Hardwarize

import Frequency
import HAL
import WebGUI
import cv2
import numpy as np
import time
import math
from collections import deque

history_size = 5

Hardwarize

"""
Camera-Sonar Horizontal Field of View (FOV) Alignment Visualizer.

This script demonstrates how to correlate a specific horizontal slice of an RGB 
camera image with a 2D Forward-Looking Sonar (FLS) image. It uses camera intrinsic 
parameters to calculate the physical angle (azimuth) of a pixel range, and then 
maps that angle to the corresponding acoustic beams on the sonar.

Assumptions:
- The camera and sonar are perfectly aligned (bore-sighted) facing forward.