Add openpilot tools

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)