对上交代码进行修改，主要将能量机关去掉，添加了同济的PnP位姿解算，但是同济有个四元数，获取IMU部分没有启用，可能导致精度不够。当前还存在反陀螺功能，修改为逻辑和弹道预测相结合，主要在时间关系上进行调整。

CMakeLists.txt

@@ -0,0 +1,61 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
+
+PROJECT(SJTU-RM-CV)
+SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_BUILD_TYPE RELEASE)
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D${CMAKE_SYSTEM_NAME}")
+SET(BIN_NAME "run")
+
+SET(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+
+FIND_FILE(CONFIG_FOUND "config.h" "others/include/config")
+if (CONFIG_FOUND)
+    MESSAGE("Found config.h")
+    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_CONFIG")
+endif()
+
+
+FIND_PROGRAM(CCACHE_FOUND ccache)
+IF(CCACHE_FOUND)
+    SET_PROPERTY(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
+    SET_PROPERTY(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
+    MESSAGE("< Use ccache for compiler >")
+ENDIF()
+
+FIND_PACKAGE(Eigen3 REQUIRED)
+FIND_PACKAGE(OpenCV 4 REQUIRED)
+FIND_PACKAGE(Threads)
+FIND_PACKAGE(yaml-cpp REQUIRED)
+
+
+LINK_DIRECTORIES(${PROJECT_SOURCE_DIR}/others)
+
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include)
+INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include)
+
+FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "armor/src/*.cpp")
+ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles})
+
+TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
+TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS})
+TARGET_LINK_LIBRARIES(${BIN_NAME} yaml-cpp)
+
+IF (CMAKE_SYSTEM_NAME MATCHES "Linux")
+    MESSAGE(STATUS "current platform: Linux ")
+    TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/libMVSDK.so")
+ELSEIF (CMAKE_SYSTEM_NAME MATCHES "Windows")
+    MESSAGE(STATUS "current platform: Windows")
+    TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/MVCAMSDK_X64.lib")
+ELSEIF (CMAKE_SYSTEM_NAME MATCHES "Darwin")
+    MESSAGE(STATUS "current platform: Mac")
+    TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/libmvsdk.dylib")
+ELSE ()
+    MESSAGE(STATUS "Unsupport platform: ${CMAKE_SYSTEM_NAME}")
+ENDIF()
+
+ADD_CUSTOM_TARGET(create-startup COMMAND "${PROJECT_SOURCE_DIR}/tools/create-startup.sh" "${PROJECT_SOURCE_DIR}" "${CMAKE_BINARY_DIR}")
+ADD_CUSTOM_TARGET(train-cnn COMMAND "gnome-terminal" "--" "bash" "-c" "${PROJECT_SOURCE_DIR}/tools/TrainCNN/backward.py")