技术方案

.gitignore

@@ -42,7 +42,6 @@ build
 
 
 # version control files
-Version.h
 
 
 # install dir

3rdParty/my_ceres_vc17/include/ceres/version.h

@@ -0,0 +1,49 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2023 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mierle@gmail.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_VERSION_H_
+#define CERES_PUBLIC_VERSION_H_
+
+#define CERES_VERSION_MAJOR 2
+#define CERES_VERSION_MINOR 2
+#define CERES_VERSION_REVISION 0
+
+// Classic CPP stringifcation; the extra level of indirection allows the
+// preprocessor to expand the macro before being converted to a string.
+#define CERES_TO_STRING_HELPER(x) #x
+#define CERES_TO_STRING(x) CERES_TO_STRING_HELPER(x)
+
+// The Ceres version as a string; for example "1.9.0".
+#define CERES_VERSION_STRING                                    \
+  CERES_TO_STRING(CERES_VERSION_MAJOR)                          \
+  "." CERES_TO_STRING(CERES_VERSION_MINOR) "." CERES_TO_STRING( \
+      CERES_VERSION_REVISION)
+
+#endif  // CERES_PUBLIC_VERSION_H_

CMakeLists.txt

@@ -22,7 +22,7 @@ SET(LIB_STITCH GuideStitch)
 
 add_subdirectory(stitch)
 
-add_executable(stitch main.cpp  )
+add_executable(stitch main.cpp   "3rdParty/my_ceres_vc17/include/ceres/version.h")
 
 target_link_libraries(stitch ${OpenCV_LIBS} ${LIB_STITCH})
 

main.cpp

@@ -495,12 +495,14 @@ void ProcessFrontVL(string filePath)
 
 int main(int, char**)
 {
-    ProcessIR("F:/S729/22.xraw", "22");
+    //ProcessIR("F:/S729/22.xraw", "22");
     //ProcessVL("Z:/729dataset/raw/vl_1920_1080_para40_y8/20241219153557_11.video", "20241219152643_1");
     //ProcessVL("F:/S729/20241219152917_4.video", "20241219152917_4");
     //ProcessVL("F:/S729/20241219153515_10.video", "20241219153515_10");
     //
-    //ProcessVL("F:/S729/1.video", "1");
+    ProcessVL("F:/S729/1.video", "1");
+
+    //ProcessVL()
 
     //ProcessFrontVL("F:/S729/1.video");
 }

stitch/src/Arith_UnderStitch.cpp

@@ -62,9 +62,9 @@ UPanInfo UnderStitch::InitMap(FrameInfo info)
 
 	// 全景图初始化
 	UPanInfo panPara = { 0 };
-	panPara.m_pan_width = MIN(info.nWidth * 5,10000);//全景宽
+	panPara.m_pan_width = MIN(info.nWidth * 5,3000);//全景宽
-	panPara.m_pan_height = MIN(info.nWidth * 5, 10000);//全景高
+	panPara.m_pan_height = MIN(info.nWidth * 5, 3000);//全景高
-	panPara.scale = gsd * 7;//比例尺,1m = ?pix
+	panPara.scale = gsd;//比例尺,1m = ?pix
 
 
 	// 直接无平移解算

stitch/src/Version.h

@@ -0,0 +1,6 @@
+//VersionConfig.h.in
+
+#pragma once
+#include <string>
+std::string BUILD_TIME = "BUILD_TIME 2025_03_26-10.45.34";
+std::string VERSION = "BUILD_VERSION 1.0.1";