cv-rmvl · zhaoxi-scut · Mar 8, 2024 · Mar 4, 2024 · Mar 7, 2024 · Mar 7, 2024
diff --git a/3rdparty/readme.txt b/3rdparty/readme.txt
@@ -12,4 +12,8 @@ apriltag            描述        用于定位的视觉基准系统
                     CMake 选项  BUILD_APRILTAG 开启后可构建此模块（默认开启）
                                 WITH_APRILTAG 启用该选项来为 tag_detector 模块提供 apriltag 支持
 
-
+open62541           描述        OPC UA 的开源 C++ 实现
+                    许可与版权  open62541 由 MPL-2.0 license 许可证覆盖，参见 open62541/LICENSE
+                    官网主页    open62541.org
+                    CMake 选项  BUILD_OPEN62541 开启后可下载并构建此模块（默认关闭）
+                                WITH_OPEN62541 启用该选项来为 opcua 模块提供 open62541 支持
diff --git a/cmake/FindHikSDK.cmake b/cmake/FindHikSDK.cmake
@@ -1,14 +1,14 @@
-set(MVCAM_SDK_PATH "$ENV{MVCAM_SDK_PATH}")
-if(MVCAM_SDK_PATH STREQUAL "")
+set(mvcam_sdk_path "$ENV{MVCAM_SDK_PATH}")
+if(mvcam_sdk_path STREQUAL "")
   set(HikSDK_FOUND FALSE)
   return()
 endif()
 
 # add the include directories path
 find_path(
-  HikSDK_INCLUDE_DIR
+  HikSDK_INCLUDE_DIRS
   NAMES "MvCameraControl.h"
-  PATHS "${MVCAM_SDK_PATH}/include"
+  PATHS "${mvcam_sdk_path}/include"
   NO_DEFAULT_PATH
 )
 
@@ -28,20 +28,17 @@ else()
 endif()
 
 find_library(
-  HikSDK_LIB
+  HikSDK_LIBS
   NAMES "libMvCameraControl.so"
-  PATHS "${MVCAM_SDK_PATH}/lib/${ARCH_HIKLIB}"
+  PATHS "${mvcam_sdk_path}/lib/${ARCH_HIKLIB}"
   NO_DEFAULT_PATH
 )
 
-mark_as_advanced(ARCH_HIKLIB HikSDK_INCLUDE_DIR HikSDK_LIB)
-
-set(HikSDK_INCLUDE_DIRS "${HikSDK_INCLUDE_DIR}")
-set(HikSDK_LIBS "${HikSDK_LIB}")
+mark_as_advanced(ARCH_HIKLIB HikSDK_INCLUDE_DIRS HikSDK_LIBS)
 
 include(FindPackageHandleStandardArgs)
 
 find_package_handle_standard_args(
   HikSDK
-  REQUIRED_VARS HikSDK_LIB HikSDK_INCLUDE_DIR
+  REQUIRED_VARS HikSDK_LIBS HikSDK_INCLUDE_DIRS
 )
diff --git a/cmake/FindMvSDK.cmake b/cmake/FindMvSDK.cmake
@@ -1,27 +1,24 @@
 # add the include directories path
 find_path(
-  MvSDK_INCLUDE_DIR
+  MvSDK_INCLUDE_DIRS
   NAMES "CameraApi.h"
   PATHS "/usr/include"
   NO_DEFAULT_PATH
 )
 
 # add libraries
 find_library(
-  MvSDK_LIB
+  MvSDK_LIBS
   PATHS "/lib"
   NAMES "libMVSDK.so"
   NO_DEFAULT_PATH
 )
 
-mark_as_advanced(MvSDK_INCLUDE_DIR MvSDK_LIB)
-
-set(MvSDK_INCLUDE_DIRS "${MvSDK_INCLUDE_DIR}")
-set(MvSDK_LIBS "${MvSDK_LIB}")
+mark_as_advanced(MvSDK_INCLUDE_DIRS MvSDK_LIBS)
 
 include(FindPackageHandleStandardArgs)
 
 find_package_handle_standard_args(
   MvSDK
-  REQUIRED_VARS MvSDK_LIB MvSDK_INCLUDE_DIR
+  REQUIRED_VARS MvSDK_LIBS MvSDK_INCLUDE_DIRS
 )
diff --git a/cmake/FindOPTCameraSDK.cmake b/cmake/FindOPTCameraSDK.cmake
@@ -2,28 +2,25 @@ set(OPTCameraSDK_root_path "/opt/OPT/OPTCameraDemo")
 
 # add the include directories path
 find_path(
-  OPTCameraSDK_INCLUDE_DIR
+  OPTCameraSDK_INCLUDE_DIRS
   NAMES "OPTApi.h"
   PATHS "${OPTCameraSDK_root_path}/include"
   NO_DEFAULT_PATH
 )
 
 # add libraries
 find_library(
-  OPTCameraSDK_LIB
+  OPTCameraSDK_LIBS
   NAMES "libOPTSDK.so"
   PATHS "${OPTCameraSDK_root_path}/lib"
   NO_DEFAULT_PATH
 )
 
-mark_as_advanced(OPTCameraSDK_INCLUDE_DIR OPTCameraSDK_LIB)
-
-set(OPTCameraSDK_INCLUDE_DIRS "${OPTCameraSDK_INCLUDE_DIR}")
-set(OPTCameraSDK_LIBS "${OPTCameraSDK_LIB}")
+mark_as_advanced(OPTCameraSDK_INCLUDE_DIRS OPTCameraSDK_LIBS)
 
 include(FindPackageHandleStandardArgs)
 
 find_package_handle_standard_args(
   OPTCameraSDK
-  REQUIRED_VARS OPTCameraSDK_LIB OPTCameraSDK_INCLUDE_DIR
+  REQUIRED_VARS OPTCameraSDK_LIBS OPTCameraSDK_INCLUDE_DIRS
 )
diff --git a/cmake/FindOPTLightCtrl.cmake b/cmake/FindOPTLightCtrl.cmake
@@ -2,28 +2,25 @@ set(OPTLightCtrl_root_path "/opt/OPT/OPTController")
 
 # add the include directories path
 find_path(
-  OPTLightCtrl_INCLUDE_DIR
+  OPTLightCtrl_INCLUDE_DIRS
   NAMES "OPTController.h"
   PATHS "${OPTLightCtrl_root_path}/include"
   NO_DEFAULT_PATH
 )
 
 # add libraries
 find_library(
-  OPTLightCtrl_LIB
+  OPTLightCtrl_LIBS
   NAMES "libOPTController.so"
   PATHS "${OPTLightCtrl_root_path}/lib"
   NO_DEFAULT_PATH
 )
 
-mark_as_advanced(OPTLightCtrl_INCLUDE_DIR OPTLightCtrl_LIB)
-
-set(OPTLightCtrl_INCLUDE_DIRS "${OPTLightCtrl_INCLUDE_DIR}")
-set(OPTLightCtrl_LIBS "${OPTLightCtrl_LIB}")
+mark_as_advanced(OPTLightCtrl_INCLUDE_DIRS OPTLightCtrl_LIBS)
 
 include(FindPackageHandleStandardArgs)
 
 find_package_handle_standard_args(
   OPTLightCtrl
-  REQUIRED_VARS OPTLightCtrl_LIB OPTLightCtrl_INCLUDE_DIR
+  REQUIRED_VARS OPTLightCtrl_LIBS OPTLightCtrl_INCLUDE_DIRS
 )
diff --git a/cmake/FindOrt.cmake b/cmake/FindOrt.cmake
@@ -4,26 +4,23 @@ endif()
 
 # add the include directories path
 find_path(
-  Ort_INCLUDE_DIR
+  Ort_INCLUDE_DIRS
   PATHS "${ort_root_path}/include/onnxruntime"
   NAMES "onnxruntime_cxx_api.h"
   NO_DEFAULT_PATH
 )
 
 # add libraries
 find_library(
-  Ort_LIB
+  Ort_LIBS
   NAMES "libonnxruntime.so"
   PATHS "${ort_root_path}/lib"
   NO_DEFAULT_PATH
 )
 
-set(Ort_INCLUDE_DIRS "${Ort_INCLUDE_DIR}")
-set(Ort_LIBS "${Ort_LIB}")
-
 include(FindPackageHandleStandardArgs)
 
 find_package_handle_standard_args(
   Ort
-  REQUIRED_VARS Ort_LIB
+  REQUIRED_VARS Ort_LIBS Ort_INCLUDE_DIRS
 )
diff --git a/cmake/RMVLModule.cmake b/cmake/RMVLModule.cmake
@@ -37,7 +37,7 @@ endmacro(rmvl_compile_definitions _target)
 # ----------------------------------------------------------------------------
 #   将指定路径下的所有文件安装至特定目标
 #   用法:
-#     rmvl_install_directories(<directory> [DST_LIB])
+#     rmvl_install_directories(<directory> [DESTINATION])
 #   示例:
 #     rmvl_install_directories(include/rmvl)
 # ----------------------------------------------------------------------------
@@ -82,8 +82,8 @@ endfunction(rmvl_install_directories)
 #   示例:
 #     rmvl_add_module(
 #       my_module               # 需要生成的模块 (文件夹名)
-#       EXTRA_HEADER xxx_h      # 参与构建的其余头文件目录
-#       EXTRA_SOURCE xxx_src    # 参与构建的其余头文件目录
+#       EXTRA_HEADER xxx_h      # 参与构建的除 include 文件夹以外的其余头文件目录
+#       EXTRA_SOURCE xxx_src    # 参与构建的除 src 文件夹以外的其余源文件目录
 #       DEPENDS core            # 依赖的 RMVL 模块 (文件夹名)
 #       EXTERNAL ${OpenCV_LIBS} # 依赖的第三方目标库
 #     )
@@ -95,7 +95,6 @@ macro(rmvl_add_module _name)
   cmake_parse_arguments(MD "${options}" "" "${multi_args}" ${ARGN})
 
   # Module information
-  unset(the_module)
   set(the_module rmvl_${_name})
   set(
     RMVL_MODULE_${the_module}_LOCATION "${CMAKE_CURRENT_SOURCE_DIR}"
@@ -202,7 +201,8 @@ macro(rmvl_add_module _name)
       set(RMVL_MODULES_INTERFACE ${RMVL_MODULES_INTERFACE} "${the_module}" CACHE INTERNAL "List of RMVL interface modules marked for export" FORCE)
     endif(NOT MD_INTERFACE)
     set(RMVL_MODULES_BUILD ${RMVL_MODULES_BUILD} "${the_module}" CACHE INTERNAL "List of RMVL modules included into the build" FORCE)
-  endif(BUILD_${the_module})
+  endif()
+  unset(the_module)
 endmacro(rmvl_add_module _name)
 
 # ----------------------------------------------------------------------------

diff --git a/cmake/RMVLUtils.cmake b/cmake/RMVLUtils.cmake
@@ -14,7 +14,7 @@ macro(rmvl_check_cxx result src standard)
   try_compile(
     ${result}
     ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeTmp/cpp${standard}
-    SOURCES ${CMAKE_CURRENT_LIST_DIR}/check/${src}
+    SOURCES ${PROJECT_SOURCE_DIR}/cmake/check/${src}
     COMPILE_DEFINITIONS "${standard}"
   )
 
@@ -25,6 +25,7 @@ macro(rmvl_check_cxx result src standard)
     set(${result} "" CACHE INTERNAL "Test ${result}")
     message(STATUS "Performing Test ${result} - Failed")
   endif()
+  unset(build_args)
 endmacro()
 
 set(RMVL_BUILD_INFO_STR "" CACHE INTERNAL "")

diff --git a/cmake/templates/para_generator_header.in b/cmake/templates/para_generator_header.in
@@ -1,11 +1,9 @@
 /**
  * @file @target_name@.@header_ext@
- * @author RoboMaster Vision Community
+ * @author RMVL Community
  * @brief @class_name@ module header file (Generated by CMake automatically)
- * @version 1.0
- * @date @year@-@month@-@day@
  * 
- * @copyright Copyright @year@ (c), RoboMaster Vision Community
+ * @copyright Copyright @year@ (c), RMVL Community
  * 
  */
 

diff --git a/cmake/templates/para_generator_module.in b/cmake/templates/para_generator_module.in
@@ -1,11 +1,9 @@
 /**
  * @file @[email protected]
- * @author RoboMaster Vision Community
+ * @author RMVL Community
  * @brief @module_name@ header file (Generated by CMake automatically)
- * @version 1.0
- * @date @year@-@month@-@day@
  * 
- * @copyright Copyright @year@ (c), RoboMaster Vision Community
+ * @copyright Copyright @year@ (c), RMVL Community
  * 
  */
 

diff --git a/cmake/templates/para_generator_source.in b/cmake/templates/para_generator_source.in
@@ -1,11 +1,9 @@
 /**
  * @file @[email protected]
- * @author RoboMaster Vision Community
+ * @author RMVL Community
  * @brief @class_name@ module source file (Generated by CMake automatically)
- * @version 1.0
- * @date @year@-@month@-@day@
  * 
- * @copyright Copyright @year@ (c), RoboMaster Vision Community
+ * @copyright Copyright @year@ (c), RMVL Community
  * 
  */
 

diff --git a/doc/tutorials/modules/core/runge_kutta.md b/doc/tutorials/modules/core/runge_kutta.md
@@ -24,8 +24,8 @@
 
 可写成一阶方程组的形式，令\f$x_1=x,\quad x_2=\dot x\f$，有
 
-\f[\left\{\begin{align}
-\dot x_1&=x_2\\
+\f[\def\mat#1#2{\begin{bmatrix}#1\\#2\end{bmatrix}}
+\left\{\begin{align}\dot x_1&=x_2\\
 \dot x_2&=-\frac kmx_1-\frac cmx_2+\frac1mp(t)
 \end{align}\right.\tag{1-2}\f]
 
@@ -206,7 +206,7 @@ k_2&=f\left(t_n+\frac h2,x_n+\frac h2k_1\right)\end{align}\tag{3-7}\f]
 \f[\left\{\begin{align}x_{n+1}&=x_n+h(\lambda_1k_1+\lambda_2k_2)\\k_1&=f(t_n+p_1h,x_n+h(a_{11}
 k_1+a_{12}k_2))\\k_2&=f(t_n+p_2h,x_n+h(a_{21}k_1+a_{22}k_2))\end{align}\right.\tag{3-8}\f]
 
-令\f$\pmb p=(p_1,p_2)T,\quad\pmb\lambda=(\lambda_1,\lambda_2),\quad
+令\f$\pmb p=\mat{p_1}{p_2},\quad\pmb\lambda=(\lambda_1,\lambda_2),\quad
 R=\begin{bmatrix}a_{11}&a_{12}\\a_{21}&a_{22}\end{bmatrix}\f$，则
 
 \f[\begin{array}{c|c}\pmb p&R\\\hline&\pmb\lambda\end{array}=\begin{array}{c|cc}p_1&
@@ -272,7 +272,7 @@ RMVL 的相关类请参考 rm::RungeKutta
 
 **解答**
 
-① 数值解
+<span style="color: orange">**① 数值解**</span>
 
 使用中点公式：
 
@@ -395,12 +395,11 @@ l_2&=f_2(t_n+\frac h2,x_{1_n}+\frac h2k_1,x_{2_n}+\frac h2l_1)\end{align}\f]
 
 因此，在\f$t=1\f$时，\f$x\approx(0.587286,-0.219401)^T\f$
 
-② 精确解
+<span style="color: orange">**② 精确解**</span>
 
 对待求的初值问题写成矩阵形式
 
-\f[\dot X=\begin{bmatrix}0&2\\-1&-3\end{bmatrix}X+\begin{bmatrix}1\\0
-\end{bmatrix}t,\quad X(0)=\begin{bmatrix}1\\-1\end{bmatrix}\f]
+\f[\dot X=\begin{bmatrix}0&2\\-1&-3\end{bmatrix}X+\mat10t,\quad X(0)=\mat1{-1}\f]
 
 由矩阵分析的知识，可以知道，对于形如\f[\dot X=AX+B(t)\tag{a}\f]的矩阵微分方程，其解为
 
@@ -430,8 +429,7 @@ l_2&=f_2(t_n+\frac h2,x_{1_n}+\frac h2k_1,x_{2_n}+\frac h2l_1)\end{align}\f]
 
 可以算出
 
-\f[\def\mat#1#2{\begin{bmatrix}#1\\#2\end{bmatrix}}
-e^{At}X(0)=\mat00e^{-t}+\mat1{-1}e^{-2t}=\mat1{-1}e^{-2t}\tag{f}\f]
+\f[e^{At}X(0)=\mat00e^{-t}+\mat1{-1}e^{-2t}=\mat1{-1}e^{-2t}\tag{f}\f]
 
 同理有
 

diff --git a/modules/camera/src/hik_camera/hik_camera.cpp b/modules/camera/src/hik_camera/hik_camera.cpp
@@ -28,7 +28,8 @@ bool HikCamera::isOpened() const { return _impl->isOpened(); }
 bool HikCamera::reconnect() { return _impl->reconnect(); }
 
 //! MV_CC_PIXEL_CONVERT_PARAM 的初始化变量
-static MV_CC_PIXEL_CONVERT_PARAM MV_CC_PIXEL_CONVERT_PARAM_Init = {0, 0, PixelType_Gvsp_Undefined, nullptr, 0, PixelType_Gvsp_Undefined, nullptr, 0, 0, {0}};
+static const MV_CC_PIXEL_CONVERT_PARAM MV_CC_PIXEL_CONVERT_PARAM_Init =
+    {0, 0, PixelType_Gvsp_Undefined, nullptr, 0, PixelType_Gvsp_Undefined, nullptr, 0, 0, {0}};
 
 HikCamera::Impl::Impl(CameraConfig init_mode, std::string_view serial) noexcept
     : _grab_mode(init_mode.grab_mode), _retrieve_mode(init_mode.retrieve_mode), _serial(serial) { _opened = open(); }
@@ -145,11 +146,11 @@ static inline cv::ColorConversionCodes pixelType2CVType(MvGvspPixelType pixel_ty
 bool HikCamera::Impl::retrieve(cv::OutputArray image, RetrieveMode flag) noexcept
 {
     // --------------------- 前置信息准备 ---------------------
-    auto &frame_info = _p_out.stFrameInfo;
+    const auto &frame_info = _p_out.stFrameInfo;
     // 当前格式
     auto pixel_type = frame_info.enPixelType;
     // 单通道标志位集合
-    std::unordered_set<MvGvspPixelType> mono_set =
+    static std::unordered_set<MvGvspPixelType> mono_set =
         {PixelType_Gvsp_Mono1p, PixelType_Gvsp_Mono2p, PixelType_Gvsp_Mono4p,
          PixelType_Gvsp_Mono8, PixelType_Gvsp_Mono8_Signed,
          PixelType_Gvsp_Mono10, PixelType_Gvsp_Mono10_Packed,
@@ -171,7 +172,7 @@ bool HikCamera::Impl::retrieve(cv::OutputArray image, RetrieveMode flag) noexcep
     // MV_CC_ConvertPixelType
     if (flag == RetrieveMode::SDK)
     {
-        MV_CC_PIXEL_CONVERT_PARAM cvt_param = MV_CC_PIXEL_CONVERT_PARAM_Init;
+        MV_CC_PIXEL_CONVERT_PARAM cvt_param{MV_CC_PIXEL_CONVERT_PARAM_Init};
         cvt_param.nWidth = frame_info.nWidth;              // 图像宽
         cvt_param.nHeight = frame_info.nHeight;            // 图像高
         cvt_param.pSrcData = _p_out.pBufAddr;              // 输入数据缓存
@@ -221,7 +222,7 @@ bool HikCamera::Impl::read(cv::OutputArray image) noexcept
         retrieve(image, _retrieve_mode);
     else
     {
-        WARNING_("No data in getting image buffer");
+        WARNING_("hik - No data in getting image buffer");
         reconnect();
     }
     // 释放图像缓存

diff --git a/modules/ml/CMakeLists.txt b/modules/ml/CMakeLists.txt
@@ -10,7 +10,7 @@ rmvl_add_module(
 if(WITH_ONNXRUNTIME)
   find_package(Ort)
 endif()
-  
+
 set(BUILD_rmvl_ort_INIT ${WITH_ONNXRUNTIME})
 
 rmvl_add_module(