/warp_vis.py
+++ b/tools/webcam/warp_vis.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+import numpy as np
+
+# copied from openpilot.common.transformations/camera.py
+eon_focal_length = 910.0  # pixels
+eon_dcam_focal_length = 860.0  # pixels
+
+webcam_focal_length = -908.0/1.5  # pixels
+
+eon_intrinsics = np.array([
+  [eon_focal_length,   0.,   1164/2.],
+  [  0.,  eon_focal_length,  874/2.],
+  [  0.,    0.,     1.]])
+
+eon_dcam_intrinsics = np.array([
+  [eon_dcam_focal_length,   0,   1152/2.],
+  [  0,  eon_dcam_focal_length,  864/2.],
+  [  0,    0,     1]])
+
+webcam_intrinsics = np.array([
+  [webcam_focal_length,   0.,   1280/2/1.5],
+  [  0.,  webcam_focal_length,  720/2/1.5],
+  [  0.,    0.,     1.]])
+
+if __name__ == "__main__":
+  import cv2
+  trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics))
+  trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
+  print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear)
+  print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front)
+
+  cap = cv2.VideoCapture(1)
+  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853)
+  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+
+  while (True):
+    ret, img = cap.read()
+    if ret:
+      # img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
+      img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164, 874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
+      print(img.shape, end='\r')
+      cv2.imshow('preview', img)
+      cv2.waitKey(10)