✨ 增加 Anchor 类，并支持圆形、矩形以及十字交叉特征

cmake/templates/para_generator_module.in

@@ -14,6 +14,8 @@
 
 //! @defgroup para_@module_name@ @module_name@ 的参数模块
 //! @{
+
+#include <rmvl/rmvl_modules.hpp>
 @para_module_header_details@
 //! @} para_@module_name@
 

extra/feature/CMakeLists.txt

@@ -6,6 +6,16 @@ rmvl_add_module(
   DEPENDS types algorithm
 )
 
+# anchor
+rmvl_generate_para(
+  anchor
+  MODULE feature
+)
+rmvl_add_module(
+  anchor
+  DEPENDS feature
+)
+
 # light_blob
 rmvl_generate_para(
   light_blob
@@ -83,7 +93,7 @@ endif()
 if(BUILD_TESTS)
   rmvl_add_test(
     feature Unit
-    DEPENDS light_blob pilot rune_center rune_target
+    DEPENDS anchor light_blob pilot rune_center rune_target
     EXTERNAL GTest::gtest_main
   )
 endif(BUILD_TESTS)

extra/feature/include/rmvl/feature.hpp

@@ -26,6 +26,10 @@
 
 #include "feature/feature.h"
 
+#ifdef HAVE_RMVL_ANCHOR
+#include "feature/anchor.h"
+#endif // HAVE_RMVL_ANCHOR
+
 #ifdef HAVE_RMVL_LIGHT_BLOB
 #include "feature/light_blob.h"
 #endif // HAVE_RMVL_LIGHT_BLOB
@@ -45,3 +49,4 @@
 #ifdef HAVE_RMVL_TAG
 #include "feature/tag.h"
 #endif // HAVE_RMVL_TAG
+

extra/feature/include/rmvl/feature/anchor.h

@@ -0,0 +1,67 @@
+/**
+ * @file anchor.h
+ * @author zhaoxi ([email protected])
+ * @brief 定位点特征
+ * @version 1.0
+ * @date 2025-02-06
+ *
+ * @copyright Copyright 2025 (c), zhaoxi
+ *
+ */
+
+#pragma once
+
+#include <rmvl/feature/feature.h>
+
+namespace rm
+{
+
+//! 定位点类型
+enum class AnchorType
+{
+    Unknown, //!< 未知
+    Circle,  //!< 圆形
+    Square,  //!< 正方形
+    Cross,   //!< 十字交叉
+};
+
+/**
+ * @brief 定位点特征，具有以下状态类型
+ * - "anchor": "circle" 或 "square" 或 "triangle" 或 "cross" 均为字符串状态，标识定位点类型
+ * - 当 anchor 为 "circle" 时，具有
+ *   - "e": <number of eccentricity> 为数值状态，表示图像中测量的离心率
+ */
+class Anchor final : public rm::feature
+{
+public:
+    using ptr = std::shared_ptr<Anchor>;
+    using const_ptr = std::shared_ptr<const Anchor>;
+
+    Anchor() = default;
+
+    /**
+     * @brief Anchor 构造接口
+     *
+     * @param[in] contour 定位点轮廓
+     * @param[in] type 定位点类型
+     * @return Anchor 共享指针
+     */
+    static ptr make_feature(const std::vector<cv::Point> &contour, AnchorType type);
+
+    /**
+     * @brief 从另一个特征进行构造
+     *
+     * @return 指向新特征的共享指针
+     */
+    feature::ptr clone() override { return std::make_shared<Anchor>(*this); }
+
+    RMVL_FEATURE_CAST(Anchor)
+
+    //! 获取定位点类型的字符串表示
+    static std::string_view to_string(AnchorType type);
+
+    //! 从字符串类型获取定位点类型
+    static AnchorType from_string(std::string_view type);
+};
+
+} // namespace rm

extra/feature/param/anchor.para

@@ -0,0 +1,8 @@
+##################### 圆形特征拟合参数 #####################
+double MAX_FIT_ACCURACY = 0.05 # 椭圆拟合允许的最大均方根误差
+float MIN_RADIUS = 10.f        # 圆形特征拟合时，允许的最小半径（单位：像素）
+float MAX_RADIUS = 80.f        # 圆形特征拟合时，允许的最大半径（单位：像素）
+float MAX_ECCENTRICITY = 0.85f # 圆形特征拟合时，允许的最大离心率
+
+################### 十字交叉特征拟合参数 ###################
+double MAX_COMPACTNESS = 0.01 # 十字交叉特征拟合时，允许的最大紧凑度

extra/feature/src/anchor/anchor.cpp

@@ -0,0 +1,101 @@
+/**
+ * @file anchor.cpp
+ * @author zhaoxi ([email protected])
+ * @brief
+ * @version 1.0
+ * @date 2025-02-06
+ *
+ * @copyright Copyright 2025 (c), zhaoxi
+ *
+ */
+
+#include "anchor_def.hpp"
+
+namespace rm
+{
+
+Anchor::ptr Anchor::make_feature(const std::vector<cv::Point> &contour, AnchorType type)
+{
+    if (type == AnchorType::Circle)
+    {
+        auto circle_info = createAnchorFromCircleContour(contour);
+        if (circle_info.has_value())
+        {
+            auto value = circle_info.value();
+            auto retval = std::make_shared<Anchor>();
+            auto &state = retval->_state;
+            state["anchor"] = "circle";
+            state["e"] = value.eccentricity;
+            retval->_center = value.center;
+            retval->_width = retval->_height = value.radius * 2;
+            return retval;
+        }
+        else
+            return nullptr;
+    }
+    else if (type == AnchorType::Square)
+    {
+        auto square_info = createAnchorFromSqaureContour(contour);
+        if (square_info.has_value())
+        {
+            auto value = std::move(square_info.value());
+            auto retval = std::make_shared<Anchor>();
+            auto &state = retval->_state;
+            state["anchor"] = "square";
+            retval->_center = value.center;
+            retval->_width = retval->_height = value.length;
+            retval->_corners = value.corners;
+            retval->_angle = value.angle;
+            return retval;
+        }
+        else
+            return nullptr;
+    }
+    else if (type == AnchorType::Cross)
+    {
+        auto cross_info = createAnchorFromCrossContour(contour);
+        if (cross_info.has_value())
+        {
+            auto value = cross_info.value();
+            auto retval = std::make_shared<Anchor>();
+            auto &state = retval->_state;
+            state["anchor"] = "cross";
+            retval->_center = value.center;
+            retval->_width = retval->_height = value.length;
+            retval->_corners = value.corners;
+            retval->_angle = value.angle;
+            return retval;
+        }
+        else
+            return nullptr;
+    }
+    return nullptr;
+}
+
+std::string_view Anchor::to_string(AnchorType type)
+{
+    switch (type)
+    {
+    case AnchorType::Circle:
+        return "circle";
+    case AnchorType::Square:
+        return "square";
+    case AnchorType::Cross:
+        return "cross";
+    default:
+        return "unknown";
+    }
+}
+
+AnchorType Anchor::from_string(std::string_view type)
+{
+    if (type == "circle")
+        return AnchorType::Circle;
+    if (type == "square")
+        return AnchorType::Square;
+    if (type == "cross")
+        return AnchorType::Cross;
+    return AnchorType::Unknown;
+}
+
+} // namespace rm

extra/feature/src/anchor/anchor_def.hpp

@@ -0,0 +1,62 @@
+/**
+ * @file anchor_def.hpp
+ * @author zhaoxi ([email protected])
+ * @brief
+ * @version 1.0
+ * @date 2025-02-06
+ *
+ * @copyright Copyright 2025 (c), zhaoxi
+ *
+ */
+
+#pragma once
+
+#include <optional>
+
+#include "rmvl/feature/anchor.h"
+
+namespace rm
+{
+
+/////////////////////////////// 圆形特征点 ///////////////////////////////
+
+// 圆形特征
+struct CircleInfo
+{
+    cv::Point2f center{};  // 中心点
+    float radius{};        // 半径
+    double eccentricity{}; // 离心率
+};
+
+// 从圆形轮廓构造特征
+std::optional<CircleInfo> createAnchorFromCircleContour(const std::vector<cv::Point> &contour);
+
+/////////////////////////////// 矩形特征点 ///////////////////////////////
+
+// 矩形特征
+struct SquareInfo
+{
+    cv::Point2f center{};               // 中心点
+    float length{};                     // 边长
+    std::vector<cv::Point2f> corners{}; // 轮廓
+    float angle{};                      // 角度
+};
+
+// 从矩形轮廓构造特征
+std::optional<SquareInfo> createAnchorFromSqaureContour(const std::vector<cv::Point> &contour);
+
+///////////////////////////// 十字交叉特征点 /////////////////////////////
+
+// 十字交叉特征
+struct CrossInfo
+{
+    cv::Point2f center{};               // 中心点
+    float length{};                     // 长度
+    std::vector<cv::Point2f> corners{}; // 轮廓
+    float angle{};                      // 角度
+};
+
+// 从十字交叉轮廓构造特征
+std::optional<CrossInfo> createAnchorFromCrossContour(const std::vector<cv::Point> &contour);
+
+} // namespace rm

extra/feature/src/anchor/circle.cpp

@@ -0,0 +1,67 @@
+/**
+ * @file circle.cpp
+ * @author zhaoxi ([email protected])
+ * @brief 圆形轮廓特征点检测
+ * @version 1.0
+ * @date 2025-02-06
+ *
+ * @copyright Copyright 2025 (c), zhaoxi
+ *
+ */
+
+#include <opencv2/imgproc.hpp>
+
+#include "anchor_def.hpp"
+#include "rmvlpara/feature/anchor.h"
+
+namespace rm
+{
+
+// 判断椭圆拟合的平均拟合精度
+static double fitEllipseAccuracy(const std::vector<cv::Point> &contour, const cv::RotatedRect &rrect)
+{
+    double totalError{};
+    for (const auto &point : contour)
+    {
+        // 将点转换到椭圆坐标系中
+        cv::Point2f center = rrect.center;
+        double angle = rrect.angle * CV_PI / 180.0;
+        double a = rrect.size.width / 2.0;  // 长轴
+        double b = rrect.size.height / 2.0; // 短轴
+
+        double cos_angle = std::cos(angle);
+        double sin_angle = std::sin(angle);
+
+        double x = point.x - center.x;
+        double y = point.y - center.y;
+
+        double x_ellipse = x * cos_angle + y * sin_angle;
+        double y_ellipse = -x * sin_angle + y * cos_angle;
+
+        // 计算点到椭圆的距离
+        totalError += std::abs(std::sqrt((x_ellipse * x_ellipse) / (a * a) + (y_ellipse * y_ellipse) / (b * b)) - 1);
+    }
+    return totalError / (contour.size() + 1);
+}
+
+std::optional<CircleInfo> createAnchorFromCircleContour(const std::vector<cv::Point> &contour)
+{
+    // 椭圆拟合
+    if (contour.size() < 5)
+        return std::nullopt;
+    auto rrect = cv::fitEllipse(contour);
+    if (fitEllipseAccuracy(contour, rrect) > para::anchor_param.MAX_FIT_ACCURACY)
+        return std::nullopt;
+    // 离心率
+    float a = std::max(rrect.size.width, rrect.size.height) / 2;
+    float b = std::min(rrect.size.width, rrect.size.height) / 2;
+    if (b < rm::para::anchor_param.MIN_RADIUS)
+        return std::nullopt;
+    if (a > rm::para::anchor_param.MAX_RADIUS)
+        return std::nullopt;
+    auto eccentricity = std::sqrt(1 - (b * b) / (a * a));
+
+    return eccentricity < rm::para::anchor_param.MAX_ECCENTRICITY ? std::make_optional(CircleInfo{rrect.center, a, eccentricity}) : std::nullopt;
+}
+
+} // namespace rm