How to get Bird Eye surround view?

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??

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