116 lines
3.7 KiB
Markdown
116 lines
3.7 KiB
Markdown
# Sample Data Description
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## Input Images Overview
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The AVM system comes with sample fisheye camera images that demonstrate the complete processing pipeline.
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### Image Specifications
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- **Resolution**: 1280×960 pixels
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- **Format**: PNG
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- **Camera Type**: Fisheye lens with wide field of view
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- **Calibration Pattern**: 2×4 rectangular grid visible in each image
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### Camera Positions
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#### Front Camera (`assets/images/front.png`)
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- Position: Front bumper center
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- Field of view: Covers front area and left/right sides
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- Calibration board: Positioned on ground in front of vehicle
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#### Back Camera (`assets/images/back.png`)
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- Position: Rear bumper center
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- Field of view: Covers rear area and left/right sides
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- Calibration board: Positioned on ground behind vehicle
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#### Left Camera (`assets/images/left.png`)
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- Position: Left side mirror or door
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- Field of view: Covers left side area
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- Calibration board: Positioned on ground to the left of vehicle
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#### Right Camera (`assets/images/right.png`)
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- Position: Right side mirror or door
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- Field of view: Covers right side area
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- Calibration board: Positioned on ground to the right of vehicle
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### Vehicle Model
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#### Vehicle Overlay (`assets/images/su7.png`)
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- **Type**: Top-down vehicle silhouette
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- **Format**: PNG with alpha channel for transparency
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- **Usage**: Overlaid on final stitched result to show vehicle position
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- **Positioning**: Automatically centered in panoramic view
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### Mask Images
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The system uses blending masks to create smooth transitions between camera views:
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#### Mask Specifications
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- **Location**: `assets/masks/`
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- **Files**:
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- `maskFront.jpg` - Front camera blending mask
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- `maskBack.jpg` - Back camera blending mask
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- `maskLeft.jpg` - Left camera blending mask
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- `maskRight.jpg` - Right camera blending mask
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- **Purpose**: Define blending regions for seamless image stitching
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- **Format**: Grayscale images where brightness indicates blending weight
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### Calibration Board Details
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#### Pattern Configuration
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- **Grid Size**: 2 rows × 4 columns
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- **Corner Count**: 8 total corners
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- **Board Size**: Approximately 50cm × 100cm (physical dimensions)
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- **Visibility**: Clearly visible in all four camera views
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#### Detection Requirements
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- **Contrast**: High contrast between board and ground
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- **Lighting**: Even illumination without shadows
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- **Position**: Fully within camera field of view
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- **Orientation**: Rectangular pattern aligned with vehicle axes
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## Using Your Own Images
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### Camera Setup Requirements
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To use your own images with the AVM system:
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1. **Camera Positioning**:
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- Install fisheye cameras at four positions around vehicle
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- Ensure overlapping fields of view between adjacent cameras
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- Maintain consistent height and angle
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2. **Calibration Board**:
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- Create a 2×4 rectangular calibration pattern
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- Position board in overlapping areas between camera views
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- Ensure board is flat and clearly visible
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3. **Image Capture**:
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- Capture images simultaneously from all four cameras
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- Maintain consistent lighting conditions
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- Ensure calibration board is visible in each image
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4. **File Preparation**:
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- Save images as PNG or JPG format
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- Name files: `front.png`, `back.png`, `left.png`, `right.png`
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- Place in `assets/images/` directory
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### Camera Parameter Adjustment
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If using different cameras, you may need to adjust parameters in the source code:
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- **Focal Length**: Modify based on your camera specifications
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- **Distortion Coefficients**: Calibrate using OpenCV calibration tools
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- **Image Resolution**: Update if using different image sizes
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- **Fisheye Scale Factor**: Adjust based on lens characteristics
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For detailed parameter tuning, refer to the [Technical Specifications](TECHNICAL_SPECS.md).
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