From 0f1a9d5c8ccaec3916aa801f9ef02d82bd1af27f Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Sat, 28 Jun 2025 21:30:13 +0300
Subject: [PATCH] webcam: changes for comma zero (#35464)

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

This reverts commit 0cade540158f1dadfb045f9fb40b06b7c48c545d.

* Revert "remove cv2 usage (#33101)"

This reverts commit 144e9e271c155c3a7702f62445ad2303ae057c50.

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

This reverts commit 488e08507a6a86921d9ef4546a36e3d6ef85a8f8.

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

* 1280x720 @ 25fps
---
 tools/webcam/camera.py  | 9 +++++++++
 tools/webcam/camerad.py | 4 ++--
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index 45f9379038..7926766c6f 100644
--- a/tools/webcam/camera.py
+++ b/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()
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index cb096dc00b..f1e70d948a 100755
--- a/tools/webcam/camerad.py
+++ b/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)