360 Panoramic Splicing
<p>[TOC]</p>
<h3><strong>I. Notes Before Installation</strong></h3>
<h4><strong>1. Necessary components/accessories:</strong></h4>
<table>
<thead>
<tr>
<th style="text-align: left;">Category</th>
<th style="text-align: left;">Requirements</th>
<th style="text-align: left;">Remarks</th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align: left;">Mainframe</td>
<td style="text-align: left;">open 360° algorithm, the device supports WIFI or is equipped with USBWifi.</td>
<td style="text-align: left;">support models: T8008, T5324</td>
</tr>
<tr>
<td style="text-align: left;">Camera</td>
<td style="text-align: left;">360° panoramic camera, four</td>
<td style="text-align: left;">recommended to use the manufacturer's supporting camera provided. The camera provided by a third party, it may not be calibrated</td>
</tr>
<tr>
<td style="text-align: left;">Calibration cloth</td>
<td style="text-align: left;">customized by drawing</td>
<td style="text-align: left;">a total of 8 calibration grids</td>
</tr>
<tr>
<td style="text-align: left;">Mobile APP</td>
<td style="text-align: left;">Tviewer APP</td>
<td style="text-align: left;">V1.0.3.7 onwards</td>
</tr>
</tbody>
</table>
<h4><strong>2. Note on installation environment:</strong></h4>
<table>
<thead>
<tr>
<th style="text-align: left;">Category</th>
<th style="text-align: left;">Requirements</th>
<th style="text-align: left;">Remarks</th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align: left;">Environmental Light</td>
<td style="text-align: left;">vehicle around the calibrated cloth, light uniform bright</td>
<td style="text-align: left;">can not have obvious differences between light and dark, shadows obscured</td>
</tr>
<tr>
<td style="text-align: left;">Venue Environment</td>
<td style="text-align: left;">ground level, the surrounding from the installation of the vehicle, 3 m range can not be to obstacle</td>
<td style="text-align: left;">avoid light blocking and obstruct the calibration cloth placement</td>
</tr>
<tr>
<td style="text-align: left;">Camera Orientation</td>
<td style="text-align: left;">Lens should be 90 degrees down</td>
<td style="text-align: left;">Tilt angle is too large, will affect the success rate of splicing</td>
</tr>
</tbody>
</table>
<h4><strong>3. Applicable models:</strong></h4>
<p>Suitable for buses, buses, vans, box trucks, engineering vehicles, some special operation vehicles, etc.
For passenger cars, pickup trucks, forklifts and other models with smaller bodies, <strong> need to assess the feasibility of camera installation as appropriate </strong> before use.
<img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=af0967301bbca69cf3f6340dd8df6288" alt="" /><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=9c9838708d14e6cdc6a0422d3feb5400" alt="" /><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=5b31e701359477ff51e516e4d510d8cc" alt="" /><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=5e0bfbc5aa56f53820c2b1239b747836" alt="" /><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=5adc13dcd6fa5c83d0a8a64fce5a9d5d" alt="" /><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=5cfdafb57b80a04ee79b69d875d49857" alt="" /></p>
<h3><strong>II. Camera Installation</strong></h3>
<h4><strong>1. Installation location</strong></h4>
<ul>
<li><strong>Program one (recommended): the body before and after the middle of the left and right roof position, down about 30-45 degrees installation. </strong>
<strong> <code>Applicable to vehicles with relatively regular external structure such as buses and coaches.</code> </strong> (can support up to 12 meters car length)
<strong>Installation position as below, red mark position:</strong></li>
</ul>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=894ec29ba663493ca182292e5237bb7b" alt="" /></p>
<ul>
<li><strong>Program 2:</strong>
<strong><code>Applicable to dumper trucks, concrete mixers and other vehicles that cannot meet the installation position of the middle roof.</code></strong> (can support up to 9m vehicle length)
<strong>Front cameras:</strong> high roof vehicles mounted in front of the front-facing sunshade, flat roof vehicles mounted on the front-facing roof slope.
<strong>Left and right cameras:</strong> mounted under the rearview mirror.
<strong>rear camera:</strong> installed in the chassis position.<br />
<strong>Installation position is as follows, red mark position:</strong></li>
</ul>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=8d9b70461fc6c87671a5061ddd366284" alt="" /></p>
<h4><strong>2. Installation angle</strong></h4>
<ul>
<li><strong>Bus, bus-type vehicles </strong>
<strong>Left and right camera installation:</strong>
(1) In the vehicle left and right center top suitable position, make a good installation mark, if the center is not suitable for installation, can be installed in the center left and right 50cm range.
(2) Use self-tapping screws to fix the camera horizontally at the mark, requiring no obvious horizontal error.
(3) If the curvature of the roof is too large, you need to add a camera matching correction spacer to ensure that the back of the camera is perpendicular to the ground as much as possible.
<strong>Front and rear camera installation:</strong>
(1) In the appropriate position of the vehicle front and rear center top, make a good installation mark, if the center is not suitable for installation, can be installed in the center around 20cm range.
(2) Install the camera horizontally fixed at the mark, requiring no obvious horizontal error.
(3) If the curvature of the roof is too large, you need to add a camera matching correction shim, try to ensure that the back of the camera is perpendicular to the ground. The installation can be roughly referred to the following figure.</li>
</ul>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=beb83b46e4e2dc5c190acd7b27b4ba76" alt="" /></p>
<ul>
<li><strong>Engineered vehicles </strong>
<strong>Left and right camera installation:</strong>
(1) in the vehicle left and right rearview mirror below the appropriate location, make a good installation mark, if the carriage is much wider than the front of the vehicle, may affect the camera image perspective, need to be installed in the rearview mirror below the outward projection of the location, as follows:
<img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=0ddf5764d1939dce3d6f6ef85007aa19" alt="" />
(2) Install the surround view camera horizontally fixed at the mark, try to ensure the level, but if the car length is too long, you can also fine-tune the camera rotation, appropriate to look in the direction of the rear of the car.
(3) If the installation arc is too large, add a camera matching correction spacer to try to ensure that the back of the camera is perpendicular to the ground.
<strong>Front and rear camera installation:</strong>
(1) In the appropriate location at the top of the front center of the vehicle, make a good installation mark, if the center is not suitable for installation, can be installed in the center around 20cm range.
(2) Install the surround view camera horizontally and fixed at the mark, requiring no obvious horizontal error.
(3) If the curvature of the roof is too large, you need to add a camera supporting correction shims, try to ensure that the back of the camera is perpendicular to the ground.
(4) The center of the bumper under the rear of the vehicle, make a mark, install the rear camera horizontally here, ensure no obvious horizontal error, ensure the camera view without too much obscuration, as follows position:
<img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=9c6eeac1d91d8aa71cdc7c1601560e0d" alt="" /></li>
</ul>
<h4><strong>3. Angle debugging check</strong></h4>
<p>(1) the camera extension cable to connect the camera and the corresponding host channel, can not be connected to the wrong; <strong> front, right, back, left order, clockwise a circle </strong>
(2) host connected to the AHD screen, power up to view the four-way image of the normal surround view, corresponding to the normal channel.
(3) view the camera images one by one without obvious tilt, the bottom of the image requirements can see part of the body (body about 1/6 to 1/3 of the image above and below), image examples are as follows, such as not meet the requirements, the need to fine-tune the camera installation.</p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=9304d4c8206a470ae6b00dd5176adc73" alt="车前" /><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=45229308c196ab9fc3022b8c7f0f3bfd" alt="右侧" /><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=9861ce00624c71dc6a8fe86577d8bd1d" alt="车后" /><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=aaf3c93dc2e7c202cb503a107e067aca" alt="左侧" /></p>
<h3><strong>III. 360° Stitching Calibration</strong></h3>
<h4><strong>1. Calibration cloth production</strong></h4>
<p><strong> <code>Standard calibration cloth, a total of four pieces are needed, two of which are placed at the front and two at the rear of the car, and two at the sides of the car.</code> </strong>
<strong> <code>The requirement is that the calibration cloth made should not be seriously reflective.</code> </strong>
<strong> The dimensions of the calibration cloths are as follows:</strong></p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=9a5faa781c2c9f3ce1b4c7fe2b167836" alt="" /></p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=956268f0b1c9ec76a77aea2d2716c7df" alt="" /></p>
<h4><strong>2. Site requirements</strong></h4>
<p>(1) The vehicle calibration requires a level ground operation site, the size of which varies according to the size of the vehicle;
(2) The front, rear, left and right side of the vehicle are left about 3 meters wide for placing the calibration cloth.</p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=50107438e1ba2984076dffb5b191e25f" alt="" /></p>
<h4><strong>3. Calibration cloth placement</strong></h4>
<ul>
<li>
<p><strong>As shown in the figure:</strong></p>
<ul>
<li>
<p><strong>Placement standards: </strong>F、R point and vehicle alignment, AB and CD are parallel to the front and rear of the car, AD and BC are parallel to the body left and right</p>
</li>
<li><strong>Fill in the parameters:</strong> AD is offset to the left from the left camera, BC is offset to the right from the right camera, F is offset forward from the front camera, R is offset backward from the back camera (F/R is 50mm less than AB/CD from the camera, AFB/DRC is not in the same line)</li>
</ul>
</li>
</ul>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=ee4f743d07b6d3f317e351acc50d40c3" alt="" /></p>
<p>(1) Place the front and rear large calibration cloth parallel to the front and rear of the vehicle (left and right without directional restrictions), so that the center of the calibration cloth is aligned with the vehicle's central axis, placed so that the body is 1m away from the vertical distance of the largest checkerboard grid (this 1m is not fixed, can be increased or decreased by 0.3m according to the actual situation), as follows, A, B point vertical distance from the front of the vehicle, C, D point vertical distance from the rear of the vehicle;</p>
<p>(2) left and right small calibration cloth vertical parallel to the body placed, the upper edge of the checkerboard grid 3m away from the front of the car (this 3m is not fixed, according to the camera installation position, can be adjusted by moving back and forth, so that the cloth closer to the left and right cameras can be), calibration cloth near the body of the checkerboard grid edge flush with the edge of the four corner checkerboard grid, the following figure, placed flush with the two vertical red line</p>
<h4><strong>4. Calibration parameters measurement</strong></h4>
<p><strong>After the calibration cloth has been placed, use a tape measure to measure the following dimensions. In the next step, when using the APP calibration, you need to fill in the parameters into the APP. </strong></p>
<p>(1) Measure the length and width of the car;
(2) Measure the vertical distance from the front and rear body to the corner point of the largest checkerboard grid near the body;
(3) Measure the horizontal distance from the left and right body to the corner point of the maximum checkerboard grid near the body.
(4) The number of rows and columns of the four-sided centered checkerboard grid (count the rows and columns by looking vertically at the left and right placed calibrated cloths).</p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=6304156752a0b2cb3de1690c53d4858d" alt="" /></p>
<h4><strong>5. APP calibration operation</strong></h4>
<p><strong>(1) Mobile app connected to the device</strong>, open the 360 calibration page of the app, check whether the corner points of the large checkerboard grid can be seen on the image one by one, requiring no reflection: </p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=db952d8fc950203671d22875c93e1550" alt="" /></p>
<p><strong>(2) Click set parameters</strong>, fill in the vehicle and calibration cloth size parameters measured in the previous step. Among them.
<strong>"field of view "</strong> is no screen after stitching can see the overall range (default 20m), need to be adjusted appropriately according to the length of the vehicle.
<strong>"Fusion angle "</strong> is the angle of the stitching, the default 45 °, no need to modify.
<strong>The following chart:</strong></p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=ae41cd915786706d21f3bd4ba474bae4" alt="" /></p>
<p><code>Note: The distance from the front, rear and left/right of the rook to the checkerboard grid is the distance to the maximum checkerboard grid</code></p>
<p><strong>(3) Click to start calibration</strong>, the device will perform self-calibration and indicate successful calibration.</p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=fc7f1b94b97351a9e7119b0e2dfe89c0" alt="" /></p>
<p><strong>(4) Calibration completed</strong>, the device will restart automatically after the calibration is completed; after the restart, the display will read as follows.</p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=fb5a993af9503d3afb4faffea7dabbb2" alt="" /></p>
<p><img src="http://118.195.179.210:9000/server/index.php?s=/api/attachment/visitFile&amp;sign=f456291142d6b37bbc992ad993218289" alt="" /></p>
<p><strong>(5) Calibration failed</strong>
Check whether the image is reflective or not, and whether the parameters are filled in wrongly</p>