openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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#!/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)