查看Around view gain ballance的源代码 Around view gain ballance 0

Assume four around camera
     Cam0             Cam1             Cam2             Cam3
AccL[0] AccR[0]    AccL[1] AccR[1]  AccL[2] AccR[2]  AccL[3] AccR[3]
gain a[0]             a[1]              a[2]            a[3]

To find a0,a1,a2,a3, so that adjusted color is continuous, i.e,

AccR[i]*a[i] =AccL[i+1]*a[i+1], i=0~3

Solution:

a[0] = 1
a[i] = AccR[i-1]/AccL[i], i=1~3

overall gain = Sum(AccR[i]+AccL[i])/4/Sum(AccR[0]+AccL[0])
a[i] = a[i]*overall_gain

Example: