How to get Bird Eye surround view?

#1

GIven R, T for each camera, can I get Bird Eye view of the vehicle from 6 cameras using OpenCV?? Instead of computing tomography from matching keypoints, can I use camera parameters to get Bird Eye View??

#2

We have the BEV for the LiDAR pointcloud, but you will probably have to customize your own functions if you want to translate from the cameras themselves to a BEV