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。

others/include/camera/camera_wrapper.h

@@ -0,0 +1,58 @@
+//
+// Created by zhikun on 18-11-7.
+//
+
+#ifndef _CAMERA_WRAPPER_H_
+#define _CAMERA_WRAPPER_H_
+
+#include <additions.h>
+#include <opencv2/core.hpp>
+#include <camera/wrapper_head.h>
+
+#ifdef Windows
+    #include "camera/CameraApi.h"
+#elif defined(Linux) || defined(Darwin)
+    #include <camera/camera_api.h>
+#endif
+
+class CameraWrapper: public WrapperHead {
+    friend void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext);
+private:
+    const std::string name;
+    //int mode;
+
+    //bool init_done;
+
+    unsigned char* rgb_buffer;
+    int camera_cnts;
+    int camera_status;
+    tSdkCameraDevInfo camera_enum_list[2];
+    int h_camera;
+    char camera_name[32];
+
+    tSdkCameraCapbility tCapability;
+    tSdkFrameHead frame_info;
+    BYTE *pby_buffer;
+    cv::Mat image_header;
+    int channel;
+
+    RoundQueue<cv::Mat, 2> src_queue;
+public:
+    int gain;
+    int exposure;
+    
+    int mode;
+    bool init_done;
+
+    CameraWrapper(int exposure, int gain, int camera_mode=1, const std::string &n="NULL");
+    ~CameraWrapper() final;
+
+    bool init() final;
+    bool read(cv::Mat& src) final;
+    bool readRaw(cv::Mat& src);
+    bool readProcessed(cv::Mat& src);
+    bool readCallback(cv::Mat& src);
+};
+
+
+#endif /* _CAMERA_WRAPPER_H_ */