webcam: changes for comma zero (#35464)

* Revert "webcam: remove other cv2 usage (#33236)"

This reverts commit 0cade54015.

* Revert "remove cv2 usage (#33101)"

This reverts commit 144e9e271c.

* Revert "remove opencv-python-headless (#33082)"

This reverts commit 488e08507a.

* webcam: set width, height, fps; flip image; use av reformat

* 1280x720 @ 25fps

tools/webcam/camera.py

@@ -11,7 +11,14 @@ class Camera:
     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)
 
@@ -25,6 +32,8 @@ class Camera:
       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()

tools/webcam/camerad.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import threading
 import os
+import platform
 from collections import namedtuple
 
 from msgq.visionipc import VisionIpcServer, VisionStreamType
@@ -30,8 +31,7 @@ class Camerad:
 
     self.cameras = []
     for c in CAMERAS:
-      cam_device = f"/dev/video{c.cam_id}"
-      print(f"opening {c.msg_name} at {cam_device}")
+      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)