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cleanups

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This commit is contained in:
ZwX1616
2020-03-27 11:43:30 -07:00
parent 0e059f5d4a
commit 4bcfe54efd
4 changed files with 40 additions and 21 deletions
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tools/webcam/README.md
+4 -3
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@@ -23,14 +23,15 @@ git clone https://github.com/commaai/openpilot.git
```
## Build openpilot for webcam
```
cd ~/openpilot
scons use_webcam=1
cd ~/openpilot
# check out selfdrive/camerad/cameras/camera_webcam.cc line72&146 if any camera is upside down
scons use_webcam=1
touch prebuilt
```
## Connect the hardwares
```
# Connect the road facing camera first, then the driver facing camera
# (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc)
# (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc)
# Connect your computer to panda
```
## GO
tools/webcam/warp_vis.py
+5 -5
View File
@@ -5,7 +5,7 @@ import numpy as np
eon_focal_length = 910.0 # pixels
eon_dcam_focal_length = 860.0 # pixels
webcam_focal_length = 908.0 # pixels
webcam_focal_length = -908.0/1.5 # pixels
eon_intrinsics = np.array([
[eon_focal_length, 0., 1164/2.],
@@ -18,8 +18,8 @@ eon_dcam_intrinsics = np.array([
[ 0, 0, 1]])
webcam_intrinsics = np.array([
[webcam_focal_length, 0., 1280/2.],
[ 0., webcam_focal_length, 720/2.],
[webcam_focal_length, 0., 1280/2/1.5],
[ 0., webcam_focal_length, 720/2/1.5],
[ 0., 0., 1.]])
if __name__ == "__main__":
@@ -30,8 +30,8 @@ if __name__ == "__main__":
print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front)
cap = cv2.VideoCapture(1)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
while (True):
ret, img = cap.read()