合并 core 和 rmath 模块，并同步文档

cv-rmvl · Apr 26, 2024 · 2a341a0 · 2a341a0
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diff --git a/doc/intro.markdown b/doc/intro.markdown
@@ -42,7 +42,7 @@ RMVL 具有模块化结构，这意味着该软件包包含了多个共享或静
 
   点击[此处](@ref tutorial_install)可以安装以上相机的 SDK
 
-- @ref ml (**ml**)，@ref rmath (**rmath**)
+- @ref ml (**ml**)， @ref opcua (**opcua**)
 
 - ... 以及其他包含在 `modules` 文件夹中的模块。
 

diff --git a/doc/tutorials/modules/algorithm/dft.md b/doc/tutorials/modules/algorithm/dft.md
@@ -0,0 +1,15 @@
+离散傅里叶变换 {#tutorial_modules_dft}
+============
+
+@author 赵曦
+@date 2024/04/26
+@version 1.0
+@brief 离散傅里叶变换公式推导与使用
+
+@prev_tutorial{tutorial_modules_ekf}
+
+@next_tutorial{tutorial_modules_fft}
+
+@tableofcontents
+
+------
diff --git a/doc/tutorials/modules/core/ekf.md → doc/tutorials/modules/algorithm/ekf.md b/doc/tutorials/modules/core/ekf.md → doc/tutorials/modules/algorithm/ekf.md
@@ -8,7 +8,7 @@
 
 @prev_tutorial{tutorial_modules_kalman}
 
-@next_tutorial{tutorial_modules_union_find}
+@next_tutorial{tutorial_modules_dft}
 
 @tableofcontents
 

diff --git a/doc/tutorials/modules/rmath/ew_topsis.md → doc/tutorials/modules/algorithm/ew_topsis.md b/doc/tutorials/modules/rmath/ew_topsis.md → doc/tutorials/modules/algorithm/ew_topsis.md
@@ -4,9 +4,9 @@
 @author RoboMaster Vision Community
 @date 2023/01/11
 
-@prev_tutorial{tutorial_modules_ra_heap}
+@prev_tutorial{tutorial_modules_runge_kutta}
 
-@next_tutorial{tutorial_modules_ort}
+@next_tutorial{tutorial_modules_kalman}
 
 @tableofcontents
 

diff --git a/doc/tutorials/modules/algorithm/fft.md b/doc/tutorials/modules/algorithm/fft.md
@@ -0,0 +1,15 @@
+快速傅里叶变换 {#tutorial_modules_fft}
+============
+
+@author 赵曦
+@date 2024/04/26
+@version 1.0
+@brief 快速傅里叶变换公式推导与使用
+
+@prev_tutorial{tutorial_modules_dft}
+
+@next_tutorial{tutorial_modules_union_find}
+
+@tableofcontents
+
+------
diff --git a/doc/tutorials/modules/core/func_iteration.md → ...rials/modules/algorithm/func_iteration.md b/doc/tutorials/modules/core/func_iteration.md → ...rials/modules/algorithm/func_iteration.md
diff --git a/doc/tutorials/modules/core/interpolation.md → ...orials/modules/algorithm/interpolation.md b/doc/tutorials/modules/core/interpolation.md → ...orials/modules/algorithm/interpolation.md
@@ -6,7 +6,7 @@
 @version 1.0
 @brief 从 **Lagrange 插值** 与 **Newton 插值** 两种基函数选取方式介绍函数插值
 
-@prev_tutorial{tutorial_modules_opcua}
+@prev_tutorial{tutorial_modules_light}
 
 @next_tutorial{tutorial_modules_least_square}
 

diff --git a/doc/tutorials/modules/core/kalman.md → doc/tutorials/modules/algorithm/kalman.md b/doc/tutorials/modules/core/kalman.md → doc/tutorials/modules/algorithm/kalman.md
@@ -7,7 +7,7 @@
 @version 2.0
 @brief 卡尔曼滤波详细公式推导
 
-@prev_tutorial{tutorial_modules_runge_kutta}
+@prev_tutorial{tutorial_modules_ew_topsis}
 
 @next_tutorial{tutorial_modules_ekf}
 

diff --git a/doc/tutorials/modules/core/least_square.md → ...torials/modules/algorithm/least_square.md b/doc/tutorials/modules/core/least_square.md → ...torials/modules/algorithm/least_square.md
diff --git a/doc/tutorials/modules/ort/ort.md → doc/tutorials/modules/algorithm/ort.md b/doc/tutorials/modules/ort/ort.md → doc/tutorials/modules/algorithm/ort.md
@@ -4,9 +4,7 @@ ONNX-Runtime 分类网络部署库 {#tutorial_modules_ort}
 @author 
 @date 
 
-@prev_tutorial{tutorial_modules_ew_topsis}
-
-@next_tutorial{tutorial_modules_camera}
+@prev_tutorial{tutorial_modules_ra_heap}
 
 @tableofcontents
 

diff --git a/doc/tutorials/modules/rmath/ra_heap.md → doc/tutorials/modules/algorithm/ra_heap.md b/doc/tutorials/modules/rmath/ra_heap.md → doc/tutorials/modules/algorithm/ra_heap.md
@@ -6,7 +6,7 @@
 
 @prev_tutorial{tutorial_modules_union_find}
 
-@next_tutorial{tutorial_modules_ew_topsis}
+@next_tutorial{tutorial_modules_ort}
 
 @tableofcontents
 

diff --git a/doc/tutorials/modules/core/runge_kutta.md → ...utorials/modules/algorithm/runge_kutta.md b/doc/tutorials/modules/core/runge_kutta.md → ...utorials/modules/algorithm/runge_kutta.md
@@ -8,7 +8,7 @@
 
 @prev_tutorial{tutorial_modules_func_iteration}
 
-@next_tutorial{tutorial_modules_kalman}
+@next_tutorial{tutorial_modules_ew_topsis}
 
 @tableofcontents
 

diff --git a/doc/tutorials/modules/rmath/union_find.md → ...tutorials/modules/algorithm/union_find.md b/doc/tutorials/modules/rmath/union_find.md → ...tutorials/modules/algorithm/union_find.md
@@ -4,7 +4,7 @@
 @author RoboMaster Vision Community
 @date 2023/01/11
 
-@prev_tutorial{tutorial_modules_kalman}
+@prev_tutorial{tutorial_modules_fft}
 
 @next_tutorial{tutorial_modules_ra_heap}
 

diff --git a/...torials/modules/core/aggregate_reflect.md → ...orials/modules/tools/aggregate_reflect.md b/...torials/modules/core/aggregate_reflect.md → ...orials/modules/tools/aggregate_reflect.md
diff --git a/doc/tutorials/modules/devices/camera.md → doc/tutorials/modules/tools/camera.md b/doc/tutorials/modules/devices/camera.md → doc/tutorials/modules/tools/camera.md
@@ -5,7 +5,9 @@
 @date 2023/03/15
 @brief 相机模块的基本使用，包括初始化、参数设置以及运行示例
 
-@prev_tutorial{tutorial_modules_ort}
+@prev_tutorial{tutorial_modules_opcua}
+
+@next_tutorial{tutorial_modules_light}
 
 @tableofcontents
 

diff --git a/doc/tutorials/modules/devices/light.md → doc/tutorials/modules/tools/light.md b/doc/tutorials/modules/devices/light.md → doc/tutorials/modules/tools/light.md
@@ -4,7 +4,9 @@
 @author 赵曦
 @date 2023/10/05
 
-@prev_tutorial{tutorial_modules_ort}
+@prev_tutorial{tutorial_modules_camera}
+
+@next_tutorial{tutorial_modules_interpolation}
 
 @tableofcontents
 

diff --git a/doc/tutorials/modules/core/opcua.md → doc/tutorials/modules/tools/opcua.md b/doc/tutorials/modules/core/opcua.md → doc/tutorials/modules/tools/opcua.md
@@ -8,7 +8,7 @@
 
 @prev_tutorial{tutorial_modules_serial}
 
-@next_tutorial{tutorial_modules_interpolation}
+@next_tutorial{tutorial_modules_camera}
 
 @tableofcontents
 
@@ -511,7 +511,7 @@ int main()
 
 #### 有代理 Pub/Sub
 
-RMVL 目前暂不支持有代理的发布订阅机制。
+@warning RMVL 目前暂不支持有代理的发布订阅机制。
 
 ### 参数加载 {#opcua_parameters}
 

diff --git a/doc/tutorials/modules/core/serial.md → doc/tutorials/modules/tools/serial.md b/doc/tutorials/modules/core/serial.md → doc/tutorials/modules/tools/serial.md
diff --git a/doc/tutorials/modules/tutorial_modules.md b/doc/tutorials/modules/tutorial_modules.md
@@ -9,38 +9,42 @@
 
 ------
 
-### 1. 核心模块、教程
+### 1. 工具类
 
-#### 1.1 工具类
+#### 通用工具
 
 - @subpage tutorial_modules_aggregate_reflect
+
+#### 通信
+
 - @subpage tutorial_modules_serial
 - @subpage tutorial_modules_opcua
 
-#### 1.2 算法类
+#### 硬件设备支持库
+
+- @subpage tutorial_modules_camera
+- @subpage tutorial_modules_light
+
+### 2. 算法类
 
-##### 数值计算
+#### 数值计算
 
 - @subpage tutorial_modules_interpolation
 - @subpage tutorial_modules_least_square
 - @subpage tutorial_modules_func_iteration
 - @subpage tutorial_modules_runge_kutta
 
-##### 数据处理
+#### 数据与信号处理
 
+- @subpage tutorial_modules_ew_topsis
 - @subpage tutorial_modules_kalman 和 @subpage tutorial_modules_ekf
+- @subpage tutorial_modules_dft 和 @subpage tutorial_modules_fft
 
-### 2. 数据结构与算法
+#### 数据结构与算法
 
 - @subpage tutorial_modules_union_find
 - @subpage tutorial_modules_ra_heap
-- @subpage tutorial_modules_ew_topsis
 
-### 3. 机器学习与深度学习支持库
+#### 机器学习与深度学习支持库
 
 - @subpage tutorial_modules_ort
-
-### 4. 硬件设备支持库
-
-- @subpage tutorial_modules_camera
-- @subpage tutorial_modules_light
diff --git a/extra/combo/include/rmvl/combo/combo.h b/extra/combo/include/rmvl/combo/combo.h
@@ -11,7 +11,7 @@
 #pragma once
 
 #include "rmvl/camera/camutils.hpp"
-#include "rmvl/rmath/uty_math.hpp"
+#include "rmvl/core/math.hpp"
 #include "rmvl/types.hpp"
 
 #include "rmvl/core/dataio.hpp"

diff --git a/extra/combo/src/armor/armor.cpp b/extra/combo/src/armor/armor.cpp
@@ -10,7 +10,7 @@
  */
 
 #include "rmvl/combo/armor.h"
-#include "rmvl/rmath/transform.h"
+#include "rmvl/core/transform.hpp"
 
 #include "rmvlpara/camera/camera.h"
 #include "rmvlpara/combo/armor.h"

diff --git a/extra/combo/src/armor/armor_cal.cpp b/extra/combo/src/armor/armor_cal.cpp
@@ -13,7 +13,7 @@
 #include <opencv2/imgproc.hpp>
 
 #include "rmvl/combo/armor.h"
-#include "rmvl/rmath/transform.h"
+#include "rmvl/core/transform.hpp"
 
 #include "rmvlpara/combo/armor.h"
 

diff --git a/extra/combo/src/rune/rune.cpp b/extra/combo/src/rune/rune.cpp
@@ -9,7 +9,7 @@
  *
  */
 
-#include "rmvl/rmath/transform.h"
+#include "rmvl/core/transform.hpp"
 
 #include "rmvl/combo/rune.h"
 

diff --git a/extra/compensator/CMakeLists.txt b/extra/compensator/CMakeLists.txt
@@ -16,7 +16,7 @@ rmvl_generate_para(
 # gravity_compensator
 rmvl_add_module(
   gravity_compensator
-  DEPENDS compensator rmath
+  DEPENDS compensator
 )
 
 # gyro_compensator

diff --git a/extra/compensator/src/gyro_compensator/gyro_compensator.cpp b/extra/compensator/src/gyro_compensator/gyro_compensator.cpp
@@ -11,7 +11,7 @@
 
 #include "rmvl/compensator/gyro_compensator.h"
 #include "rmvl/group/gyro_group.h"
-#include "rmvl/rmath/transform.h"
+#include "rmvl/core/transform.hpp"
 
 #include "rmvlpara/camera/camera.h"
 #include "rmvlpara/compensator/gyro_compensator.h"

diff --git a/extra/compensator/test/test_gravity.cpp b/extra/compensator/test/test_gravity.cpp
@@ -19,7 +19,7 @@
 #undef private
 #undef protected
 
-#include "rmvl/rmath/uty_math.hpp"
+#include "rmvl/core/math.hpp"
 #include "rmvlpara/compensator/gravity_compensator.h"
 
 using namespace rm::numeric_literals;

diff --git a/extra/decider/src/gyro_decider/gyro_decider.cpp b/extra/decider/src/gyro_decider/gyro_decider.cpp
@@ -11,7 +11,7 @@
 
 #include "rmvl/decider/gyro_decider.h"
 #include "rmvl/group/gyro_group.h"
-#include "rmvl/rmath/transform.h"
+#include "rmvl/core/transform.hpp"
 #include "rmvl/tracker/gyro_tracker.h"
 
 #include "rmvlpara/camera/camera.h"

diff --git a/extra/decider/src/rune_decider/rune_decider.cpp b/extra/decider/src/rune_decider/rune_decider.cpp
@@ -12,8 +12,8 @@
 #include "rmvl/decider/rune_decider.h"
 #include "rmvl/combo/rune.h"
 #include "rmvl/core/timer.hpp"
-#include "rmvl/rmath/transform.h"
-#include "rmvl/rmath/uty_math.hpp"
+#include "rmvl/core/transform.hpp"
+#include "rmvl/core/math.hpp"
 
 #include "rmvlpara/camera/camera.h"
 #include "rmvlpara/decider/rune_decider.h"

diff --git a/extra/decider/src/translation_decider/translation_decider.cpp b/extra/decider/src/translation_decider/translation_decider.cpp
@@ -10,7 +10,7 @@
  */
 
 #include "rmvl/decider/translation_decider.h"
-#include "rmvl/rmath.hpp"
+#include "rmvl/core.hpp"
 
 #include "rmvlpara/camera/camera.h"
 #include "rmvlpara/decider/translation_decider.h"

diff --git a/extra/detector/src/gyro_detector/inference.cpp b/extra/detector/src/gyro_detector/inference.cpp
@@ -13,7 +13,7 @@
 
 #include "rmvl/detector/gyro_detector.h"
 #include "rmvl/group/gyro_group.h"
-#include "rmvl/rmath/ew_topsis.hpp"
+#include "rmvl/core/ew_topsis.hpp"
 
 using namespace rm;
 using namespace std;

diff --git a/extra/detector/src/gyro_detector/match.cpp b/extra/detector/src/gyro_detector/match.cpp
@@ -11,7 +11,7 @@
 
 #include "rmvl/detector/gyro_detector.h"
 #include "rmvl/group/gyro_group.h"
-#include "rmvl/rmath/union_find.hpp"
+#include "rmvl/core/datastruct.hpp"
 
 #include "rmvlpara/camera/camera.h"
 #include "rmvlpara/detector/gyro_detector.h"

diff --git a/extra/feature/CMakeLists.txt b/extra/feature/CMakeLists.txt
@@ -1,6 +1,9 @@
+find_package(OpenCV COMPONENTS imgproc calib3d REQUIRED)
+
 rmvl_add_module(
   feature INTERFACE
   DEPENDS types
+  EXTERNAL ${OpenCV_LIBS}
 )
 
 # light_blob
@@ -10,7 +13,7 @@ rmvl_generate_para(
 )
 rmvl_add_module(
   light_blob
-  DEPENDS feature rmath
+  DEPENDS feature
 )
 
 # pilot
@@ -20,7 +23,7 @@ rmvl_generate_para(
 )
 rmvl_add_module(
   pilot
-  DEPENDS feature rmath
+  DEPENDS feature
 )
 
 # rune_center
@@ -30,7 +33,7 @@ rmvl_generate_para(
 )
 rmvl_add_module(
   rune_center
-  DEPENDS feature rmath
+  DEPENDS feature
 )
 
 # rune_target
@@ -40,13 +43,13 @@ rmvl_generate_para(
 )
 rmvl_add_module(
   rune_target
-  DEPENDS feature rmath
+  DEPENDS feature
 )
 
 # tag
 rmvl_add_module(
   tag
-  DEPENDS feature rmath
+  DEPENDS feature
 )
 
 rmvl_generate_module_para(feature)

diff --git a/extra/feature/src/light_blob/light_blob.cpp b/extra/feature/src/light_blob/light_blob.cpp
@@ -12,7 +12,7 @@
 #include <opencv2/imgproc.hpp>
 
 #include "rmvl/feature/light_blob.h"
-#include "rmvl/rmath.hpp"
+#include "rmvl/core.hpp"
 
 #include "rmvlpara/feature/light_blob.h"
 

diff --git a/extra/feature/src/light_blob/para_init.cpp b/extra/feature/src/light_blob/para_init.cpp
@@ -11,7 +11,7 @@
 
 #include "rmvl/feature/light_blob.h"
 #include "rmvl/core/util.hpp"
-#include "rmvl/rmath.hpp"
+#include "rmvl/core.hpp"
 
 using namespace rm;
 using namespace std;
-Original file line number
+Diff line change
@@ Expand Up / @@ -9,7 +9,7 @@ @@
      *
      */
-    #include "rmvl/rmath/transform.h"
+    #include "rmvl/core/transform.hpp"
     #include "rmvl/combo/rune.h"
@@ Expand Down @@