VSAG/vision_hero
3
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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。

Browse Source
This commit is contained in:
Luo Yufei
2026-03-21 11:57:34 +08:00
commit 56985997ae
80 changed files with 60253 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
others/solver_config.yml Normal file
View File

@@ -0,0 +1,5 @@
camera_matrix: [1731.7, 0.0, 639.5, 0.0, 1726.7, 359.5, 0.0, 0.0, 1.0]
distort_coeffs: [-0.088, 0.841, 0.0, 0.0, 0.0]
R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
R_camera2gimbal: [1, 0, 0, 0, 1, 0, 0, 0, 1]
t_camera2gimbal: [0, 0, 0]