合并完成，忽略日志文件

.gitignore

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+*.log

AdasSourrondView-main/CMakeLists.txt

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+cmake_minimum_required (VERSION 3.0)
+
+project(avm_app)
+
+set(OpenCV_DIR "D:/Software/opencv/opencv/build") 
+
+find_package(OpenCV REQUIRED)
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+message(STATUS "opencv inc path " ${OpenCV_INCLUDE_DIRS})
+
+include_directories(./srcs)
+
+set (
+    FILE_SRCS
+    main.cpp
+)
+
+#file(GLOB_RECURSE COMMON_FILES ./common/*.cpp ./common/*.h*)
+
+#file(GLOB_RECURSE MODULES_FILES ./modules/*.cpp ./moudles/*.h*)
+
+#list(APPEND FILE_SRCS ${COMMON_FILES} ${MODULES_FILES})
+
+message (STATUS "get file srcs lits: " ${FILE_SRCS})
+
+add_executable (avm_cali avm_cali_demo.cpp ./srcs/common.cpp)
+add_executable (avm_app avm_app_demo.cpp ./srcs/common.cpp)
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+link_directories(${OpenCV_LIBRARY_DIRS})
+
+target_link_libraries(avm_cali ${OpenCV_LIBS})
+target_link_libraries(avm_app ${OpenCV_LIBS})

AdasSourrondView-main/avm_app_demo.cpp

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+/***
+ * function: 360 surrond view combine c++ demo
+ * author: joker.mao
+ * date: 2023/07/15
+ * copyright: ADAS_EYES all right reserved
+*/
+
+#include "common.h"
+
+#define DEBUG
+#define AWB_LUN_BANLANCE_ENALE    1
+
+// Compute blend weight that handles empty (black) regions
+// Outside overlap: G=1 where imA has content, G=0 where imA is black
+// Inside overlap: smooth transition using horizontal gradient
+static cv::Mat make_blend_weight(const cv::Mat& imA, const cv::Mat& imB, bool l2r) {
+    int h = imA.rows, cw = imA.cols;
+    cv::Mat grayA, grayB, maskA, maskB;
+    cv::cvtColor(imA, grayA, cv::COLOR_BGR2GRAY);
+    cv::cvtColor(imB, grayB, cv::COLOR_BGR2GRAY);
+
+    cv::threshold(grayA, maskA, 5, 255, cv::THRESH_BINARY);
+    cv::threshold(grayB, maskB, 5, 255, cv::THRESH_BINARY);
+    cv::Mat both = maskA & maskB;
+
+    cv::Mat wm(h, cw, CV_32FC1);
+    for (int y = 0; y < h; ++y) {
+        for (int x = 0; x < cw; ++x) {
+            if (both.at<uchar>(y, x)) {
+                float t = (float)x / (float)(cw - 1);
+                wm.at<float>(y, x) = l2r ? t : (1.0f - t);
+            } else if (maskA.at<uchar>(y, x)) {
+                wm.at<float>(y, x) = 1.0f;
+            } else {
+                wm.at<float>(y, x) = 0.0f;
+            }
+        }
+    }
+    return wm;
+}
+
+int main(int argc, char** argv)
+{
+    if (argc != 2) {
+        std::cout << "usage:\n\t" << argv[0] << " path\n";
+        return -1;
+    }
+    std::cout  << argv[0] << " app start running..." << std::endl;
+    std::string data_path = std::string(argv[1]);
+    cv::Mat car_img;
+    cv::Mat origin_dir_img[4];
+    cv::Mat undist_dir_img[4];
+    cv::Mat merge_weights_img[4];
+    cv::Mat out_put_img;
+    CameraPrms prms[4];
+
+    //1.read image
+    car_img = cv::imread(data_path + "/images/car.png");
+    cv::resize(car_img, car_img, cv::Size(xr - xl, yb - yt));
+    out_put_img = cv::Mat(cv::Size(total_w, total_h), CV_8UC3, cv::Scalar(0, 0, 0));
+
+    //1. read calibration prms
+    for (int i = 0; i < 4; ++i) {
+        auto& prm = prms[i];
+        prm.name = camera_names[i];
+        auto ok = read_prms(data_path + "/yaml/" + prm.name + ".yaml", prm);
+        if (!ok) {
+            return -1;
+        }
+    }
+
+     //2.lum equalization and awb for four channel image
+    std::vector<cv::Mat*> srcs;
+    for (int i = 0; i < 4; ++i) {
+        auto& prm = prms[i];
+        origin_dir_img[i] = cv::imread(data_path + "/images/" + prm.name + ".png");
+        srcs.push_back(&origin_dir_img[i]);
+    }
+
+#if AWB_LUN_BANLANCE_ENALE
+    awb_and_lum_banlance(srcs);
+#endif
+
+    //3. undistort image
+    for (int i = 0; i < 4; ++i) {
+        auto& prm = prms[i];
+        cv::Mat& src = origin_dir_img[i];
+       
+        undist_by_remap(src, src, prm);
+        cv::warpPerspective(src, src, prm.project_matrix, project_shapes[prm.name]);
+        
+        if (camera_flip_mir[i] == "r+") {
+            cv::rotate(src, src, cv::ROTATE_90_CLOCKWISE);
+        } else if (camera_flip_mir[i] == "r-") {
+            cv::rotate(src, src, cv::ROTATE_90_COUNTERCLOCKWISE);
+        } else if (camera_flip_mir[i] == "m") {
+            cv::rotate(src, src, cv::ROTATE_180);
+        }
+        //display_mat(src, "project");
+        //cv::imwrite(prms.name + "_undist.png", src);
+        undist_dir_img[i] = src.clone();
+    }
+
+    //4. Compute blend weights from projected images (matches Python get_weight_mask_matrix)
+    // mask-based: only blend where both images have content, take fully outside overlap
+    merge_weights_img[0] = make_blend_weight(
+        undist_dir_img[0](cv::Rect(0, 0, xl, yt)),       // FI = front[:, :xl]
+        undist_dir_img[1](cv::Rect(0, 0, xl, yt)),        // LI = left[:yt, :]
+        true);                                              // G increases left→right
+    merge_weights_img[1] = make_blend_weight(
+        undist_dir_img[0](cv::Rect(xr, 0, xl, yt)),       // FII = front[:, xr:]
+        undist_dir_img[3](cv::Rect(0, 0, xl, yt)),         // RII = right[:yt, :]
+        false);                                             // G decreases left→right
+    merge_weights_img[2] = make_blend_weight(
+        undist_dir_img[2](cv::Rect(0, 0, xl, yt)),        // BIII = back[:, :xl]
+        undist_dir_img[1](cv::Rect(0, yb, xl, yt)),        // LIII = left[yb:, :]
+        true);                                              // G increases left→right
+    merge_weights_img[3] = make_blend_weight(
+        undist_dir_img[2](cv::Rect(xr, 0, xl, yt)),       // BIV = back[:, xr:]
+        undist_dir_img[3](cv::Rect(0, yb, xl, yt)),        // RIV = right[yb:, :]
+        false);                                             // G decreases left→right
+
+    //5.start combine
+    std::cout  << argv[0] << " app start combine" << std::endl;
+    car_img.copyTo(out_put_img(cv::Rect(xl, yt, car_img.cols, car_img.rows)));
+    //5.1 center copy
+    for (int i = 0; i < 4; ++i) {
+        cv::Rect roi;
+        if (std::string(camera_names[i]) == "front") {
+            roi = cv::Rect(xl, 0, xr - xl, yt);
+            undist_dir_img[i](roi).copyTo(out_put_img(roi));
+        } else if (std::string(camera_names[i]) == "left") {
+            roi = cv::Rect(0, yt, xl, yb - yt);
+            undist_dir_img[i](roi).copyTo(out_put_img(roi));
+        } else if (std::string(camera_names[i]) == "right") {
+            roi = cv::Rect(0, yt, xl, yb - yt);
+            undist_dir_img[i](roi).copyTo(out_put_img(cv::Rect(xr, yt, total_w - xr, yb - yt)));
+        } else if (std::string(camera_names[i]) == "back") {
+            roi = cv::Rect(xl, 0, xr - xl, yt);
+            undist_dir_img[i](roi).copyTo(out_put_img(cv::Rect(xl, yb, xr - xl, yt)));
+        }
+    }
+    //5.2 four corner merge
+    //image order: {front, left, back, right}
+    //weight index: 0=left_top, 1=right_top, 2=left_bottom, 3=right_bottom
+    cv::Rect roi;
+    roi = cv::Rect(0, 0, xl, yt);
+    merge_image(undist_dir_img[0](roi), undist_dir_img[1](roi), merge_weights_img[0], out_put_img(roi));
+    roi = cv::Rect(xr, 0, xl, yt);
+    merge_image(undist_dir_img[0](roi), undist_dir_img[3](cv::Rect(0, 0, xl, yt)), merge_weights_img[1], out_put_img(cv::Rect(xr, 0, xl, yt)));
+    roi = cv::Rect(0, yb, xl, yt);
+    merge_image(undist_dir_img[2](cv::Rect(0, 0, xl, yt)), undist_dir_img[1](roi), merge_weights_img[2], out_put_img(roi));
+    merge_image(undist_dir_img[2](cv::Rect(xr, 0, xl, yt)), undist_dir_img[3](cv::Rect(0, yb, xl, yt)), merge_weights_img[3], out_put_img(cv::Rect(xr, yb, xl, yt)));
+
+    cv::imwrite("ADAS_EYES_360_VIEW.png", out_put_img);
+    
+#ifdef DEBUG
+    cv::resize(out_put_img, out_put_img, cv::Size(out_put_img.size())),
+    display_mat(out_put_img, "out_put_img");
+#endif
+
+    std::cout  << argv[0] << " app finished" << std::endl;
+}

AdasSourrondView-main/avm_cali_demo.cpp

@@ -0,0 +1,82 @@
+/***
+ * function: 360 surrond view combine c++ demo
+ * author: joker.mao
+ * date: 2023/07/15
+ * copyright: ADAS_EYES all right reserved
+*/
+
+#include <iostream>
+#include <map>
+#include <vector>
+#include "common.h"
+
+struct mouse_prms {
+    cv::Mat* mat;
+    std::vector<cv::Point2f> star_points;
+    std::string win_name;
+
+    mouse_prms() {
+        mat = nullptr;
+        star_points.clear();
+        win_name = "front";
+    }
+};
+
+void on_mouse(int event, int x, int y, int flags, void* param)
+{
+    mouse_prms* prms = (mouse_prms*)param;
+    switch (event)
+    {
+    case cv::EVENT_LBUTTONDOWN:
+        std::cout << x << y << std::endl;
+        cv::putText(*prms->mat, "[" + std::to_string(x) + "," + std::to_string(y) + "]", cv::Point(x, y), 1, 1.0, cv::Scalar(0, 0, 255));
+        cv::imshow(prms->win_name, *prms->mat);
+        prms->star_points.push_back(cv::Point(x, y));
+        if (prms->star_points.size() == 4) {
+            cv::destroyWindow(prms->win_name);
+        }
+        break;
+    
+    default:
+        break;
+    }
+}
+
+
+int main(int argc, char** argv)
+{
+    std::cout  << argv[0] << " app start running..." << std::endl;
+    
+    for (int i = 0; i < 4; ++i) {
+        CameraPrms prms;
+        prms.name = camera_names[i];
+
+        cv::Mat src = cv::imread("../../images/" + prms.name + ".png");
+        
+        read_prms("../../yaml/" + prms.name + ".yaml", prms);
+        undist_by_remap(src, src, prms);
+        //if has not calibration，then we will cali it
+        if (prms.project_matrix.empty()) 
+        {
+            //cali
+            mouse_prms m_prms;
+            cv::Mat mat_display = src.clone();
+            cv::imshow(prms.name, mat_display);
+            m_prms.mat = &mat_display;
+            m_prms.win_name = prms.name;
+            //get trans points
+            cv::setMouseCallback(prms.name, on_mouse, &m_prms);
+            // cv::waitKey();
+
+            prms.project_matrix =  cv::getPerspectiveTransform(m_prms.star_points, project_keypoints[prms.name]);
+            cv::warpPerspective(src, src, prms.project_matrix, project_shapes[prms.name]);
+            save_prms("../../yaml/project_" + prms.name + ".yaml", prms);
+            cv::imwrite(prms.name + "_cali.png", mat_display);
+        }
+
+        cv::warpPerspective(src, src, prms.project_matrix, project_shapes[prms.name]);
+        display_mat(src, "project");
+    }
+    std::cout << "cali finished\r\n";
+    return 0;
+}

AdasSourrondView-main/build/CMakeCache.txt

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+# This is the CMakeCache file.
+# For build in directory: /home/ztl/LJ360/AdasSourrondView-main/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
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+
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+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
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+//Flags used by the CXX compiler during DEBUG builds.
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+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
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+
+//C compiler
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+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
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+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
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+//Value Computed by CMake
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+
+//Path to a program.
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+
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+//Flags used by the linker during the creation of shared libraries
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+// during MINSIZEREL builds.
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+//Flags used by the linker during the creation of shared libraries
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+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
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+// during all build types.
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+
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+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//The directory containing a CMake configuration file for OpenCV.
+OpenCV_DIR:PATH=/usr/lib/aarch64-linux-gnu/cmake/opencv4
+
+//Value Computed by CMake
+avm_app_BINARY_DIR:STATIC=/home/ztl/LJ360/AdasSourrondView-main/build
+
+//Value Computed by CMake
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+
+
+########################
+# INTERNAL cache entries
+########################
+
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+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+  || (defined(__ibmxl__) || defined(__IBMC__))
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

AdasSourrondView-main/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
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+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
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+# if (__WATCOMC__ % 10) > 0
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+
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+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
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+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
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+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
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+  /* __DECCXX_VER = VVRRTPPPP */
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+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
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+  /* __IBMCPP__ = VRP */
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+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
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+
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+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
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+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
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+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
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+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
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+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
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+#elif defined(__clang__)
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+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
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+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
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+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
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+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
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+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
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+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
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+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
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+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
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+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
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+   array rather than assigning a pointer to a static array.  */
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+#define STRINGIFY(X) STRINGIFY_HELPER(X)
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+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
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+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
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+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
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+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
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+#endif
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+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
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+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
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+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
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+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
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+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
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+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
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+   array rather than assigning a pointer to a static array.  */
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+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
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+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201703L
+  "20"
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+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
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+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
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+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
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+}

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AdasSourrondView-main/readme.md

@@ -0,0 +1,38 @@
+# 360 Surround-View C++ Project
+## WeChat&知乎：ADAS之眼
+
+![wechat](./doc/wechat.png)
+
+**[个人博客网站传送门](https://jokereyeadas.github.io)**
+
+## Reference Repo
+
+|index|repo|info|
+|----|----|----|
+|1|[surround-view-system-introduction](https://github.com/neozhaoliang/surround-view-system-introduction)|python verison, refrence repo for 2D avm|
+|2|[3d surround-view-system](https://github.com/SokratG/Surround-View)|cuda+opengl verison, for 3d avm|
+
+the project params described doc link:
+
+[surrond view doc](https://github.com/neozhaoliang/surround-view-system-introduction/blob/master/doc/en.md)
+
+## How To Build And Run？
+* build
+
+```
+#!/bin/bash
+mkdir build
+cd build 
+cmake ..
+make
+```
+* run
+
+```
+# make sure data(images amd yaml) path is ../ 
+./avm_app ../ #(../ is the image and yaml data path)
+```
+## Result
+|awb and lum banlance disable|awb and lum banlance enable|
+|----|----|
+|![no banlance](./images/result/ADAS_EYES_360_VIEW_AWB_DISABLE.png)|![banlance](./images/result/ADAS_EYES_360_VIEW_AWB_ENABLE.png)|

AdasSourrondView-main/srcs/common.cpp

@@ -0,0 +1,177 @@
+/***
+ * function: 360 surrond view combine c++ demo
+ * author: joker.mao
+ * date: 2023/07/15
+ * copyright: ADAS_EYES all right reserved
+*/
+
+
+#include "common.h"
+
+void display_mat(cv::Mat& img, std::string name)
+{
+    cv::imshow(name, img);
+    cv::waitKey();
+}
+
+//read cali prms
+bool read_prms(const std::string& path, CameraPrms& prms)
+{
+    cv::FileStorage fs(path, cv::FileStorage::READ);
+
+    if (!fs.isOpened()) {
+        throw std::string("error open file");
+        return false;
+    }
+    
+    prms.camera_matrix  = fs["camera_matrix"].mat();
+    prms.dist_coff      = fs["dist_coeffs"].mat();
+    prms.project_matrix = fs["project_matrix"].mat();
+    prms.shift_xy       = fs["shift_xy"].mat();
+    prms.scale_xy       = fs["scale_xy"].mat();
+    auto size_          = fs["resolution"].mat();
+    prms.size           = cv::Size(size_.at<int>(0), size_.at<int>(1));
+
+    fs.release();
+    
+    return true;
+}
+//save cali prms
+bool save_prms(const std::string& path, CameraPrms& prms)
+{
+    cv::FileStorage fs(path, cv::FileStorage::WRITE);
+
+    if (!fs.isOpened()) {
+        throw std::string("error open file");
+        return false;
+    }
+    
+    if (!prms.project_matrix.empty())
+        fs << "project_matrix" << prms.project_matrix;
+
+    fs.release();
+    
+    return true;
+}
+
+//undist image by remap
+void undist_by_remap(const cv::Mat& src, cv::Mat& dst, const CameraPrms& prms)
+{
+    //get new camera matrix
+    cv::Mat new_camera_matrix = prms.camera_matrix.clone();
+    double* matrix_data = (double *)new_camera_matrix.data;
+
+    const auto scale = (const float *)(prms.scale_xy.data);
+    const auto shift = (const float * )(prms.shift_xy.data);
+
+    if (!matrix_data || !scale || !shift) {
+        return;
+    }
+
+    matrix_data[0]         *=  (double)scale[0];
+    matrix_data[3 * 1 + 1] *=  (double)scale[1];
+    matrix_data[2]         +=  (double)shift[0];
+    matrix_data[1 * 3 + 2] +=  (double)shift[1];
+    //std::cout << new_camera_matrix;
+    //undistort
+    cv::Mat map1, map2;
+    cv::fisheye::initUndistortRectifyMap(prms.camera_matrix, prms.dist_coff, cv::Mat(), new_camera_matrix, prms.size , CV_16SC2, map1, map2);
+    
+    cv::remap(src, dst, map1, map2, cv::INTER_LINEAR, cv::BORDER_CONSTANT);   
+}
+
+//merge image by weights
+void merge_image(cv::Mat src1, cv::Mat src2, cv::Mat w, cv::Mat out)
+{
+    if (src1.size() != src2.size()) {
+        return;
+    }
+
+    int p_index = 0;
+    float* weights = (float *)(w.data);
+    for (int h = 0; h < src1.rows; ++h) {
+        uchar* p1 = src1.data + h * src1.step;
+        uchar* p2 = src2.data + h * src2.step;
+        uchar*  o = out.data + h * out.step;
+        for (int w = 0; w < src1.cols; ++w) {
+            o[0] = clip<uint8_t>(p1[0] * weights[p_index] + p2[0] * (1 - weights[p_index]), 255);
+            o[1] = clip<uint8_t>(p1[1] * weights[p_index] + p2[1] * (1 - weights[p_index]), 255);
+            o[2] = clip<uint8_t>(p1[2] * weights[p_index] + p2[2] * (1 - weights[p_index]), 255);
+            p1 += 3;
+            p2 += 3;
+            o  += 3;
+            ++p_index;
+        }
+    }
+}
+
+//r g b channel statics
+void rgb_info_statics(cv::Mat& src, BgrSts& sts)
+{
+    int nums = src.rows * src.cols;
+
+    sts.b = sts.r = sts.g = 0;
+
+    for (int h = 0; h < src.rows; ++h) {
+        uchar* uc_pixel = src.data + h * src.step;
+        for (int w = 0; w < src.cols; ++w) {
+            sts.b += uc_pixel[0];
+            sts.g += uc_pixel[1];
+            sts.r += uc_pixel[2];
+            uc_pixel += 3;
+        }
+    }
+
+    sts.b /= nums;
+    sts.r /= nums;
+    sts.g /= nums;
+}
+
+//r g b digtial gain
+void rgb_dgain(cv::Mat& src, float r_gain, float g_gain, float b_gain)
+{
+    if (src.empty()) {
+        return;
+    }
+    for (int h = 0; h < src.rows; ++h) {
+        uchar* uc_pixel = src.data + h * src.step;
+        for (int w = 0; w < src.cols; ++w) {
+            uc_pixel[0]  = clip<uint8_t>(uc_pixel[0] * b_gain, 255);
+            uc_pixel[1]  = clip<uint8_t>(uc_pixel[1] * g_gain, 255);
+            uc_pixel[2]  = clip<uint8_t>(uc_pixel[2] * r_gain, 255);
+            uc_pixel += 3;
+        }
+    }
+}
+
+//gray world awb amd lum banlance for four channeal images
+void awb_and_lum_banlance(std::vector<cv::Mat*> srcs)
+{
+    BgrSts sts[4];
+    int    gray[4] = {0, 0, 0, 0};
+    float    gray_ave = 0;
+
+    if (srcs.size() != 4) {
+        return;
+    }
+
+    for (int i = 0; i < 4; ++i) {
+        if (srcs[i] == nullptr) {
+            return;
+        }
+        rgb_info_statics(*srcs[i], sts[i]);
+        gray[i] = sts[i].r * 20 + sts[i].g * 60 + sts[i].b;
+        gray_ave += gray[i];
+    }
+    
+    gray_ave /= 4;
+
+    for (int i = 0; i < 4; ++i) {
+        float lum_gain = gray_ave / gray[i];
+        float r_gain = sts[i].g * lum_gain / sts[i].r;
+        float g_gain = lum_gain;
+        float b_gain = sts[i].g * lum_gain / sts[i].b;
+        //std::cout << "gains : " << r_gain << " | " << g_gain << " | " << b_gain << "\r\n";
+        rgb_dgain(*srcs[i], r_gain, g_gain, b_gain);
+    }
+}

AdasSourrondView-main/srcs/common.h

@@ -0,0 +1,52 @@
+/***
+ * function: 360 surrond view combine c++ demo
+ * author: joker.mao
+ * date: 2023/07/15
+ * copyright: ADAS_EYES all right reserved
+*/
+
+
+#ifndef COM_H
+#define COM_H
+
+#include "prms.hpp"
+
+struct CameraPrms
+{
+    std::string name;
+    cv::Mat dist_coff;
+    cv::Mat camera_matrix;
+    cv::Mat project_matrix;
+    cv::Mat trans_matrix;
+    cv::Size size;
+
+    cv::Mat scale_xy;
+    cv::Mat shift_xy;
+};
+
+struct BgrSts {
+    int b;
+    int g;
+    int r;
+
+    BgrSts() {
+        b = g = r = 0;
+    }
+};
+
+template<typename _T>
+static inline _T clip(float data, int max)
+{
+    if (data > max)
+        return max;
+    return (_T)data;
+}
+
+void display_mat(cv::Mat& img, std::string name);
+bool read_prms(const std::string& path, CameraPrms& prms);
+bool save_prms(const std::string& path, CameraPrms& prms);
+void undist_by_remap(const cv::Mat& src, cv::Mat& dst, const CameraPrms& prms);
+
+void merge_image(cv::Mat src1, cv::Mat src2, cv::Mat w, cv::Mat out);
+void awb_and_lum_banlance(std::vector<cv::Mat*> srcs);
+#endif

AdasSourrondView-main/srcs/prms.hpp

@@ -0,0 +1,85 @@
+/***
+ * function: 360 surrond view combine c++ demo
+ * author: joker.mao
+ * date: 2023/07/15
+ * copyright: ADAS_EYES all right reserved
+*/
+
+#ifndef PRMS_H
+#define PRMS_H
+
+#include <iostream>
+#include <map>
+#include <vector>
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+
+static const  char* camera_names[4] = {
+    "front", "left", "back", "right"
+};
+
+static const  char* camera_flip_mir[4] = {
+    "n", "r-", "m", "r+"
+};
+//单个格子10cm
+//--------------------------------------------------------------------
+//(shift_width, shift_height): how far away the birdview looks outside
+//of the calibration pattern in horizontal and vertical directions
+static const  int shift_w = 100;
+static const  int shift_h = 100;
+
+static const  int cali_map_w  = 260;
+static const  int cali_map_h  = 350;
+//size of the gap between the calibration pattern and the car
+//in horizontal and vertical directions
+static const  int inn_shift_w = 8;
+static const  int inn_shift_h = 30;
+
+//total width/height of the stitched image
+static const  int total_w = cali_map_w + 2 * shift_w;
+static const  int total_h = cali_map_h + 2 * shift_h;
+
+//four corners of the rectangular region occupied by the car
+//top-left (x_left, y_top), bottom-right (x_right, y_bottom)
+static const  int xl = shift_w + 55 + inn_shift_w;
+static const  int xr = total_w - xl;
+static const  int yt = shift_h + 55 + inn_shift_h;
+static const  int yb = total_h - yt;
+//--------------------------------------------------------------------
+
+static std::map<std::string, cv::Size> project_shapes = {
+    {"front",  cv::Size(total_w, yt)},
+    {"back",   cv::Size(total_w, yt)},
+    {"left",   cv::Size(total_h, xl)},
+    {"right",  cv::Size(total_h, xl)},
+};
+
+//pixel locations of the four points to be chosen.
+//you must click these pixels in the same order when running
+//the get_projection_map.py script
+static std::map<std::string, std::vector<cv::Point2f>> project_keypoints = {
+    {"front", {cv::Point2f(shift_w + 0, shift_h),
+              cv::Point2f(shift_w + 260, shift_h),
+              cv::Point2f(shift_w + 0, shift_h + 100),
+              cv::Point2f(shift_w + 260, shift_h + 100)}},
+
+    {"back", {cv::Point2f(shift_w + 0, shift_h),
+              cv::Point2f(shift_w + 260, shift_h),
+              cv::Point2f(shift_w + 0, shift_h + 80),
+              cv::Point2f(shift_w + 260, shift_h + 80)}},
+
+    {"left", {cv::Point2f(shift_h + 60, shift_w),
+              cv::Point2f(shift_h + 300, shift_w),
+              cv::Point2f(shift_h + 60, shift_w + 50),
+              cv::Point2f(shift_h + 300, shift_w + 50)}},
+
+    {"right", {cv::Point2f(shift_h + 80, shift_w),
+              cv::Point2f(shift_h + 350, shift_w),
+              cv::Point2f(shift_h + 80, shift_w + 50),
+              cv::Point2f(shift_h + 350, shift_w + 50)}}
+};
+
+#endif

AdasSourrondView-main/yaml/back.yaml

@@ -0,0 +1,37 @@
+%YAML:1.0
+---
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.9875655282072148e+02, 0., 6.3788553583130647e+02, 0.,
+       3.7214138046449295e+02, 3.4915903287538981e+02, 0., 0., 1. ]
+dist_coeffs: !!opencv-matrix
+   rows: 4
+   cols: 1
+   dt: d
+   data: [ 8.6662165805452579e-02, -2.8155159006680735e-02,
+       -3.5111914522638211e-02, 1.4621518110074484e-02 ]
+resolution: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: i
+   data: [ 1280, 720 ]
+project_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.7831207035612765e-01, -7.9952425770656199e-01,
+       3.6823331098543429e+02, -3.7001040335334794e-02,
+       -8.3751782367968042e-01, 3.0809035280803914e+02,
+       -1.8647684116597846e-04, -3.3789868216962007e-03, 1. ]
+scale_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ 6.99999988e-01, 8.00000012e-01 ]
+shift_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ -90., -100. ]

AdasSourrondView-main/yaml/front.yaml

@@ -0,0 +1,37 @@
+%YAML:1.0
+---
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.9875655282072148e+02, 0., 6.3788553583130647e+02, 0.,
+       3.7214138046449295e+02, 3.4915903287538981e+02, 0., 0., 1. ]
+dist_coeffs: !!opencv-matrix
+   rows: 4
+   cols: 1
+   dt: d
+   data: [ 8.6662165805452579e-02, -2.8155159006680735e-02,
+       -3.5111914522638211e-02, 1.4621518110074484e-02 ]
+resolution: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: i
+   data: [ 1280, 720 ]
+project_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.8912819555150965e-01, -7.9463737223081499e-01,
+       3.6386974611903076e+02, -3.2552806589489218e-02,
+       -9.2991874851752465e-01, 3.2043709447748540e+02,
+       -1.8365341465610607e-04, -3.5597129577879948e-03, 1. ]
+scale_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ 6.99999988e-01, 8.00000012e-01 ]
+shift_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ -90., -100. ]

AdasSourrondView-main/yaml/left.yaml

@@ -0,0 +1,37 @@
+%YAML:1.0
+---
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.9875655282072148e+02, 0., 6.3788553583130647e+02, 0.,
+       3.7214138046449295e+02, 3.4915903287538981e+02, 0., 0., 1. ]
+dist_coeffs: !!opencv-matrix
+   rows: 4
+   cols: 1
+   dt: d
+   data: [ 8.6662165805452579e-02, -2.8155159006680735e-02,
+       -3.5111914522638211e-02, 1.4621518110074484e-02 ]
+resolution: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: i
+   data: [ 1280, 720 ]
+project_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.7185386118188232e-01, -1.0059509545219627e+00,
+       4.1343808607963717e+02, -8.4441560868839804e-03,
+       -7.5008165902588730e-01, 2.6485004043446787e+02,
+       -9.6609321693934345e-05, -3.6679719303539878e-03, 1. ]
+scale_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ 6.99999988e-01, 8.00000012e-01 ]
+shift_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ -90., -100. ]

AdasSourrondView-main/yaml/right.yaml

@@ -0,0 +1,37 @@
+%YAML:1.0
+---
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.9875655282072148e+02, 0., 6.3788553583130647e+02, 0.,
+       3.7214138046449295e+02, 3.4915903287538981e+02, 0., 0., 1. ]
+dist_coeffs: !!opencv-matrix
+   rows: 4
+   cols: 1
+   dt: d
+   data: [ 8.6662165805452579e-02, -2.8155159006680735e-02,
+       -3.5111914522638211e-02, 1.4621518110074484e-02 ]
+resolution: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: i
+   data: [ 1280, 720 ]
+project_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.5424218277528121e-01, -1.0748104699116694e+00,
+       4.2445421761109566e+02, 1.7059949027254486e-03,
+       -8.1104378082894346e-01, 2.8905054031510622e+02,
+       7.0756810536360643e-05, -3.8683857490701360e-03, 1. ]
+scale_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ 6.99999988e-01, 8.00000012e-01 ]
+shift_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ -90., -100. ]

generate_cpp_weights.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+import cv2
+import numpy as np
+import sys
+import os
+
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+from surround_view import FisheyeCameraModel
+import surround_view.param_settings as settings
+
+def main():
+    names = settings.camera_names
+    images = [os.path.join(os.getcwd(), "images", name + ".png") for name in names]
+    yamls = [os.path.join(os.getcwd(), "yaml", name + ".yaml") for name in names]
+    
+    camera_models = [FisheyeCameraModel(camera_file, camera_name) for camera_file, camera_name in zip(yamls, names)]
+    
+    projected = []
+    for image_file, camera in zip(images, camera_models):
+        img = cv2.imread(image_file)
+        img = camera.undistort(img)
+        img = camera.project(img)
+        img = camera.flip(img)
+        projected.append(img)
+    
+    front, back, left, right = projected
+    
+    # Generate weights for each corner (matching birdview.py logic)
+    from surround_view.utils import get_weight_mask_matrix
+    
+    G0, M0 = get_weight_mask_matrix(front[:, :settings.xl], left[:settings.yt, :])
+    G1, M1 = get_weight_mask_matrix(front[:, settings.xr:], right[:settings.yt, :])
+    G2, M2 = get_weight_mask_matrix(back[:, :settings.xl], left[settings.yb:, :])
+    G3, M3 = get_weight_mask_matrix(back[:, settings.xr:], right[settings.yb:, :])
+    
+    # Save as separate PNG files (each is a single-channel float matrix)
+    # Convert to 16-bit PNG for precision
+    G0_16 = (G0 * 65535).astype(np.uint16)
+    G1_16 = (G1 * 65535).astype(np.uint16)
+    G2_16 = (G2 * 65535).astype(np.uint16)
+    G3_16 = (G3 * 65535).astype(np.uint16)
+    
+    cv2.imwrite("weights_corner_0_left_top.png", G0_16)
+    cv2.imwrite("weights_corner_1_right_top.png", G1_16)
+    cv2.imwrite("weights_corner_2_left_bottom.png", G2_16)
+    cv2.imwrite("weights_corner_3_right_bottom.png", G3_16)
+    
+    print(f"Generated weights for 4 corners:")
+    print(f"  - weights_corner_0_left_top.png: {G0.shape} (front+left)")
+    print(f"  - weights_corner_1_right_top.png: {G1.shape} (front+right)")
+    print(f"  - weights_corner_2_left_bottom.png: {G2.shape} (back+left)")
+    print(f"  - weights_corner_3_right_bottom.png: {G3.shape} (back+right)")
+
+if __name__ == "__main__":
+    main()

surround_view/fisheye_camera.py

@@ -73,26 +73,13 @@ class FisheyeCameraModel(object):
         return self
 
     def undistort(self, image):
-        result = cv2.remap(image, *self.undistort_maps, interpolation=cv2.INTER_LINEAR,
+        uimg = cv2.UMat(image)
+        uresult = cv2.remap(uimg, *self.undistort_maps,
+                            interpolation=cv2.INTER_LINEAR,
                             borderMode=cv2.BORDER_CONSTANT)
-        return result
+        return uresult.get()
-    # def undistort(self, image):
-    #     uimg = cv2.UMat(image)
-    #     uresult = cv2.remap(
-    #         uimg,
-    #         *self.undistort_maps,
-    #         interpolation=cv2.INTER_LINEAR,
-    #         borderMode=cv2.BORDER_CONSTANT,
-    #         borderValue=(0, 0, 0)
-    #     )
-    #     return uresult.get()    
-
-    # def project(self, image):
-    #     result = cv2.warpPerspective(image, self.project_matrix, self.project_shape)
-    #     return result
 
     def project(self, image):
-        # 转为 UMat（触发 GPU 路径）
         uimg = cv2.UMat(image)
         uresult = cv2.warpPerspective(
             uimg,
@@ -102,7 +89,7 @@ class FisheyeCameraModel(object):
             borderMode=cv2.BORDER_CONSTANT,
             borderValue=(0, 0, 0)
         )
-        return uresult.get()  # 转回 numpy array 供后续使用
+        return uresult.get()
 
     def flip(self, image):
         if self.camera_name == "front":

test_birdview.py

@@ -138,10 +138,10 @@ def main():
         birdview = BirdView()
         Gmat, Mmat = birdview.get_weights_and_masks(projected)  # 初始化权重矩阵
         birdview.update_frames(projected)
-        birdview.get_weights_and_masks.stitch_all_parts()
+        birdview.stitch_all_parts()
         birdview.make_white_balance()
         birdview.copy_car_image()
-        img_small = cv2.resize(birdview.image, (200, 480))
+        img_small = cv2.resize(birdview.image, (400, 580))
         cv2.imshow("BirdView Result", img_small)
         
         while True:

web.py

@@ -17,6 +17,21 @@ from PyQt5.QtGui import QImage, QPixmap, QFont
 from PyQt5.QtCore import Qt, QTimer, pyqtSignal, QObject
 from PIL import Image, ImageDraw, ImageFont
 
+# ==========================================================
+# OpenCL GPU 加速初始化
+# ==========================================================
+_OCL_ENABLED = False
+try:
+    cv2.ocl.setUseOpenCL(True)
+    _OCL_ENABLED = cv2.ocl.useOpenCL()
+    if _OCL_ENABLED:
+        ocl_devs = cv2.ocl.Device.getDefault()
+        print("[INFO] OpenCL GPU 加速已启用: {}".format(ocl_devs.name()))
+    else:
+        print("[WARNING] OpenCL 不可用，将使用 CPU")
+except Exception as e:
+    print("[WARNING] OpenCL 初始化失败 ({}), 将使用 CPU".format(e))
+
 try:
     from surround_view import FisheyeCameraModel, BirdView
     import surround_view.param_settings as settings
@@ -487,8 +502,9 @@ class BirdViewWorker(threading.Thread):
                 if frame is None:
                     break
                 try:
-                    frames.append(
+                    frame = model.process_frame(frame)
-                        model.flip(model.project(model.undistort(frame))))
+                    if frame is not None:
+                        frames.append(frame)
                 except Exception as e:
                     print("[BIRD ERROR] {}".format(e))
                     break
@@ -701,7 +717,7 @@ class MultiCameraBirdView:
                 if img is None:
                     continue
                 frames.append(
-                    model.flip(model.project(model.undistort(img))))
+                    model.process_frame(img))
             if len(frames) == 4:
                 self.birdview.get_weights_and_masks(frames)
                 print("[INFO] 权重初始化完成")
@@ -903,14 +919,36 @@ class RenderWorker(threading.Thread):
 
                     # 雷达信息
                     if cfg.get("show_radar", 1):
-                        unit_str = "厘米" if cfg.get("radar_unit", 0) else "分米"
+                        radar_dist_dm = radar_dist  # 原始数据是分米
-                        dist_val = (radar_dist * 10 if cfg.get("radar_unit", 0)
+                        alarm_d_dm = cfg.get("radar_alarm_dist", 50)  # 报警值单位也是分米
-                                    else radar_dist)
+                        
-                        alarm_d = cfg.get("radar_alarm_dist", 50)
+                        # 当距离大于60分米（6米）时不显示
-                        rc = ((255, 80, 80) if dist_val <= alarm_d else (180, 220, 255))
+                        if radar_dist_dm > 60:
-                        texts.append((bw + 10, 48,
+                            pass  # 不显示
-                                    f"雷达: {dist_val} {unit_str}  报警值: {alarm_d}{unit_str}",
+                        else:
-                                    rc, 26))
+                            # 转换为米（保留1位小数）或厘米
+                            if radar_dist_dm >= 10:  # 大于等于1米，用米显示
+                                dist_val = radar_dist_dm / 10.0
+                                unit_str = "米"
+                                dist_text = f"{dist_val:.1f}"
+                            else:  # 小于1米，用厘米显示
+                                dist_val = radar_dist_dm * 10
+                                unit_str = "厘米"
+                                dist_text = f"{dist_val:.0f}"
+                            
+                            # 报警值也转换为对应单位
+                            if alarm_d_dm >= 10:
+                                alarm_val = alarm_d_dm / 10.0
+                                alarm_unit = "米"
+                                alarm_text = f"{alarm_val:.1f}"
+                            else:
+                                alarm_val = alarm_d_dm * 10
+                                alarm_unit = "厘米"
+                                alarm_text = f"{alarm_val:.0f}"
+                            
+                            # 颜色逻辑：使用转换后的分米值进行比较（报警值原始单位是分米）
+                            rc = ((255, 80, 80) if radar_dist_dm <= alarm_d_dm else (180, 220, 255))
+                            texts.append((10, sh-108, f"雷达: {dist_text}{unit_str}  报警值: {alarm_text}{alarm_unit}", rc, 22))
                     
                     # 停机状态
                     stop_text = "已停机" if is_stopped else "运行中"
@@ -984,11 +1022,36 @@ class RenderWorker(threading.Thread):
                     
                     # 雷达信息
                     if cfg.get("show_radar", 1):
-                        unit_str = "厘米" if cfg.get("radar_unit", 0) else "分米"
+                        radar_dist_dm = radar_dist  # 原始数据是分米
-                        dist_val = (radar_dist * 10 if cfg.get("radar_unit", 0) else radar_dist)
+                        alarm_d_dm = cfg.get("radar_alarm_dist", 50)  # 报警值单位也是分米
-                        alarm_d = cfg.get("radar_alarm_dist", 50)
+                        
-                        rc = ((255, 80, 80) if dist_val <= alarm_d else (180, 220, 255))
+                        # 当距离大于60分米（6米）时不显示
-                        texts.append((10, sh-108, f"雷达: {dist_val} {unit_str}  报警值: {alarm_d}{unit_str}", rc, 22))
+                        if radar_dist_dm > 60:
+                            pass  # 不显示
+                        else:
+                            # 转换为米（保留1位小数）或厘米
+                            if radar_dist_dm >= 10:  # 大于等于1米，用米显示
+                                dist_val = radar_dist_dm / 10.0
+                                unit_str = "米"
+                                dist_text = f"{dist_val:.1f}"
+                            else:  # 小于1米，用厘米显示
+                                dist_val = radar_dist_dm * 10
+                                unit_str = "厘米"
+                                dist_text = f"{dist_val:.0f}"
+                            
+                            # 报警值也转换为对应单位
+                            if alarm_d_dm >= 10:
+                                alarm_val = alarm_d_dm / 10.0
+                                alarm_unit = "米"
+                                alarm_text = f"{alarm_val:.1f}"
+                            else:
+                                alarm_val = alarm_d_dm * 10
+                                alarm_unit = "厘米"
+                                alarm_text = f"{alarm_val:.0f}"
+                            
+                            # 颜色逻辑：使用转换后的分米值进行比较（报警值原始单位是分米）
+                            rc = ((255, 80, 80) if radar_dist_dm <= alarm_d_dm else (180, 220, 255))
+                            texts.append((10, sh-108, f"雷达: {dist_text}{unit_str}  报警值: {alarm_text}{alarm_unit}", rc, 22))
                     
                     # 状态信息
                     stop_text = "已停机" if is_stopped else "运行中"
@@ -1055,11 +1118,37 @@ class RenderWorker(threading.Thread):
                     
                     # 雷达信息
                     if cfg.get("show_radar", 1):
-                        unit_str = "厘米" if cfg.get("radar_unit", 0) else "分米"
+                        radar_dist_dm = radar_dist  # 原始数据是分米
-                        dist_val = (radar_dist * 10 if cfg.get("radar_unit", 0) else radar_dist)
+                        alarm_d_dm = cfg.get("radar_alarm_dist", 50)  # 报警值单位也是分米
-                        alarm_d = cfg.get("radar_alarm_dist", 50)
+                        
-                        rc = ((255, 80, 80) if dist_val <= alarm_d else (180, 220, 255))
+                        # 当距离大于60分米（6米）时不显示
-                        texts.append((bw+10, sh-80, f"雷达: {dist_val} {unit_str}  阈值: {alarm_d}{unit_str}", rc, 22))
+                        if radar_dist_dm > 60:
+                            pass  # 不显示
+                        else:
+                            # 转换为米（保留1位小数）或厘米
+                            if radar_dist_dm >= 10:  # 大于等于1米，用米显示
+                                dist_val = radar_dist_dm / 10.0
+                                unit_str = "米"
+                                dist_text = f"{dist_val:.1f}"
+                            else:  # 小于1米，用厘米显示
+                                dist_val = radar_dist_dm * 10
+                                unit_str = "厘米"
+                                dist_text = f"{dist_val:.0f}"
+                            
+                            # 报警值也转换为对应单位
+                            if alarm_d_dm >= 10:
+                                alarm_val = alarm_d_dm / 10.0
+                                alarm_unit = "米"
+                                alarm_text = f"{alarm_val:.1f}"
+                            else:
+                                alarm_val = alarm_d_dm * 10
+                                alarm_unit = "厘米"
+                                alarm_text = f"{alarm_val:.0f}"
+                            
+                            # 颜色逻辑：使用转换后的分米值进行比较（报警值原始单位是分米）
+                            rc = ((255, 80, 80) if radar_dist_dm <= alarm_d_dm else (180, 220, 255))
+                            texts.append((10, sh-108, f"雷达: {dist_text}{unit_str}  报警值: {alarm_text}{alarm_unit}", rc, 22))
+                    
                     
                     # 状态信息
                     stop_text = "已停机" if is_stopped else "运行中"
@@ -1493,7 +1582,7 @@ class SettingsPanel(QWidget):
              "key":"radar_alarm_dist", "min":5, "max":50, "step":5},
             {"name":"雷达距离单位",   "type":"toggle",
              "key":"radar_unit",
-             "values":[0, 1], "labels":["分米", "厘米"]},
+             "values":[0, 1], "labels":["米", "厘米"]},
             {"name":"显示雷达距离",   "type":"toggle",
              "key":"show_radar",
              "values":[0, 1], "labels":["关闭", "开启"]},