avm/docs/SAMPLE_DATA.md

Sample Data Description

Input Images Overview

The AVM system comes with sample fisheye camera images that demonstrate the complete processing pipeline.

Image Specifications

• Resolution: 1280×960 pixels
• Format: PNG
• Camera Type: Fisheye lens with wide field of view
• Calibration Pattern: 2×4 rectangular grid visible in each image

Camera Positions

Front Camera (assets/images/front.png)

• Position: Front bumper center
• Field of view: Covers front area and left/right sides
• Calibration board: Positioned on ground in front of vehicle

Back Camera (assets/images/back.png)

• Position: Rear bumper center
• Field of view: Covers rear area and left/right sides
• Calibration board: Positioned on ground behind vehicle

Left Camera (assets/images/left.png)

• Position: Left side mirror or door
• Field of view: Covers left side area
• Calibration board: Positioned on ground to the left of vehicle

Right Camera (assets/images/right.png)

• Position: Right side mirror or door
• Field of view: Covers right side area
• Calibration board: Positioned on ground to the right of vehicle

Vehicle Model

Vehicle Overlay (assets/images/su7.png)

• Type: Top-down vehicle silhouette
• Format: PNG with alpha channel for transparency
• Usage: Overlaid on final stitched result to show vehicle position
• Positioning: Automatically centered in panoramic view

Mask Images

The system uses blending masks to create smooth transitions between camera views:

Mask Specifications

• Location: assets/masks/
• Files:
  • maskFront.jpg - Front camera blending mask
  • maskBack.jpg - Back camera blending mask
  • maskLeft.jpg - Left camera blending mask
  • maskRight.jpg - Right camera blending mask
• Purpose: Define blending regions for seamless image stitching
• Format: Grayscale images where brightness indicates blending weight

Calibration Board Details

Pattern Configuration

• Grid Size: 2 rows × 4 columns
• Corner Count: 8 total corners
• Board Size: Approximately 50cm × 100cm (physical dimensions)
• Visibility: Clearly visible in all four camera views

Detection Requirements

• Contrast: High contrast between board and ground
• Lighting: Even illumination without shadows
• Position: Fully within camera field of view
• Orientation: Rectangular pattern aligned with vehicle axes

Using Your Own Images

Camera Setup Requirements

To use your own images with the AVM system:

1. Camera Positioning:

   • Install fisheye cameras at four positions around vehicle
   • Ensure overlapping fields of view between adjacent cameras
   • Maintain consistent height and angle

2. Calibration Board:

   • Create a 2×4 rectangular calibration pattern
   • Position board in overlapping areas between camera views
   • Ensure board is flat and clearly visible

3. Image Capture:

   • Capture images simultaneously from all four cameras
   • Maintain consistent lighting conditions
   • Ensure calibration board is visible in each image

4. File Preparation:

   • Save images as PNG or JPG format
   • Name files: front.png, back.png, left.png, right.png
   • Place in assets/images/ directory

Camera Parameter Adjustment

If using different cameras, you may need to adjust parameters in the source code:

• Focal Length: Modify based on your camera specifications
• Distortion Coefficients: Calibrate using OpenCV calibration tools
• Image Resolution: Update if using different image sizes
• Fisheye Scale Factor: Adjust based on lens characteristics

For detailed parameter tuning, refer to the Technical Specifications.