2.0解算模块学习资料

互联网时代，网上都是资源。如何利用资源进行自学，是一件重要的事。本文是RoboMaster视觉组解算的学习资料，好好看，有些我也不太懂。

相机标定

(45条消息) 计算机视觉：相机成像原理：世界坐标系、相机坐标系、图像坐标系、像素坐标系之间的转换_生活没有if-else的博客-CSDN博客https://blog.csdn.net/chentravelling/article/details/53558096

(45条消息) 相机标定：从世界坐标系到图像像素坐标系转换过程解析_清~的博客-CSDN博客_世界坐标系到像素坐标系https://blog.csdn.net/qq_27546529/article/details/89842373

(1条消息) 相机成像原理中世界坐标系，相机坐标系，像素坐标系，图像坐标系的转换(数学推导)_北部湾海King的博客-CSDN博客_世界坐标系转相机坐标系推导https://blog.csdn.net/qq_44823010/article/details/107541221

(45条消息) 张正友相机标定法原理与实现_雪花飞龙的博客-CSDN博客https://blog.csdn.net/weixin_43956732/article/details/108837170

 第六节、双目视觉之相机标定 - 大奥特曼打小怪兽 - 博客园 (cnblogs.com)https://www.cnblogs.com/zyly/p/9366080.html

(1条消息) 笔记总结-相机标定（Camera calibration）原理、步骤_快乐成长吧的博客-CSDN博客https://blog.csdn.net/qq_37791134/article/details/80942171

我的博客：

(1条消息) 2.2 在Matlab中进行相机标定_心海泪雨的博客-CSDN博客https://blog.csdn.net/qq_64079631/article/details/127984760?spm=1001.2014.3001.5501

PNP解算

(34条消息) 旋转矩阵R、平移向量t以及变换矩阵T的定义及其下标的含义_威士忌燕麦拿铁的博客-CSDN博客_r t矩阵https://blog.csdn.net/whatiscode/article/details/125772942

相机位姿估计0：基本原理之如何解PNP问题 - V·Shawn - 博客园 (cnblogs.com)https://www.cnblogs.com/singlex/p/pose_estimation_0.html

卡尔曼滤波器

 数学知识：

B站搜索：【卡尔曼滤波器】1_递归算法_Recursive Processing

【卡尔曼滤波器】1_递归算法_Recursive Processing_哔哩哔哩_bilibilihttps://www.bilibili.com/video/BV1ez4y1X7eR/?spm_id_from=333.999.0.0&vd_source=fa413bc52093fd6d8d349a293cda2c55

卡尔曼滤波的通俗理解（强烈推荐）:图解卡尔曼滤波(Kalman Filter) (qq.com)

图说卡尔曼滤波，一份通俗易懂的教程 - 知乎 (zhihu.com)https://zhuanlan.zhihu.com/p/39912633?utm_source=qq&utm_medium=social&utm_oi=946351736747794432

图解卡尔曼滤波(Kalman Filter) (qq.com)https://mp.weixin.qq.com/s?__biz=MzU0NjgzMDIxMQ==&mid=2247601352&idx=1&sn=080e64b063f9c7c9b69d8ee7c3e526d1&chksm=fb54ae24cc2327321e161b3a184bf615520500fcfdd2fc9a541ee222474e37254b846e0721e0&mpshare=1&scene=23&srcid=1217GV4fWN2mVVajyvxHQL78&sharer_sharetime=1671255175884&sharer_shareid=fd26f1526a78af9e696a3d852f2a8dd6#rd

  概要_哔哩哔哩_bilibilihttps://www.bilibili.com/video/BV1Rh41117MT/?buvid=XX773B4748497F737728382A05133479FE4BC&is_story_h5=false&mid=HjzSioEZZyL42eU71RnD7g%3D%3D&p=1&plat_id=116&share_from=ugc&share_medium=android&share_plat=android&share_session_id=045c11ba-a39a-4dba-8577-cf81636c5bc3&share_source=QQ&share_tag=s_i×tamp=1678969423&unique_k=K4kVsrG&up_id=352976834&vd_source=fa413bc52093fd6d8d349a293cda2c55

卡尔曼滤波 (qq.com)https://mp.weixin.qq.com/s?__biz=MzU1NjEwMTY0Mw==&mid=2247582775&idx=1&sn=8b9315911eec98035d20bac4670a041a&chksm=fbc9fd53ccbe7445979b47759f97a3110f70d72c22d6b466182089dff2c5fe2a5186b8cbcdec&mpshare=1&scene=23&srcid=0725K9rKuFQHcLxoiz6iw7Vk&sharer_sharetime=1690288004336&sharer_shareid=fd26f1526a78af9e696a3d852f2a8dd6#rd

Kalman Filter Tutorial

卡尔曼滤波算法原理(KF,EKF,AKF,UKF) - 知乎 (zhihu.com)

从全状态观测器到卡尔曼滤波器（六）姿态解算中的应用与代码 - 知乎 (zhihu.com)

编程依据:

无人驾驶技术入门（十三）| 手把手教你写卡尔曼滤波器 - 知乎 (zhihu.com)https://zhuanlan.zhihu.com/p/45238681

矩阵运算： 

(1条消息) Eigen::Matrix_瞻邈的博客-CSDN博客_eigen::matrixhttps://blog.csdn.net/xhtchina/article/details/118656026?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522167125000016782428639682%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=167125000016782428639682&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduend~default-2-118656026-null-null.142%5Ev68%5Econtrol,201%5Ev4%5Eadd_ask,213%5Ev2%5Et3_esquery_v2&utm_term=Eigen%3A%3AMatrixXd&spm=1018.2226.3001.4187

掌握知识

(1条消息) 常浮点数赋值时加 “f” 后缀与不加的区别__野猪佩奇_的博客-CSDN博客_浮点数后面加fhttps://blog.csdn.net/qq_43499599/article/details/95939013?ops_request_misc=&request_id=&biz_id=102&utm_term=%E6%B5%AE%E7%82%B9%E6%95%B0%E5%90%8E%E9%9D%A2%E5%8A%A0%E4%B8%8Af&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-4-95939013.142%5Ev68%5Econtrol,201%5Ev4%5Eadd_ask,213%5Ev2%5Et3_esquery_v2&spm=1018.2226.3001.4187(1条消息) html注释大神,为什么在注释前面加@param？_地缘谷的博客-CSDN博客https://blog.csdn.net/weixin_34664632/article/details/118118272(1条消息) 带参数的宏定义_报恩的猫的博客-CSDN博客_带参数的宏https://blog.csdn.net/baoendemao/article/details/41170209?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522167124906816800182770235%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=167124906816800182770235&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_positive~default-1-41170209-null-null.142%5Ev68%5Econtrol,201%5Ev4%5Eadd_ask,213%5Ev2%5Et3_esquery_v2&utm_term=%E5%B8%A6%E5%8F%82%E6%95%B0%E7%9A%84%E5%AE%8F%E5%AE%9A%E4%B9%89&spm=1018.2226.3001.4187

(34条消息) 姿态估计之Yaw Pitch Roll_TracelessLe的博客-CSDN博客_卡尔丹角取值范围https://blog.csdn.net/TracelessLe/article/details/118627508

(1条消息) 【Unity编程】欧拉角与万向节死锁（图文版）_AndrewFan的博客-CSDN博客_为什么游戏引擎没有万向节死锁https://blog.csdn.net/AndrewFan/article/details/60981437

(1条消息) 3维空间目标跟踪的CV,CA,CT动力学模型_倪偲001的博客-CSDN博客_cv,ct,ca,zigzaghttps://blog.csdn.net/NICAI001/article/details/125129616

弹道解算

RoboMaster OSS (robomaster-oss.github.io)

github.com

影响pnp测距：

测距有问题有误差的话输入pnp后的平移旋转矩阵看一下 

识别的精度影响pnp和测距的精度

卡尔曼做状态估计，弹道模型算子弹飞行时间和补偿，然后预测经过飞行时间后装甲板出现的位置

github.com