About examples“Create 360° Bird's-Eye-View Image Around a Vehicle”

Hello, officials and community partners.：

I want to ask a question about the example of "Create 360 ° Bird's Eye-View Image Around a Vehicle". The address is：https://ww2.mathworks.cn/help/driving/ug/create-360-birds-eye-view-image.html

I hope you can get help or relevant information. I want to convert the 8 cameras in the example into 4 fisheye cameras. Where should I modify them? What should I do to calibrate these four fish-eye cameras?

There is also a focus on image stitching and distortion correction. How to modify it? What is the impact on code generation? Hope to get help, thank you!

Answer 1

[Aravind]

Hi @QS-L,

Yes, it is possible to adapt the example you shared to use 4 cameras instead of 8. According to the documentation at https://www.mathworks.com/help/driving/ug/create-360-birds-eye-view-image.html, you can start by setting the "numCameras" variable to 4.

Next, you will need to obtain the intrinsics for the 4 cameras. This involves calibrating the cameras, as outlined in the documentation at https://www.mathworks.com/help/driving/ug/calibrate-a-monocular-camera.html. After obtaining the camera intrinsics, load them into the "intrinsics" variable, which will be a cell of size 4x1.

Then, you need to obtain the extrinsic parameters of the cameras and create the "monoCamera" object. The same calibration documentation provides instructions on obtaining camera extrinsics and creating the "monoCamera" object. More information about the "monoCamera" object is available at https://www.mathworks.com/help/driving/ref/monocamera.html. Once you have the "monoCamera" objects for each of the 4 cameras, you can create the "monoCams" cell, similar to the example, but it will now be of size 1x4.

With the "monoCams" cell array prepared, you can create the Bird’s-eye-View image from the 4 cameras using the code from the example. This process uses a "for" loop to iterate over the "monoCamera" objects and employs the "birdsEyeView" function to generate the image. More information on the "birdsEyeView" function can be found at https://www.mathworks.com/help/driving/ref/birdseyeview.html.

You can then stitch the images to generate a single image by following the "Register and Stitch Bird’s-Eye-View Images" section of the example, which is available at https://www.mathworks.com/help/driving/ug/create-360-birds-eye-view-image.html#Create360BirdsEyeViewImageAroundAVehicleExample-7.

Following these steps, you should be able to modify the example from using 8 cameras to using 4 cameras.

Hope this helps!