diff --git a/maixpy/api/api.json b/maixpy/api/api.json
index bd09efe7..c661a434 100644
--- a/maixpy/api/api.json
+++ b/maixpy/api/api.json
@@ -552,6 +552,20 @@
                                     "static": false,
                                     "def": "tensor::DType  dtype()"
                                 },
+                                "to_float_list": {
+                                    "type": "func",
+                                    "name": "to_float_list",
+                                    "doc": {
+                                        "brief": "get tensor data and return a list",
+                                        "return": "list type data",
+                                        "maixpy": "maix.tensor.Tensor.to_float_list",
+                                        "py_doc": "get tensor data and return a list\n\nReturns: list type data\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "std::valarray<float>*",
+                                    "static": false,
+                                    "def": "std::valarray<float>* to_float_list()"
+                                },
                                 "argmax": {
                                     "type": "func",
                                     "name": "argmax",
@@ -5288,6 +5302,30 @@
                                     "static": false,
                                     "def": "image::Image *to_format(const image::Format &format)"
                                 },
+                                "to_jpeg": {
+                                    "type": "func",
+                                    "name": "to_jpeg",
+                                    "doc": {
+                                        "brief": "Convert image to jpeg",
+                                        "param": {
+                                            "quality": "the quality of jpg, default is 95. range is (50, 100]."
+                                        },
+                                        "return": "new image object. Need be delete by caller in C++.",
+                                        "throw": "err.Exception, if two images' format not support, **or already the format**, will raise exception",
+                                        "maixpy": "maix.image.Image.to_jpeg",
+                                        "py_doc": "Convert image to jpeg\n\nArgs:\n  - quality: the quality of jpg, default is 95. range is (50, 100].\n\n\nReturns: new image object. Need be delete by caller in C++.\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "int",
+                                            "quality",
+                                            "95"
+                                        ]
+                                    ],
+                                    "ret_type": "image::Image*",
+                                    "static": false,
+                                    "def": "image::Image *to_jpeg(int quality = 95)"
+                                },
                                 "draw_image": {
                                     "type": "func",
                                     "name": "draw_image",
@@ -5768,15 +5806,14 @@
                                     "doc": {
                                         "brief": "Draw keypoints on image",
                                         "param": {
-                                            "keypoints": "keypoints, [x, y, rotation_andle_in_degrees], TODO: rotation_andle_in_degrees support in the feature",
+                                            "keypoints": "keypoints, [x1, y1, x2, y2...] or [x, y, rotation_andle_in_degrees, x2, y2, rotation_andle_in_degrees2](TODO: rotation_andle_in_degrees support in the feature)",
                                             "color": "keypoints color @see image::Color",
                                             "size": "size of keypoints",
-                                            "thickness": "keypoints thickness(line width), by default(value is 1)",
-                                            "fill": "if true, will fill keypoints, by default(value is false)"
+                                            "thickness": "keypoints thickness(line width), by default(value is -1 means fill circle)"
                                         },
                                         "return": "this image object self",
                                         "maixpy": "maix.image.Image.draw_keypoints",
-                                        "py_doc": "Draw keypoints on image\n\nArgs:\n  - keypoints: keypoints, [x, y, rotation_andle_in_degrees], TODO: rotation_andle_in_degrees support in the feature\n  - color: keypoints color @see image::Color\n  - size: size of keypoints\n  - thickness: keypoints thickness(line width), by default(value is 1)\n  - fill: if true, will fill keypoints, by default(value is false)\n\n\nReturns: this image object self\n"
+                                        "py_doc": "Draw keypoints on image\n\nArgs:\n  - keypoints: keypoints, [x1, y1, x2, y2...] or [x, y, rotation_andle_in_degrees, x2, y2, rotation_andle_in_degrees2](TODO: rotation_andle_in_degrees support in the feature)\n  - color: keypoints color @see image::Color\n  - size: size of keypoints\n  - thickness: keypoints thickness(line width), by default(value is -1 means fill circle)\n\n\nReturns: this image object self\n"
                                     },
                                     "args": [
                                         [
@@ -5797,17 +5834,12 @@
                                         [
                                             "int",
                                             "thickness",
-                                            "1"
-                                        ],
-                                        [
-                                            "bool",
-                                            "fill",
-                                            "false"
+                                            "-1"
                                         ]
                                     ],
                                     "ret_type": "image::Image*",
                                     "static": false,
-                                    "def": "image::Image *draw_keypoints(std::vector<int> keypoints, const image::Color &color, int size = 10, int thickness = 1, bool fill = false)"
+                                    "def": "image::Image *draw_keypoints(std::vector<int> keypoints, const image::Color &color, int size = 10, int thickness = -1)"
                                 },
                                 "resize": {
                                     "type": "func",
@@ -6073,13 +6105,13 @@
                                     "type": "func",
                                     "name": "compress",
                                     "doc": {
-                                        "brief": "JPEG compresses the image in place.",
+                                        "brief": "JPEG compresses the image in place, the same as to_jpeg functioin, it's recommend to use to_jpeg instead.",
                                         "param": {
                                             "quality": "The quality of the compressed image. default is 95."
                                         },
                                         "return": "Returns the compressed JPEG image",
                                         "maixpy": "maix.image.Image.compress",
-                                        "py_doc": "JPEG compresses the image in place.\n\nArgs:\n  - quality: The quality of the compressed image. default is 95.\n\n\nReturns: Returns the compressed JPEG image\n"
+                                        "py_doc": "JPEG compresses the image in place, the same as to_jpeg functioin, it's recommend to use to_jpeg instead.\n\nArgs:\n  - quality: The quality of the compressed image. default is 95.\n\n\nReturns: Returns the compressed JPEG image\n"
                                     },
                                     "args": [
                                         [
@@ -9852,6 +9884,56 @@
                                     "static": false,
                                     "def": "uint32_t saturation(uint32_t value = -1)",
                                     "py_def": "def saturation(self, value: int = -1) -> int"
+                                },
+                                "awb_mode": {
+                                    "type": "func",
+                                    "name": "awb_mode",
+                                    "doc": {
+                                        "brief": "Set/Get white balance mode",
+                                        "attention": "This method will affect the isp and thus the image, so please be careful with it.",
+                                        "param": {
+                                            "value": "value = 0, means set white balance to auto mode, value = 1, means set white balance to manual mode, default is auto mode."
+                                        },
+                                        "return": "returns awb mode",
+                                        "maixpy": "maix.camera.Camera.awb_mode",
+                                        "py_doc": "Set/Get white balance mode\n\nArgs:\n  - value: value = 0, means set white balance to auto mode, value = 1, means set white balance to manual mode, default is auto mode.\n\n\nReturns: returns awb mode\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "uint32_t",
+                                            "value",
+                                            "-1"
+                                        ]
+                                    ],
+                                    "ret_type": "uint32_t",
+                                    "static": false,
+                                    "def": "uint32_t awb_mode(uint32_t value = -1)",
+                                    "py_def": "def awb_mode(self, value: int = -1) -> int"
+                                },
+                                "exp_mode": {
+                                    "type": "func",
+                                    "name": "exp_mode",
+                                    "doc": {
+                                        "brief": "Set/Get exposure mode",
+                                        "attention": "This method will affect the isp and thus the image, so please be careful with it.",
+                                        "param": {
+                                            "value": "value = 0, means set exposure to auto mode, value = 1, means set exposure to manual mode, default is auto mode."
+                                        },
+                                        "return": "returns exposure mode",
+                                        "maixpy": "maix.camera.Camera.exp_mode",
+                                        "py_doc": "Set/Get exposure mode\n\nArgs:\n  - value: value = 0, means set exposure to auto mode, value = 1, means set exposure to manual mode, default is auto mode.\n\n\nReturns: returns exposure mode\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "uint32_t",
+                                            "value",
+                                            "-1"
+                                        ]
+                                    ],
+                                    "ret_type": "uint32_t",
+                                    "static": false,
+                                    "def": "uint32_t exp_mode(uint32_t value = -1)",
+                                    "py_def": "def exp_mode(self, value: int = -1) -> int"
                                 }
                             },
                             "def": "class Camera"
@@ -14571,7 +14653,8 @@
                                     ],
                                     "ret_type": "std::vector<nn::Object>*",
                                     "static": false,
-                                    "def": "std::vector<nn::Object> *detect(image::Image &img, float conf_th = 0.5, float iou_th = 0.45, maix::image::Fit fit = maix::image::FIT_CONTAIN)"
+                                    "def": "std::vector<nn::Object> *detect(image::Image &img, float conf_th = 0.5, float iou_th = 0.45, maix::image::Fit fit = maix::image::FIT_CONTAIN)",
+                                    "py_def": "def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ...) -> list[...]"
                                 },
                                 "input_size": {
                                     "type": "func",
@@ -14980,8 +15063,7 @@
                                     ],
                                     "ret_type": null,
                                     "static": false,
-                                    "def": "MUD(const char *model_path = nullptr)",
-                                    "py_def": "def __init__(self, model_path: str = None) -> None"
+                                    "def": "MUD(const char *model_path = nullptr)"
                                 },
                                 "load": {
                                     "type": "func",
@@ -15078,7 +15160,8 @@
                                     ],
                                     "ret_type": null,
                                     "static": false,
-                                    "def": "LayerInfo(const std::string &name =  \"\", tensor::DType dtype = tensor::DType::FLOAT32, std::vector<int> shape = std::vector<int>())"
+                                    "def": "LayerInfo(const std::string &name =  \"\", tensor::DType dtype = tensor::DType::FLOAT32, std::vector<int> shape = std::vector<int>())",
+                                    "py_def": "def __init__(self, name: str = '', dtype: maix.tensor.DType = ..., shape: list[int] = []) -> None"
                                 },
                                 "name": {
                                     "type": "var",
@@ -15131,7 +15214,8 @@
                                     "args": [],
                                     "ret_type": "std::string",
                                     "static": false,
-                                    "def": "std::string to_str()"
+                                    "def": "std::string to_str()",
+                                    "py_def": "def to_str(self) -> str"
                                 },
                                 "__str__": {
                                     "type": "func",
@@ -15179,7 +15263,8 @@
                                     ],
                                     "ret_type": null,
                                     "static": false,
-                                    "def": "NN(const std::string &model = \"\")"
+                                    "def": "NN(const std::string &model = \"\")",
+                                    "py_def": "def __init__(self, model: str = '') -> None"
                                 },
                                 "load": {
                                     "type": "func",
@@ -15217,7 +15302,8 @@
                                     "args": [],
                                     "ret_type": "bool",
                                     "static": false,
-                                    "def": "bool loaded()"
+                                    "def": "bool loaded()",
+                                    "py_def": "def loaded(self) -> bool"
                                 },
                                 "inputs_info": {
                                     "type": "func",
@@ -15231,7 +15317,8 @@
                                     "args": [],
                                     "ret_type": "std::vector<nn::LayerInfo>",
                                     "static": false,
-                                    "def": "std::vector<nn::LayerInfo> inputs_info()"
+                                    "def": "std::vector<nn::LayerInfo> inputs_info()",
+                                    "py_def": "def inputs_info(self) -> list[LayerInfo]"
                                 },
                                 "outputs_info": {
                                     "type": "func",
@@ -15245,7 +15332,8 @@
                                     "args": [],
                                     "ret_type": "std::vector<nn::LayerInfo>",
                                     "static": false,
-                                    "def": "std::vector<nn::LayerInfo> outputs_info()"
+                                    "def": "std::vector<nn::LayerInfo> outputs_info()",
+                                    "py_def": "def outputs_info(self) -> list[LayerInfo]"
                                 },
                                 "extra_info": {
                                     "type": "func",
@@ -15259,7 +15347,8 @@
                                     "args": [],
                                     "ret_type": "std::map<std::string, std::string>",
                                     "static": false,
-                                    "def": "std::map<std::string, std::string> extra_info()"
+                                    "def": "std::map<std::string, std::string> extra_info()",
+                                    "py_def": "def extra_info(self) -> dict[str, str]"
                                 },
                                 "forward": {
                                     "type": "func",
@@ -15282,7 +15371,8 @@
                                     ],
                                     "ret_type": "tensor::Tensors*",
                                     "static": false,
-                                    "def": "tensor::Tensors *forward(tensor::Tensors &inputs)"
+                                    "def": "tensor::Tensors *forward(tensor::Tensors &inputs)",
+                                    "py_def": "def forward(self, inputs: maix.tensor.Tensors) -> maix.tensor.Tensors"
                                 },
                                 "forward_image": {
                                     "type": "func",
@@ -15329,7 +15419,8 @@
                                     ],
                                     "ret_type": "tensor::Tensors*",
                                     "static": false,
-                                    "def": "tensor::Tensors *forward_image(image::Image &img, std::vector<float> mean = std::vector<float>(), std::vector<float> scale = std::vector<float>(), image::Fit fit = image::Fit::FIT_FILL, bool copy_result = true)"
+                                    "def": "tensor::Tensors *forward_image(image::Image &img, std::vector<float> mean = std::vector<float>(), std::vector<float> scale = std::vector<float>(), image::Fit fit = image::Fit::FIT_FILL, bool copy_result = true)",
+                                    "py_def": "def forward_image(self, img: maix.image.Image, mean: list[float] = [], scale: list[float] = [], fit: maix.image.Fit = ..., copy_result: bool = True) -> maix.tensor.Tensors"
                                 }
                             },
                             "def": "class NN"
@@ -15374,166 +15465,1117 @@
                             },
                             "auto_add": true
                         },
-                        "Object": {
+                        "FaceDetector": {
                             "type": "class",
-                            "name": "Object",
+                            "name": "FaceDetector",
                             "doc": {
-                                "brief": "Object for detect result",
-                                "maixpy": "maix.nn.Object",
-                                "py_doc": "Object for detect result"
+                                "brief": "FaceDetector class",
+                                "maixpy": "maix.nn.FaceDetector",
+                                "py_doc": "FaceDetector class"
                             },
                             "members": {
                                 "__init__": {
                                     "type": "func",
-                                    "name": "Object",
+                                    "name": "FaceDetector",
                                     "doc": {
-                                        "brief": "Constructor of Object for detect result",
+                                        "brief": "Constructor of FaceDetector class",
                                         "param": {
-                                            "x": "left top x",
-                                            "y": "left top y",
-                                            "w": "width",
-                                            "h": "height",
-                                            "class_id": "class id",
-                                            "score": "score"
+                                            "model": "model path, default empty, you can load model later by load function."
                                         },
-                                        "maixpy": "maix.nn.Object.__init__",
-                                        "maixcdk": "maix.nn.Object.Object",
-                                        "py_doc": "Constructor of Object for detect result\n\nArgs:\n  - x: left top x\n  - y: left top y\n  - w: width\n  - h: height\n  - class_id: class id\n  - score: score\n"
+                                        "throw": "If model arg is not empty and load failed, will throw err::Exception.",
+                                        "maixpy": "maix.nn.FaceDetector.__init__",
+                                        "maixcdk": "maix.nn.FaceDetector.FaceDetector",
+                                        "py_doc": "Constructor of FaceDetector class\n\nArgs:\n  - model: model path, default empty, you can load model later by load function.\n"
                                     },
                                     "args": [
                                         [
-                                            "int",
-                                            "x",
-                                            "0"
-                                        ],
+                                            "const string &",
+                                            "model",
+                                            "\"\""
+                                        ]
+                                    ],
+                                    "ret_type": null,
+                                    "static": false,
+                                    "def": "FaceDetector(const string &model = \"\")"
+                                },
+                                "load": {
+                                    "type": "func",
+                                    "name": "load",
+                                    "doc": {
+                                        "brief": "Load model from file",
+                                        "param": {
+                                            "model": "Model path want to load"
+                                        },
+                                        "return": "err::Err",
+                                        "maixpy": "maix.nn.FaceDetector.load",
+                                        "py_doc": "Load model from file\n\nArgs:\n  - model: Model path want to load\n\n\nReturns: err::Err\n"
+                                    },
+                                    "args": [
                                         [
-                                            "int",
-                                            "y",
-                                            "0"
-                                        ],
+                                            "const string &",
+                                            "model",
+                                            null
+                                        ]
+                                    ],
+                                    "ret_type": "err::Err",
+                                    "static": false,
+                                    "def": "err::Err load(const string &model)",
+                                    "py_def": "def load(self, model: str) -> maix.err.Err"
+                                },
+                                "detect": {
+                                    "type": "func",
+                                    "name": "detect",
+                                    "doc": {
+                                        "brief": "Detect objects from image",
+                                        "param": {
+                                            "img": "Image want to detect, if image's size not match model input's, will auto resize with fit method.",
+                                            "conf_th": "Confidence threshold, default 0.5.",
+                                            "iou_th": "IoU threshold, default 0.45.",
+                                            "fit": "Resize method, default image.Fit.FIT_CONTAIN."
+                                        },
+                                        "throw": "If image format not match model input format, will throw err::Exception.",
+                                        "return": "Object list. In C++, you should delete it after use.",
+                                        "maixpy": "maix.nn.FaceDetector.detect",
+                                        "py_doc": "Detect objects from image\n\nArgs:\n  - img: Image want to detect, if image's size not match model input's, will auto resize with fit method.\n  - conf_th: Confidence threshold, default 0.5.\n  - iou_th: IoU threshold, default 0.45.\n  - fit: Resize method, default image.Fit.FIT_CONTAIN.\n\n\nReturns: Object list. In C++, you should delete it after use.\n"
+                                    },
+                                    "args": [
                                         [
-                                            "int",
-                                            "w",
-                                            "0"
+                                            "image::Image &",
+                                            "img",
+                                            null
                                         ],
                                         [
-                                            "int",
-                                            "h",
-                                            "0"
+                                            "float",
+                                            "conf_th",
+                                            "0.5"
                                         ],
                                         [
-                                            "int",
-                                            "class_id",
-                                            "0"
+                                            "float",
+                                            "iou_th",
+                                            "0.45"
                                         ],
                                         [
-                                            "float",
-                                            "score",
-                                            "0"
+                                            "maix::image::Fit",
+                                            "fit",
+                                            "maix::image::FIT_CONTAIN"
                                         ]
                                     ],
-                                    "ret_type": null,
+                                    "ret_type": "std::vector<nn::Object>*",
                                     "static": false,
-                                    "def": "Object(int x = 0, int y = 0, int w = 0, int h = 0, int class_id = 0, float score = 0)"
+                                    "def": "std::vector<nn::Object> *detect(image::Image &img, float conf_th = 0.5, float iou_th = 0.45, maix::image::Fit fit = maix::image::FIT_CONTAIN)",
+                                    "py_def": "def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ...) -> list[...]"
                                 },
-                                "__str__": {
+                                "input_size": {
                                     "type": "func",
-                                    "name": "to_str",
+                                    "name": "input_size",
                                     "doc": {
-                                        "brief": "Object info to string",
-                                        "return": "Object info string",
-                                        "maixpy": "maix.nn.Object.__str__",
-                                        "maixcdk": "maix.nn.Object.to_str",
-                                        "py_doc": "Object info to string\n\nReturns: Object info string\n"
+                                        "brief": "Get model input size",
+                                        "return": "model input size",
+                                        "maixpy": "maix.nn.FaceDetector.input_size",
+                                        "py_doc": "Get model input size\n\nReturns: model input size\n"
                                     },
                                     "args": [],
-                                    "ret_type": "std::string",
+                                    "ret_type": "image::Size",
                                     "static": false,
-                                    "def": "std::string to_str()"
+                                    "def": "image::Size input_size()",
+                                    "py_def": "def input_size(self) -> maix.image.Size"
                                 },
-                                "x": {
-                                    "type": "var",
-                                    "name": "x",
+                                "input_width": {
+                                    "type": "func",
+                                    "name": "input_width",
                                     "doc": {
-                                        "brief": "Object left top coordinate x",
-                                        "maixpy": "maix.nn.Object.x",
-                                        "py_doc": "Object left top coordinate x"
+                                        "brief": "Get model input width",
+                                        "return": "model input size of width",
+                                        "maixpy": "maix.nn.FaceDetector.input_width",
+                                        "py_doc": "Get model input width\n\nReturns: model input size of width\n"
                                     },
-                                    "value": null,
+                                    "args": [],
+                                    "ret_type": "int",
                                     "static": false,
-                                    "readonly": false,
-                                    "def": "int x"
+                                    "def": "int input_width()",
+                                    "py_def": "def input_width(self) -> int"
                                 },
-                                "y": {
-                                    "type": "var",
-                                    "name": "y",
+                                "input_height": {
+                                    "type": "func",
+                                    "name": "input_height",
                                     "doc": {
-                                        "brief": "Object left top coordinate y",
-                                        "maixpy": "maix.nn.Object.y",
-                                        "py_doc": "Object left top coordinate y"
+                                        "brief": "Get model input height",
+                                        "return": "model input size of height",
+                                        "maixpy": "maix.nn.FaceDetector.input_height",
+                                        "py_doc": "Get model input height\n\nReturns: model input size of height\n"
                                     },
-                                    "value": null,
+                                    "args": [],
+                                    "ret_type": "int",
                                     "static": false,
-                                    "readonly": false,
-                                    "def": "int y"
+                                    "def": "int input_height()",
+                                    "py_def": "def input_height(self) -> int"
                                 },
-                                "w": {
-                                    "type": "var",
-                                    "name": "w",
+                                "input_format": {
+                                    "type": "func",
+                                    "name": "input_format",
                                     "doc": {
-                                        "brief": "Object width",
-                                        "maixpy": "maix.nn.Object.w",
-                                        "py_doc": "Object width"
+                                        "brief": "Get input image format",
+                                        "return": "input image format, image::Format type.",
+                                        "maixpy": "maix.nn.FaceDetector.input_format",
+                                        "py_doc": "Get input image format\n\nReturns: input image format, image::Format type.\n"
                                     },
-                                    "value": null,
+                                    "args": [],
+                                    "ret_type": "image::Format",
                                     "static": false,
-                                    "readonly": false,
-                                    "def": "int w"
+                                    "def": "image::Format input_format()",
+                                    "py_def": "def input_format(self) -> maix.image.Format"
                                 },
-                                "h": {
+                                "mean": {
                                     "type": "var",
-                                    "name": "h",
+                                    "name": "mean",
                                     "doc": {
-                                        "brief": "Object height",
-                                        "maixpy": "maix.nn.Object.h",
-                                        "py_doc": "Object height"
+                                        "brief": "Get mean value, list type",
+                                        "maixpy": "maix.nn.FaceDetector.mean",
+                                        "py_doc": "Get mean value, list type"
                                     },
                                     "value": null,
                                     "static": false,
                                     "readonly": false,
-                                    "def": "int h"
+                                    "def": "std::vector<float> mean"
                                 },
-                                "class_id": {
+                                "scale": {
                                     "type": "var",
-                                    "name": "class_id",
+                                    "name": "scale",
                                     "doc": {
-                                        "brief": "Object class id",
-                                        "maixpy": "maix.nn.Object.class_id",
-                                        "py_doc": "Object class id"
+                                        "brief": "Get scale value, list type",
+                                        "maixpy": "maix.nn.FaceDetector.scale",
+                                        "py_doc": "Get scale value, list type"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "std::vector<float> scale"
+                                }
+                            },
+                            "def": "class FaceDetector"
+                        },
+                        "Retinaface": {
+                            "type": "class",
+                            "name": "Retinaface",
+                            "doc": {
+                                "brief": "Retinaface class",
+                                "maixpy": "maix.nn.Retinaface",
+                                "py_doc": "Retinaface class"
+                            },
+                            "members": {
+                                "__init__": {
+                                    "type": "func",
+                                    "name": "Retinaface",
+                                    "doc": {
+                                        "brief": "Constructor of Retinaface class",
+                                        "param": {
+                                            "model": "model path, default empty, you can load model later by load function."
+                                        },
+                                        "throw": "If model arg is not empty and load failed, will throw err::Exception.",
+                                        "maixpy": "maix.nn.Retinaface.__init__",
+                                        "maixcdk": "maix.nn.Retinaface.Retinaface",
+                                        "py_doc": "Constructor of Retinaface class\n\nArgs:\n  - model: model path, default empty, you can load model later by load function.\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "const string &",
+                                            "model",
+                                            "\"\""
+                                        ]
+                                    ],
+                                    "ret_type": null,
+                                    "static": false,
+                                    "def": "Retinaface(const string &model = \"\")"
+                                },
+                                "load": {
+                                    "type": "func",
+                                    "name": "load",
+                                    "doc": {
+                                        "brief": "Load model from file",
+                                        "param": {
+                                            "model": "Model path want to load"
+                                        },
+                                        "return": "err::Err",
+                                        "maixpy": "maix.nn.Retinaface.load",
+                                        "py_doc": "Load model from file\n\nArgs:\n  - model: Model path want to load\n\n\nReturns: err::Err\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "const string &",
+                                            "model",
+                                            null
+                                        ]
+                                    ],
+                                    "ret_type": "err::Err",
+                                    "static": false,
+                                    "def": "err::Err load(const string &model)",
+                                    "py_def": "def load(self, model: str) -> maix.err.Err"
+                                },
+                                "detect": {
+                                    "type": "func",
+                                    "name": "detect",
+                                    "doc": {
+                                        "brief": "Detect objects from image",
+                                        "param": {
+                                            "img": "Image want to detect, if image's size not match model input's, will auto resize with fit method.",
+                                            "conf_th": "Confidence threshold, default 0.4.",
+                                            "iou_th": "IoU threshold, default 0.45.",
+                                            "fit": "Resize method, default image.Fit.FIT_CONTAIN."
+                                        },
+                                        "throw": "If image format not match model input format, will throw err::Exception.",
+                                        "return": "Object list. In C++, you should delete it after use.",
+                                        "maixpy": "maix.nn.Retinaface.detect",
+                                        "py_doc": "Detect objects from image\n\nArgs:\n  - img: Image want to detect, if image's size not match model input's, will auto resize with fit method.\n  - conf_th: Confidence threshold, default 0.4.\n  - iou_th: IoU threshold, default 0.45.\n  - fit: Resize method, default image.Fit.FIT_CONTAIN.\n\n\nReturns: Object list. In C++, you should delete it after use.\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "image::Image &",
+                                            "img",
+                                            null
+                                        ],
+                                        [
+                                            "float",
+                                            "conf_th",
+                                            "0.4"
+                                        ],
+                                        [
+                                            "float",
+                                            "iou_th",
+                                            "0.45"
+                                        ],
+                                        [
+                                            "maix::image::Fit",
+                                            "fit",
+                                            "maix::image::FIT_CONTAIN"
+                                        ]
+                                    ],
+                                    "ret_type": "std::vector<nn::Object>*",
+                                    "static": false,
+                                    "def": "std::vector<nn::Object> *detect(image::Image &img, float conf_th = 0.4, float iou_th = 0.45, maix::image::Fit fit = maix::image::FIT_CONTAIN)",
+                                    "py_def": "def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ...) -> list[...]"
+                                },
+                                "input_size": {
+                                    "type": "func",
+                                    "name": "input_size",
+                                    "doc": {
+                                        "brief": "Get model input size",
+                                        "return": "model input size",
+                                        "maixpy": "maix.nn.Retinaface.input_size",
+                                        "py_doc": "Get model input size\n\nReturns: model input size\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "image::Size",
+                                    "static": false,
+                                    "def": "image::Size input_size()",
+                                    "py_def": "def input_size(self) -> maix.image.Size"
+                                },
+                                "input_width": {
+                                    "type": "func",
+                                    "name": "input_width",
+                                    "doc": {
+                                        "brief": "Get model input width",
+                                        "return": "model input size of width",
+                                        "maixpy": "maix.nn.Retinaface.input_width",
+                                        "py_doc": "Get model input width\n\nReturns: model input size of width\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "int",
+                                    "static": false,
+                                    "def": "int input_width()",
+                                    "py_def": "def input_width(self) -> int"
+                                },
+                                "input_height": {
+                                    "type": "func",
+                                    "name": "input_height",
+                                    "doc": {
+                                        "brief": "Get model input height",
+                                        "return": "model input size of height",
+                                        "maixpy": "maix.nn.Retinaface.input_height",
+                                        "py_doc": "Get model input height\n\nReturns: model input size of height\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "int",
+                                    "static": false,
+                                    "def": "int input_height()",
+                                    "py_def": "def input_height(self) -> int"
+                                },
+                                "input_format": {
+                                    "type": "func",
+                                    "name": "input_format",
+                                    "doc": {
+                                        "brief": "Get input image format",
+                                        "return": "input image format, image::Format type.",
+                                        "maixpy": "maix.nn.Retinaface.input_format",
+                                        "py_doc": "Get input image format\n\nReturns: input image format, image::Format type.\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "image::Format",
+                                    "static": false,
+                                    "def": "image::Format input_format()",
+                                    "py_def": "def input_format(self) -> maix.image.Format"
+                                },
+                                "mean": {
+                                    "type": "var",
+                                    "name": "mean",
+                                    "doc": {
+                                        "brief": "Get mean value, list type",
+                                        "maixpy": "maix.nn.Retinaface.mean",
+                                        "py_doc": "Get mean value, list type"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "std::vector<float> mean"
+                                },
+                                "scale": {
+                                    "type": "var",
+                                    "name": "scale",
+                                    "doc": {
+                                        "brief": "Get scale value, list type",
+                                        "maixpy": "maix.nn.Retinaface.scale",
+                                        "py_doc": "Get scale value, list type"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "std::vector<float> scale"
+                                }
+                            },
+                            "def": "class Retinaface"
+                        },
+                        "Object": {
+                            "type": "class",
+                            "name": "Object",
+                            "doc": {
+                                "brief": "Object for detect result",
+                                "maixpy": "maix.nn.Object",
+                                "py_doc": "Object for detect result"
+                            },
+                            "members": {
+                                "__init__": {
+                                    "type": "func",
+                                    "name": "Object",
+                                    "doc": {
+                                        "brief": "Constructor of Object for detect result",
+                                        "param": {
+                                            "x": "left top x",
+                                            "y": "left top y",
+                                            "w": "width",
+                                            "h": "height",
+                                            "class_id": "class id",
+                                            "score": "score"
+                                        },
+                                        "maixpy": "maix.nn.Object.__init__",
+                                        "maixcdk": "maix.nn.Object.Object",
+                                        "py_doc": "Constructor of Object for detect result\n\nArgs:\n  - x: left top x\n  - y: left top y\n  - w: width\n  - h: height\n  - class_id: class id\n  - score: score\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "int",
+                                            "x",
+                                            "0"
+                                        ],
+                                        [
+                                            "int",
+                                            "y",
+                                            "0"
+                                        ],
+                                        [
+                                            "int",
+                                            "w",
+                                            "0"
+                                        ],
+                                        [
+                                            "int",
+                                            "h",
+                                            "0"
+                                        ],
+                                        [
+                                            "int",
+                                            "class_id",
+                                            "0"
+                                        ],
+                                        [
+                                            "float",
+                                            "score",
+                                            "0"
+                                        ],
+                                        [
+                                            "std::vector<int>",
+                                            "points",
+                                            "std::vector<int>()"
+                                        ]
+                                    ],
+                                    "ret_type": null,
+                                    "static": false,
+                                    "def": "Object(int x = 0, int y = 0, int w = 0, int h = 0, int class_id = 0, float score = 0, std::vector<int> points = std::vector<int>())"
+                                },
+                                "__str__": {
+                                    "type": "func",
+                                    "name": "to_str",
+                                    "doc": {
+                                        "brief": "Object info to string",
+                                        "return": "Object info string",
+                                        "maixpy": "maix.nn.Object.__str__",
+                                        "maixcdk": "maix.nn.Object.to_str",
+                                        "py_doc": "Object info to string\n\nReturns: Object info string\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "std::string",
+                                    "static": false,
+                                    "def": "std::string to_str()",
+                                    "py_def": "def to_str(self) -> str"
+                                },
+                                "x": {
+                                    "type": "var",
+                                    "name": "x",
+                                    "doc": {
+                                        "brief": "Object left top coordinate x",
+                                        "maixpy": "maix.nn.Object.x",
+                                        "py_doc": "Object left top coordinate x"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "int x"
+                                },
+                                "y": {
+                                    "type": "var",
+                                    "name": "y",
+                                    "doc": {
+                                        "brief": "Object left top coordinate y",
+                                        "maixpy": "maix.nn.Object.y",
+                                        "py_doc": "Object left top coordinate y"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "int y"
+                                },
+                                "w": {
+                                    "type": "var",
+                                    "name": "w",
+                                    "doc": {
+                                        "brief": "Object width",
+                                        "maixpy": "maix.nn.Object.w",
+                                        "py_doc": "Object width"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "int w"
+                                },
+                                "h": {
+                                    "type": "var",
+                                    "name": "h",
+                                    "doc": {
+                                        "brief": "Object height",
+                                        "maixpy": "maix.nn.Object.h",
+                                        "py_doc": "Object height"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "int h"
+                                },
+                                "class_id": {
+                                    "type": "var",
+                                    "name": "class_id",
+                                    "doc": {
+                                        "brief": "Object class id",
+                                        "maixpy": "maix.nn.Object.class_id",
+                                        "py_doc": "Object class id"
                                     },
                                     "value": null,
                                     "static": false,
                                     "readonly": false,
                                     "def": "int class_id"
                                 },
-                                "score": {
-                                    "type": "var",
-                                    "name": "score",
+                                "score": {
+                                    "type": "var",
+                                    "name": "score",
+                                    "doc": {
+                                        "brief": "Object score",
+                                        "maixpy": "maix.nn.Object.score",
+                                        "py_doc": "Object score"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "float score"
+                                },
+                                "points": {
+                                    "type": "var",
+                                    "name": "points",
+                                    "doc": {
+                                        "brief": "keypoints",
+                                        "maixpy": "maix.nn.Object.points",
+                                        "py_doc": "keypoints"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "std::vector<int> points"
+                                }
+                            },
+                            "def": "class Object"
+                        },
+                        "ObjectFloat": {
+                            "type": "class",
+                            "name": "ObjectFloat",
+                            "doc": {
+                                "brief": "Object for detect result",
+                                "maixpy": "maix.nn.ObjectFloat",
+                                "py_doc": "Object for detect result"
+                            },
+                            "members": {
+                                "__init__": {
+                                    "type": "func",
+                                    "name": "ObjectFloat",
+                                    "doc": {
+                                        "brief": "Constructor of Object for detect result",
+                                        "param": {
+                                            "x": "left top x",
+                                            "y": "left top y",
+                                            "w": "width",
+                                            "h": "height",
+                                            "class_id": "class id",
+                                            "score": "score"
+                                        },
+                                        "maixpy": "maix.nn.ObjectFloat.__init__",
+                                        "maixcdk": "maix.nn.ObjectFloat.ObjectFloat",
+                                        "py_doc": "Constructor of Object for detect result\n\nArgs:\n  - x: left top x\n  - y: left top y\n  - w: width\n  - h: height\n  - class_id: class id\n  - score: score\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "float",
+                                            "x",
+                                            "0"
+                                        ],
+                                        [
+                                            "float",
+                                            "y",
+                                            "0"
+                                        ],
+                                        [
+                                            "float",
+                                            "w",
+                                            "0"
+                                        ],
+                                        [
+                                            "float",
+                                            "h",
+                                            "0"
+                                        ],
+                                        [
+                                            "float",
+                                            "class_id",
+                                            "0"
+                                        ],
+                                        [
+                                            "float",
+                                            "score",
+                                            "0"
+                                        ],
+                                        [
+                                            "std::vector<float>",
+                                            "points",
+                                            "std::vector<float>()"
+                                        ]
+                                    ],
+                                    "ret_type": null,
+                                    "static": false,
+                                    "def": "ObjectFloat(float x = 0, float y = 0, float w = 0, float h = 0, float class_id = 0, float score = 0, std::vector<float> points = std::vector<float>())"
+                                },
+                                "__str__": {
+                                    "type": "func",
+                                    "name": "to_str",
+                                    "doc": {
+                                        "brief": "Object info to string",
+                                        "return": "Object info string",
+                                        "maixpy": "maix.nn.ObjectFloat.__str__",
+                                        "maixcdk": "maix.nn.ObjectFloat.to_str",
+                                        "py_doc": "Object info to string\n\nReturns: Object info string\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "std::string",
+                                    "static": false,
+                                    "def": "std::string to_str()",
+                                    "py_def": "def to_str(self) -> str"
+                                },
+                                "x": {
+                                    "type": "var",
+                                    "name": "x",
+                                    "doc": {
+                                        "brief": "Object left top coordinate x",
+                                        "maixpy": "maix.nn.ObjectFloat.x",
+                                        "py_doc": "Object left top coordinate x"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "float x"
+                                },
+                                "y": {
+                                    "type": "var",
+                                    "name": "y",
+                                    "doc": {
+                                        "brief": "Object left top coordinate y",
+                                        "maixpy": "maix.nn.ObjectFloat.y",
+                                        "py_doc": "Object left top coordinate y"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "float y"
+                                },
+                                "w": {
+                                    "type": "var",
+                                    "name": "w",
+                                    "doc": {
+                                        "brief": "Object width",
+                                        "maixpy": "maix.nn.ObjectFloat.w",
+                                        "py_doc": "Object width"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "float w"
+                                },
+                                "h": {
+                                    "type": "var",
+                                    "name": "h",
+                                    "doc": {
+                                        "brief": "Object height",
+                                        "maixpy": "maix.nn.ObjectFloat.h",
+                                        "py_doc": "Object height"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "float h"
+                                },
+                                "class_id": {
+                                    "type": "var",
+                                    "name": "class_id",
+                                    "doc": {
+                                        "brief": "Object class id",
+                                        "maixpy": "maix.nn.ObjectFloat.class_id",
+                                        "py_doc": "Object class id"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "float class_id"
+                                },
+                                "score": {
+                                    "type": "var",
+                                    "name": "score",
+                                    "doc": {
+                                        "brief": "Object score",
+                                        "maixpy": "maix.nn.ObjectFloat.score",
+                                        "py_doc": "Object score"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "float score"
+                                },
+                                "points": {
+                                    "type": "var",
+                                    "name": "points",
+                                    "doc": {
+                                        "brief": "keypoints",
+                                        "maixpy": "maix.nn.ObjectFloat.points",
+                                        "py_doc": "keypoints"
+                                    },
+                                    "value": null,
+                                    "static": false,
+                                    "readonly": false,
+                                    "def": "std::vector<float> points"
+                                }
+                            },
+                            "def": "class ObjectFloat"
+                        }
+                    },
+                    "auto_add": true
+                },
+                "audio": {
+                    "type": "module",
+                    "doc": {
+                        "brief": "maix.audio module",
+                        "maixpy": "maix.audio",
+                        "py_doc": "maix.audio module"
+                    },
+                    "members": {
+                        "Format": {
+                            "type": "enum",
+                            "name": "Format",
+                            "doc": {
+                                "brief": "Audio type",
+                                "maixpy": "maix.audio.Format",
+                                "py_doc": "Audio type"
+                            },
+                            "values": [
+                                [
+                                    "FMT_NONE",
+                                    "0",
+                                    "format invalid"
+                                ],
+                                [
+                                    "FMT_S8",
+                                    "",
+                                    "unsigned 8 bits"
+                                ],
+                                [
+                                    "FMT_S16_LE",
+                                    "",
+                                    "signed 16 bits, little endian"
+                                ],
+                                [
+                                    "FMT_S32_LE",
+                                    "",
+                                    "signed 32 bits, little endian"
+                                ],
+                                [
+                                    "FMT_S16_BE",
+                                    "",
+                                    "signed 16 bits, big endian"
+                                ],
+                                [
+                                    "FMT_S32_BE",
+                                    "",
+                                    "signed 32 bits, big endian"
+                                ],
+                                [
+                                    "FMT_U8",
+                                    "",
+                                    "unsigned 8 bits"
+                                ],
+                                [
+                                    "FMT_U16_LE",
+                                    "",
+                                    "unsigned 16 bits, little endian"
+                                ],
+                                [
+                                    "FMT_U32_LE",
+                                    "",
+                                    "unsigned 32 bits, little endian"
+                                ],
+                                [
+                                    "FMT_U16_BE",
+                                    "",
+                                    "unsigned 16 bits, big endian"
+                                ],
+                                [
+                                    "FMT_U32_BE",
+                                    "",
+                                    "unsigned 32 bits, big endian"
+                                ]
+                            ],
+                            "def": "enum Format\n    {\n        FMT_NONE = 0,       // format invalid\n        FMT_S8,             // unsigned 8 bits\n        FMT_S16_LE,         // signed 16 bits, little endian\n        FMT_S32_LE,         // signed 32 bits, little endian\n        FMT_S16_BE,         // signed 16 bits, big endian\n        FMT_S32_BE,         // signed 32 bits, big endian\n        FMT_U8,             // unsigned 8 bits\n        FMT_U16_LE,         // unsigned 16 bits, little endian\n        FMT_U32_LE,         // unsigned 32 bits, little endian\n        FMT_U16_BE,         // unsigned 16 bits, big endian\n        FMT_U32_BE,         // unsigned 32 bits, big endian\n    }"
+                        },
+                        "Recorder": {
+                            "type": "class",
+                            "name": "Recorder",
+                            "doc": {
+                                "brief": "Recorder class",
+                                "maixpy": "maix.audio.Recorder",
+                                "py_doc": "Recorder class"
+                            },
+                            "members": {
+                                "__init__": {
+                                    "type": "func",
+                                    "name": "Recorder",
+                                    "doc": {
+                                        "brief": "Construct a new Recorder object",
+                                        "param": {
+                                            "path": "record path. the path determines the location where you save the file, if path is none, the audio module will not save file.",
+                                            "sample_rate": "record sample rate, default is 48000(48KHz), means 48000 samples per second.",
+                                            "format": "record sample format, default is audio::Format::FMT_S16_LE, means sampling 16 bits at a time and save as signed 16 bits, little endian. see @audio::Format",
+                                            "channel": "record sample channel, default is 1, means 1 channel sampling at the same time"
+                                        },
+                                        "maixpy": "maix.audio.Recorder.__init__",
+                                        "maixcdk": "maix.audio.Recorder.Recorder",
+                                        "py_doc": "Construct a new Recorder object\n\nArgs:\n  - path: record path. the path determines the location where you save the file, if path is none, the audio module will not save file.\n  - sample_rate: record sample rate, default is 48000(48KHz), means 48000 samples per second.\n  - format: record sample format, default is audio::Format::FMT_S16_LE, means sampling 16 bits at a time and save as signed 16 bits, little endian. see @audio::Format\n  - channel: record sample channel, default is 1, means 1 channel sampling at the same time\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "std::string",
+                                            "path",
+                                            "std::string()"
+                                        ],
+                                        [
+                                            "int",
+                                            "sample_rate",
+                                            "48000"
+                                        ],
+                                        [
+                                            "audio::Format",
+                                            "format",
+                                            "audio::Format::FMT_S16_LE"
+                                        ],
+                                        [
+                                            "int",
+                                            "channel",
+                                            "1"
+                                        ]
+                                    ],
+                                    "ret_type": null,
+                                    "static": false,
+                                    "def": "Recorder(std::string path = std::string(), int sample_rate = 48000, audio::Format format = audio::Format::FMT_S16_LE, int channel = 1)"
+                                },
+                                "volume": {
+                                    "type": "func",
+                                    "name": "volume",
+                                    "doc": {
+                                        "brief": "Set/Get record volume",
+                                        "param": {
+                                            "value": "volume value, If you use this parameter, audio will set the value to volume,\nif you don't, it will return the current volume."
+                                        },
+                                        "return": "the current volume",
+                                        "maixpy": "maix.audio.Recorder.volume",
+                                        "py_doc": "Set/Get record volume\n\nArgs:\n  - value: volume value, If you use this parameter, audio will set the value to volume,\nif you don't, it will return the current volume.\n\n\nReturns: the current volume\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "int",
+                                            "value",
+                                            "-1"
+                                        ]
+                                    ],
+                                    "ret_type": "int",
+                                    "static": false,
+                                    "def": "int volume(int value = -1)"
+                                },
+                                "record": {
+                                    "type": "func",
+                                    "name": "record",
+                                    "doc": {
+                                        "brief": "Record, Read all cached data in buffer and return.",
+                                        "param": {
+                                            "record_ms": "record time. unit: ms",
+                                            "sample_rate": "audio sample rate",
+                                            "format": "audio sample format",
+                                            "channel": "audio sample channel"
+                                        },
+                                        "return": "pcm data. datatype @see Bytes. If you pass in record_ms parameter, the return value is an empty Bytes object.",
+                                        "maixpy": "maix.audio.Recorder.record",
+                                        "py_doc": "Record, Read all cached data in buffer and return.\n\nArgs:\n  - record_ms: record time. unit: ms\n  - sample_rate: audio sample rate\n  - format: audio sample format\n  - channel: audio sample channel\n\n\nReturns: pcm data. datatype @see Bytes. If you pass in record_ms parameter, the return value is an empty Bytes object.\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "int",
+                                            "record_ms",
+                                            "-1"
+                                        ]
+                                    ],
+                                    "ret_type": "maix::Bytes*",
+                                    "static": false,
+                                    "def": "maix::Bytes *record(int record_ms = -1)"
+                                },
+                                "finish": {
+                                    "type": "func",
+                                    "name": "finish",
+                                    "doc": {
+                                        "brief": "Finish the record, if you have passed in the path, this api will save the audio data to file.",
+                                        "return": "error code, err::ERR_NONE means success, others means failed",
+                                        "maixpy": "maix.audio.Recorder.finish",
+                                        "py_doc": "Finish the record, if you have passed in the path, this api will save the audio data to file.\n\nReturns: error code, err::ERR_NONE means success, others means failed\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "err::Err",
+                                    "static": false,
+                                    "def": "err::Err finish()"
+                                },
+                                "sample_rate": {
+                                    "type": "func",
+                                    "name": "sample_rate",
+                                    "doc": {
+                                        "brief": "Get sample rate",
+                                        "return": "returns sample rate",
+                                        "maixpy": "maix.audio.Recorder.sample_rate",
+                                        "py_doc": "Get sample rate\n\nReturns: returns sample rate\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "int",
+                                    "static": false,
+                                    "def": "int sample_rate()"
+                                },
+                                "format": {
+                                    "type": "func",
+                                    "name": "format",
+                                    "doc": {
+                                        "brief": "Get sample format",
+                                        "return": "returns sample format",
+                                        "maixpy": "maix.audio.Recorder.format",
+                                        "py_doc": "Get sample format\n\nReturns: returns sample format\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "audio::Format",
+                                    "static": false,
+                                    "def": "audio::Format format()"
+                                },
+                                "channel": {
+                                    "type": "func",
+                                    "name": "channel",
+                                    "doc": {
+                                        "brief": "Get sample channel",
+                                        "return": "returns sample channel",
+                                        "maixpy": "maix.audio.Recorder.channel",
+                                        "py_doc": "Get sample channel\n\nReturns: returns sample channel\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "int",
+                                    "static": false,
+                                    "def": "int channel()"
+                                }
+                            },
+                            "def": "class Recorder"
+                        },
+                        "Player": {
+                            "type": "class",
+                            "name": "Player",
+                            "doc": {
+                                "brief": "Player class",
+                                "maixpy": "maix.audio.Player",
+                                "py_doc": "Player class"
+                            },
+                            "members": {
+                                "__init__": {
+                                    "type": "func",
+                                    "name": "Player",
+                                    "doc": {
+                                        "brief": "Construct a new Player object",
+                                        "param": {
+                                            "path": "player path. the path determines the location where you save the file, if path is none, the audio module will not save file.",
+                                            "sample_rate": "player sample rate, default is 48000(48KHz), means 48000 samples per second.",
+                                            "format": "player sample format, default is audio::Format::FMT_S16_LE, means sampling 16 bits at a time and save as signed 16 bits, little endian. see @audio::Format",
+                                            "channel": "player sample channel, default is 1, means 1 channel sampling at the same time"
+                                        },
+                                        "maixpy": "maix.audio.Player.__init__",
+                                        "maixcdk": "maix.audio.Player.Player",
+                                        "py_doc": "Construct a new Player object\n\nArgs:\n  - path: player path. the path determines the location where you save the file, if path is none, the audio module will not save file.\n  - sample_rate: player sample rate, default is 48000(48KHz), means 48000 samples per second.\n  - format: player sample format, default is audio::Format::FMT_S16_LE, means sampling 16 bits at a time and save as signed 16 bits, little endian. see @audio::Format\n  - channel: player sample channel, default is 1, means 1 channel sampling at the same time\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "std::string",
+                                            "path",
+                                            "std::string()"
+                                        ],
+                                        [
+                                            "int",
+                                            "sample_rate",
+                                            "48000"
+                                        ],
+                                        [
+                                            "audio::Format",
+                                            "format",
+                                            "audio::Format::FMT_S16_LE"
+                                        ],
+                                        [
+                                            "int",
+                                            "channel",
+                                            "1"
+                                        ]
+                                    ],
+                                    "ret_type": null,
+                                    "static": false,
+                                    "def": "Player(std::string path = std::string(), int sample_rate = 48000, audio::Format format = audio::Format::FMT_S16_LE, int channel = 1)"
+                                },
+                                "volume": {
+                                    "type": "func",
+                                    "name": "volume",
                                     "doc": {
-                                        "brief": "Object score",
-                                        "maixpy": "maix.nn.Object.score",
-                                        "py_doc": "Object score"
+                                        "brief": "Set/Get player volume(Not support now)",
+                                        "param": {
+                                            "value": "volume value, If you use this parameter, audio will set the value to volume,\nif you don't, it will return the current volume."
+                                        },
+                                        "return": "the current volume",
+                                        "maixpy": "maix.audio.Player.volume",
+                                        "py_doc": "Set/Get player volume(Not support now)\n\nArgs:\n  - value: volume value, If you use this parameter, audio will set the value to volume,\nif you don't, it will return the current volume.\n\n\nReturns: the current volume\n"
                                     },
-                                    "value": null,
+                                    "args": [
+                                        [
+                                            "int",
+                                            "value",
+                                            "-1"
+                                        ]
+                                    ],
+                                    "ret_type": "int",
                                     "static": false,
-                                    "readonly": false,
-                                    "def": "float score"
+                                    "def": "int volume(int value = -1)"
+                                },
+                                "play": {
+                                    "type": "func",
+                                    "name": "play",
+                                    "doc": {
+                                        "brief": "Play",
+                                        "param": {
+                                            "data": "audio data, must be raw data"
+                                        },
+                                        "return": "error code, err::ERR_NONE means success, others means failed",
+                                        "maixpy": "maix.audio.Player.play",
+                                        "py_doc": "Play\n\nArgs:\n  - data: audio data, must be raw data\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "maix::Bytes *",
+                                            "data",
+                                            "maix::audio::Player::NoneBytes"
+                                        ]
+                                    ],
+                                    "ret_type": "err::Err",
+                                    "static": false,
+                                    "def": "err::Err play(maix::Bytes *data = maix::audio::Player::NoneBytes)"
+                                },
+                                "sample_rate": {
+                                    "type": "func",
+                                    "name": "sample_rate",
+                                    "doc": {
+                                        "brief": "Get sample rate",
+                                        "return": "returns sample rate",
+                                        "maixpy": "maix.audio.Player.sample_rate",
+                                        "py_doc": "Get sample rate\n\nReturns: returns sample rate\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "int",
+                                    "static": false,
+                                    "def": "int sample_rate()"
+                                },
+                                "format": {
+                                    "type": "func",
+                                    "name": "format",
+                                    "doc": {
+                                        "brief": "Get sample format",
+                                        "return": "returns sample format",
+                                        "maixpy": "maix.audio.Player.format",
+                                        "py_doc": "Get sample format\n\nReturns: returns sample format\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "audio::Format",
+                                    "static": false,
+                                    "def": "audio::Format format()"
+                                },
+                                "channel": {
+                                    "type": "func",
+                                    "name": "channel",
+                                    "doc": {
+                                        "brief": "Get sample channel",
+                                        "return": "returns sample channel",
+                                        "maixpy": "maix.audio.Player.channel",
+                                        "py_doc": "Get sample channel\n\nReturns: returns sample channel\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "int",
+                                    "static": false,
+                                    "def": "int channel()"
                                 }
                             },
-                            "def": "class Object"
+                            "def": "class Player"
                         }
                     },
-                    "auto_add": true
+                    "auto_add": false
                 },
                 "peripheral": {
                     "type": "module",
@@ -15666,6 +16708,85 @@
                             },
                             "auto_add": true
                         },
+                        "pinmap": {
+                            "type": "module",
+                            "doc": {
+                                "brief": "maix.peripheral.pinmap module"
+                            },
+                            "members": {
+                                "get_pins": {
+                                    "type": "func",
+                                    "name": "get_pins",
+                                    "doc": {
+                                        "brief": "Get all pins of devices",
+                                        "return": "pin name list, string type.",
+                                        "maixpy": "maix.peripheral.pinmap.get_pins",
+                                        "py_doc": "Get all pins of devices\n\nReturns: pin name list, string type.\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "std::vector<std::string>",
+                                    "static": false,
+                                    "def": "std::vector<std::string> get_pins()",
+                                    "py_def": "def get_pins() -> list[str]"
+                                },
+                                "get_pin_functions": {
+                                    "type": "func",
+                                    "name": "get_pin_functions",
+                                    "doc": {
+                                        "brief": "Get all function of a pin",
+                                        "param": {
+                                            "pin": "pin name, string type."
+                                        },
+                                        "return": "function list, function name is string type.",
+                                        "throw": "If pin name error will throwout err.Err.ERR_ARGS error.",
+                                        "maixpy": "maix.peripheral.pinmap.get_pin_functions",
+                                        "py_doc": "Get all function of a pin\n\nArgs:\n  - pin: pin name, string type.\n\n\nReturns: function list, function name is string type.\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "const std::string &",
+                                            "pin",
+                                            null
+                                        ]
+                                    ],
+                                    "ret_type": "std::vector<std::string>",
+                                    "static": false,
+                                    "def": "std::vector<std::string> get_pin_functions(const std::string &pin)",
+                                    "py_def": "def get_pin_functions(pin: str) -> list[str]"
+                                },
+                                "set_pin_function": {
+                                    "type": "func",
+                                    "name": "set_pin_function",
+                                    "doc": {
+                                        "brief": "Set function of a pin",
+                                        "param": {
+                                            "pin": "pin name, string type.",
+                                            "func": "which function should this pin use."
+                                        },
+                                        "return": "if set ok, will return err.Err.ERR_NONE, else error occurs.",
+                                        "maixpy": "maix.peripheral.pinmap.set_pin_function",
+                                        "py_doc": "Set function of a pin\n\nArgs:\n  - pin: pin name, string type.\n  - func: which function should this pin use.\n\n\nReturns: if set ok, will return err.Err.ERR_NONE, else error occurs.\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "const std::string &",
+                                            "pin",
+                                            null
+                                        ],
+                                        [
+                                            "const std::string &",
+                                            "func",
+                                            null
+                                        ]
+                                    ],
+                                    "ret_type": "err::Err",
+                                    "static": false,
+                                    "def": "err::Err set_pin_function(const std::string &pin, const std::string &func)",
+                                    "py_def": "def set_pin_function(pin: str, func: str) -> maix.err.Err"
+                                }
+                            },
+                            "auto_add": true
+                        },
                         "pwm": {
                             "type": "module",
                             "doc": {
@@ -17302,6 +18423,161 @@
                     },
                     "auto_add": true
                 },
+                "rtmp": {
+                    "type": "module",
+                    "doc": {
+                        "brief": "maix.rtmp module"
+                    },
+                    "members": {
+                        "Rtmp": {
+                            "type": "class",
+                            "name": "Rtmp",
+                            "doc": {
+                                "brief": "Rtmp class",
+                                "maixpy": "maix.rtmp.Rtmp",
+                                "py_doc": "Rtmp class"
+                            },
+                            "members": {
+                                "__init__": {
+                                    "type": "func",
+                                    "name": "Rtmp",
+                                    "doc": {
+                                        "brief": "Construct a new Video object",
+                                        "note": "Rtmp url : rtmp://host:prot/app/stream\nexample:\nr = Rtmp(\"localhost\", 1935, \"live\", \"stream\")\nmeans rtmp url is rtmp://localhost:1935/live/stream",
+                                        "param": {
+                                            "host": "rtmp ip",
+                                            "port": "rtmp port, default is 1935.",
+                                            "app": "rtmp app name",
+                                            "stream": "rtmp stream name"
+                                        },
+                                        "maixpy": "maix.rtmp.Rtmp.__init__",
+                                        "maixcdk": "maix.rtmp.Rtmp.Rtmp",
+                                        "py_doc": "Construct a new Video object\n\nArgs:\n  - host: rtmp ip\n  - port: rtmp port, default is 1935.\n  - app: rtmp app name\n  - stream: rtmp stream name\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "std::string",
+                                            "host",
+                                            null
+                                        ],
+                                        [
+                                            "int",
+                                            "port",
+                                            "1935"
+                                        ],
+                                        [
+                                            "std::string",
+                                            "app",
+                                            "std::string()"
+                                        ],
+                                        [
+                                            "std::string",
+                                            "stream",
+                                            "std::string()"
+                                        ]
+                                    ],
+                                    "ret_type": null,
+                                    "static": false,
+                                    "def": "Rtmp(std::string host, int port = 1935, std::string app = std::string(), std::string stream = std::string())"
+                                },
+                                "bind_camera": {
+                                    "type": "func",
+                                    "name": "bind_camera",
+                                    "doc": {
+                                        "brief": "Bind camera",
+                                        "note": "If the cam object is bound, the cam object cannot be used elsewhere.",
+                                        "param": {
+                                            "cam": "camera object"
+                                        },
+                                        "return": "error code, err::ERR_NONE means success, others means failed",
+                                        "maixpy": "maix.rtmp.Rtmp.bind_camera",
+                                        "py_doc": "Bind camera\n\nArgs:\n  - cam: camera object\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "camera::Camera *",
+                                            "cam",
+                                            null
+                                        ]
+                                    ],
+                                    "ret_type": "err::Err",
+                                    "static": false,
+                                    "def": "err::Err bind_camera(camera::Camera *cam)"
+                                },
+                                "start": {
+                                    "type": "func",
+                                    "name": "start",
+                                    "doc": {
+                                        "brief": "Start push stream",
+                                        "note": "only support flv file now",
+                                        "param": {
+                                            "path": "File path, if you passed file path, cyclic push the file, else if you bound camera, push the camera image."
+                                        },
+                                        "return": "error code, err::ERR_NONE means success, others means failed",
+                                        "maixpy": "maix.rtmp.Rtmp.start",
+                                        "py_doc": "Start push stream\n\nArgs:\n  - path: File path, if you passed file path, cyclic push the file, else if you bound camera, push the camera image.\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n"
+                                    },
+                                    "args": [
+                                        [
+                                            "std::string",
+                                            "path",
+                                            "std::string()"
+                                        ]
+                                    ],
+                                    "ret_type": "err::Err",
+                                    "static": false,
+                                    "def": "err::Err start(std::string path = std::string())"
+                                },
+                                "stop": {
+                                    "type": "func",
+                                    "name": "stop",
+                                    "doc": {
+                                        "brief": "Stop push",
+                                        "return": "error code, err::ERR_NONE means success, others means failed",
+                                        "maixpy": "maix.rtmp.Rtmp.stop",
+                                        "py_doc": "Stop push\n\nReturns: error code, err::ERR_NONE means success, others means failed\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "err::Err",
+                                    "static": false,
+                                    "def": "err::Err stop()"
+                                },
+                                "get_path": {
+                                    "type": "func",
+                                    "name": "get_path",
+                                    "doc": {
+                                        "brief": "Get the file path of the push stream",
+                                        "return": "file path",
+                                        "maixpy": "maix.rtmp.Rtmp.get_path",
+                                        "py_doc": "Get the file path of the push stream\n\nReturns: file path\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "std::string",
+                                    "static": false,
+                                    "def": "std::string get_path()",
+                                    "overload": [
+                                        {
+                                            "type": "func",
+                                            "name": "is_started",
+                                            "doc": {
+                                                "brief": "Check whether push streaming has started",
+                                                "return": "If rtmp thread is running, returns true",
+                                                "maixpy": "maix.rtmp.Rtmp.get_path",
+                                                "py_doc": "Check whether push streaming has started\n\nReturns: If rtmp thread is running, returns true\n"
+                                            },
+                                            "args": [],
+                                            "ret_type": "bool",
+                                            "static": false,
+                                            "def": "bool is_started()"
+                                        }
+                                    ]
+                                }
+                            },
+                            "def": "class Rtmp"
+                        }
+                    },
+                    "auto_add": true
+                },
                 "rtsp": {
                     "type": "module",
                     "doc": {
@@ -17930,11 +19206,12 @@
                                             "format": "picture pixel format. this value may be set automatically. default is FMT_YVU420SP.",
                                             "time_base": "frame time base. time_base default is 30, means 1/30 ms",
                                             "framerate": "frame rate. framerate default is 30, means 30 frames per second\nfor video. 1/time_base is not the average frame rate if the frame rate is not constant.",
-                                            "open": "If true, vido will automatically call open() after creation. default is true."
+                                            "capture": "enable capture, if true, you can use capture() function to get an image object",
+                                            "open": "If true, video will automatically call open() after creation. default is true."
                                         },
                                         "maixpy": "maix.video.Video.__init__",
                                         "maixcdk": "maix.video.Video.Video",
-                                        "py_doc": "Construct a new Video object\n\nArgs:\n  - path: video path. the path determines the location where you load or save the file, if path is none, the video module will not save or load file.\nxxx.h265 means video format is H265, xxx.mp4 means video format is MP4\n  - width: picture width. this value may be set automatically. default is 2560.\n  - height: picture height. this value may be set automatically. default is 1440.\n  - format: picture pixel format. this value may be set automatically. default is FMT_YVU420SP.\n  - time_base: frame time base. time_base default is 30, means 1/30 ms\n  - framerate: frame rate. framerate default is 30, means 30 frames per second\nfor video. 1/time_base is not the average frame rate if the frame rate is not constant.\n  - open: If true, vido will automatically call open() after creation. default is true.\n"
+                                        "py_doc": "Construct a new Video object\n\nArgs:\n  - path: video path. the path determines the location where you load or save the file, if path is none, the video module will not save or load file.\nxxx.h265 means video format is H265, xxx.mp4 means video format is MP4\n  - width: picture width. this value may be set automatically. default is 2560.\n  - height: picture height. this value may be set automatically. default is 1440.\n  - format: picture pixel format. this value may be set automatically. default is FMT_YVU420SP.\n  - time_base: frame time base. time_base default is 30, means 1/30 ms\n  - framerate: frame rate. framerate default is 30, means 30 frames per second\nfor video. 1/time_base is not the average frame rate if the frame rate is not constant.\n  - capture: enable capture, if true, you can use capture() function to get an image object\n  - open: If true, video will automatically call open() after creation. default is true.\n"
                                     },
                                     "args": [
                                         [
@@ -17967,6 +19244,11 @@
                                             "framerate",
                                             "30"
                                         ],
+                                        [
+                                            "bool",
+                                            "capture",
+                                            "false"
+                                        ],
                                         [
                                             "bool",
                                             "open",
@@ -17975,8 +19257,8 @@
                                     ],
                                     "ret_type": null,
                                     "static": false,
-                                    "def": "Video(std::string path = std::string(), int width = 2560, int height = 1440, image::Format format = image::Format::FMT_YVU420SP, int time_base = 30, int framerate = 30, bool open = true)",
-                                    "py_def": "def __init__(self, path: str = '', width: int = 2560, height: int = 1440, format: maix.image.Format = ..., time_base: int = 30, framerate: int = 30, open: bool = True) -> None"
+                                    "def": "Video(std::string path = std::string(), int width = 2560, int height = 1440, image::Format format = image::Format::FMT_YVU420SP, int time_base = 30, int framerate = 30, bool capture = false, bool open = true)",
+                                    "py_def": "def __init__(self, path: str = '', width: int = 2560, height: int = 1440, format: maix.image.Format = ..., time_base: int = 30, framerate: int = 30, capture: bool = False, open: bool = True) -> None"
                                 },
                                 "open": {
                                     "type": "func",
@@ -18052,23 +19334,23 @@
                                     "doc": {
                                         "brief": "Encode image.",
                                         "param": {
-                                            "img": "the image will be encode.\nif the img is NULL, this function will try to get image from camera, you must use bind_camera to bind camera."
+                                            "img": "the image will be encode.\nif the img is NULL, this function will try to get image from camera, you must use bind_camera() function to bind the camera."
                                         },
                                         "return": "encode result",
                                         "maixpy": "maix.video.Video.encode",
-                                        "py_doc": "Encode image.\n\nArgs:\n  - img: the image will be encode.\nif the img is NULL, this function will try to get image from camera, you must use bind_camera to bind camera.\n\n\nReturns: encode result\n"
+                                        "py_doc": "Encode image.\n\nArgs:\n  - img: the image will be encode.\nif the img is NULL, this function will try to get image from camera, you must use bind_camera() function to bind the camera.\n\n\nReturns: encode result\n"
                                     },
                                     "args": [
                                         [
                                             "image::Image *",
                                             "img",
-                                            "NULL"
+                                            "maix::video::Video::NoneImage"
                                         ]
                                     ],
-                                    "ret_type": "video::Packet",
+                                    "ret_type": "video::Packet*",
                                     "static": false,
-                                    "def": "video::Packet encode(image::Image *img = NULL)",
-                                    "py_def": "def encode(self, img: maix.image.Image = 0) -> Packet"
+                                    "def": "video::Packet *encode(image::Image *img = maix::video::Video::NoneImage)",
+                                    "py_def": "def encode(self, img: maix.image.Image = ...) -> Packet"
                                 },
                                 "decode": {
                                     "type": "func",
@@ -18086,13 +19368,13 @@
                                         [
                                             "video::Frame *",
                                             "frame",
-                                            "NULL"
+                                            "nullptr"
                                         ]
                                     ],
                                     "ret_type": "image::Image*",
                                     "static": false,
-                                    "def": "image::Image *decode(video::Frame *frame = NULL)",
-                                    "py_def": "def decode(self, frame: Frame = 0) -> maix.image.Image"
+                                    "def": "image::Image *decode(video::Frame *frame = nullptr)",
+                                    "py_def": "def decode(self, frame: Frame = None) -> maix.image.Image"
                                 },
                                 "finish": {
                                     "type": "func",
@@ -18109,6 +19391,22 @@
                                     "def": "err::Err finish()",
                                     "py_def": "def finish(self) -> maix.err.Err"
                                 },
+                                "capture": {
+                                    "type": "func",
+                                    "name": "capture",
+                                    "doc": {
+                                        "brief": "Capture image",
+                                        "attention": "Each time encode is called, the last captured image will be released.",
+                                        "return": "error code",
+                                        "maixpy": "maix.video.Video.capture",
+                                        "py_doc": "Capture image\n\nReturns: error code\n"
+                                    },
+                                    "args": [],
+                                    "ret_type": "image::Image*",
+                                    "static": false,
+                                    "def": "image::Image *capture()",
+                                    "py_def": "def capture(self) -> maix.image.Image"
+                                },
                                 "is_recording": {
                                     "type": "func",
                                     "name": "is_recording",
diff --git a/maixpy/api/index.html b/maixpy/api/index.html
index a9b507d4..66db8eeb 100644
--- a/maixpy/api/index.html
+++ b/maixpy/api/index.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -270,10 +273,18 @@ <h1>MaixPy API -- Maix AI machine vision platform Python API</h1>
   <td><a href="./maix/nn.html"  >maix.nn</a></td>
   <td>maix.nn module</td>
 </tr>
+<tr>
+  <td><a href="./maix/audio.html"  >maix.audio</a></td>
+  <td>maix.audio module</td>
+</tr>
 <tr>
   <td><a href="./maix/peripheral.html"  >maix.peripheral</a></td>
   <td>Chip's peripheral driver</td>
 </tr>
+<tr>
+  <td><a href="./maix/rtmp.html"  >maix.rtmp</a></td>
+  <td>maix.rtmp module</td>
+</tr>
 <tr>
   <td><a href="./maix/rtsp.html"  >maix.rtsp</a></td>
   <td>maix.rtsp module</td>
diff --git a/maixpy/api/maix/app.html b/maixpy/api/maix/app.html
index 6d762b8d..c492c8c1 100644
--- a/maixpy/api/maix/app.html
+++ b/maixpy/api/maix/app.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/audio.html b/maixpy/api/maix/audio.html
new file mode 100644
index 00000000..0cccbd50
--- /dev/null
+++ b/maixpy/api/maix/audio.html
@@ -0,0 +1,797 @@
+<!DOCTYPE html>
+
+<html lang="en"  class="">
+
+
+<head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    
+    <meta name="keywords" content="">
+    
+    
+    <meta name="description" content="">
+    
+    <meta name="generator" content="teedoc">
+    <meta name="theme" content="teedoc-plugin-theme-default">
+    
+        
+        <meta name="markdown-generator" content="teedoc-plugin-markdown-parser">
+        
+        <script>
+MathJax = {"loader": {"load": ["output/svg"]}, "tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]]}, "svg": {"fontCache": "global"}};
+</script>
+        
+        <script id="MathJax-script" async src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/pre_main.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/prism.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/viewer.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/dark.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/light.css" type="text/css"/>
+        
+        <script src="/maixpy/static/js/theme_default/jquery.min.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/split.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/search/style.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/custom.css" type="text/css"/>
+        
+    
+    
+    <title>maix.audio - MaixPy</title>
+    
+    <script type="text/javascript">js_vars = {}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+</head>
+
+
+<body class="type_doc">
+    
+    <div id="navbar">
+        <div id="navbar_menu">
+            <a class="site_title" href="/maixpy/en/">
+                
+                
+                    <h2>MaixPy</h2>
+                
+        </a>
+            <a id="navbar_menu_btn"></a>
+        </div>
+        <div id="navbar_items">
+            <div>
+                <ul id="nav_left">
+<li class=""><a  href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li class=""><a  href="/maixpy/doc/en/index.html">Documentation</a></li>
+<li class="active"><a  href="/maixpy/api/index.html">API</a></li>
+<li class=""><a  href="/maixpy/doc/en/faq.html">FAQ</a></li>
+</ul>
+
+            </div>
+            <div>
+                <ul id="nav_right">
+<li class=""><a target="_blank" href="https://github.com/sipeed/maixpy"><img src='/maixpy/static/image/github-fill.svg' style='height: 1.5em;vertical-align: middle;'>&nbsp;</a></li>
+</ul>
+
+                <ul class="nav_plugins"><li><a id="themes" class="light"></a></li></ul><ul class="nav_plugins"><li><a id="search"><span class="icon"></span><span class="placeholder">Search</span>
+                            <div id="search_hints">
+                                <span id="search_input_hint">Keywords separated by space</span>
+                                <span id="search_loading_hint">Loading, wait please ...</span>
+                                <span id="search_download_err_hint">Download error, please check network and refresh again</span>
+                                <span id="search_other_docs_result_hint">Result from other docs</span>
+                                <span id="search_curr_doc_result_hint">Result from current doc</span>
+                            </div></a></li></ul>
+            </div>
+        </div>
+    </div>
+    
+    <div id="wrapper">
+        <div id="sidebar_wrapper">
+            <div id="sidebar">
+                <div id="sidebar_title">
+                    
+                </div>
+                <ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/index.html"><span class="label">Brief</span><span class=""></span></a></li>
+<li class="active_parent no_link"><a><span class="label">maix</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/maix/err.html"><span class="label">err</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/tensor.html"><span class="label">tensor</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/image.html"><span class="label">image</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/camera.html"><span class="label">camera</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/display.html"><span class="label">display</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/comm.html"><span class="label">comm</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/thread.html"><span class="label">thread</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/fs.html"><span class="label">fs</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/sys.html"><span class="label">sys</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/time.html"><span class="label">time</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/i18n.html"><span class="label">i18n</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/protocol.html"><span class="label">protocol</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/example.html"><span class="label">example</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/app.html"><span class="label">app</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/util.html"><span class="label">util</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/network.html"><span class="label">network</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/maix/network/wifi.html"><span class="label">wifi</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/nn.html"><span class="label">nn</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/uart.html"><span class="label">uart</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/key.html"><span class="label">key</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/i2c.html"><span class="label">i2c</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
+</ul>
+</li>
+</ul>
+
+            </div>
+        </div>
+        <div id="article">
+            <div id="menu_wrapper">
+                <div id="menu">
+                </div>
+            </div>
+            <div id="content_wrapper">
+                <div id="content_body">
+                    <div id="article_head">
+                        <div id="article_title">
+                            
+                            <h1>maix.audio</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
+                        </div>
+                        <div id="article_info">
+                        <div id="article_info_left">
+                            <span class="article_author">
+                                
+                            </span>
+                            
+                        </div>
+                        <div id="article_info_right">
+                            
+                            <div id="source_link">
+                                <a href="https://github.com/sipeed/MaixPy/blob/main/docs/api/maix/audio.md" target="_blank">
+                                    Edit this page
+                                </a>
+                            </div>
+                            
+                        </div>
+                        </div>
+                    </div>
+                    <div id="article_tools">
+                        <span></span>
+                        <span id="toc_btn"></span>
+                    </div>
+                    <div id="update_history">
+                        
+                    </div>
+                    <div id="article_content">
+                        
+                            <p>maix.audio module</p>
+<blockquote>
+<p>You can use <code>maix.audio</code> to access this module with MaixPy<br />
+This module is generated from <a href="https://github.com/sipeed/MaixCDK"  target="_blank">MaixCDK</a></p>
+</blockquote>
+<h2 id="Module">Module</h2>
+<p>No module</p>
+<h2 id="Enum">Enum</h2>
+<h3 id="Format">Format</h3>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Audio type</td>
+</tr>
+<tr>
+  <td><strong>values</strong></td>
+  <td><strong>FMT_NONE</strong>: format invalid<br><strong>FMT_S8</strong>: unsigned 8 bits<br><strong>FMT_S16_LE</strong>: signed 16 bits, little endian<br><strong>FMT_S32_LE</strong>: signed 32 bits, little endian<br><strong>FMT_S16_BE</strong>: signed 16 bits, big endian<br><strong>FMT_S32_BE</strong>: signed 32 bits, big endian<br><strong>FMT_U8</strong>: unsigned 8 bits<br><strong>FMT_U16_LE</strong>: unsigned 16 bits, little endian<br><strong>FMT_U32_LE</strong>: unsigned 32 bits, little endian<br><strong>FMT_U16_BE</strong>: unsigned 16 bits, big endian<br><strong>FMT_U32_BE</strong>: unsigned 32 bits, big endian<br></td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">enum Format
+    {
+        FMT_NONE = 0,       // format invalid
+        FMT_S8,             // unsigned 8 bits
+        FMT_S16_LE,         // signed 16 bits, little endian
+        FMT_S32_LE,         // signed 32 bits, little endian
+        FMT_S16_BE,         // signed 16 bits, big endian
+        FMT_S32_BE,         // signed 32 bits, big endian
+        FMT_U8,             // unsigned 8 bits
+        FMT_U16_LE,         // unsigned 16 bits, little endian
+        FMT_U32_LE,         // unsigned 32 bits, little endian
+        FMT_U16_BE,         // unsigned 16 bits, big endian
+        FMT_U32_BE,         // unsigned 32 bits, big endian
+    }
+</code></pre>
+<h2 id="Variable">Variable</h2>
+<h2 id="Function">Function</h2>
+<h2 id="Class">Class</h2>
+<h3 id="Recorder">Recorder</h3>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Recorder class</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">class Recorder
+</code></pre>
+<h4 id="__init__">__init__</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Construct a new Recorder object</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>path</strong>: record path. the path determines the location where you save the file, if path is none, the audio module will not save file.<br><strong>sample_rate</strong>: record sample rate, default is 48000(48KHz), means 48000 samples per second.<br><strong>format</strong>: record sample format, default is audio::Format::FMT_S16_LE, means sampling 16 bits at a time and save as signed 16 bits, little endian. see @audio::Format<br><strong>channel</strong>: record sample channel, default is 1, means 1 channel sampling at the same time<br></td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">Recorder(std::string path = std::string(), int sample_rate = 48000, audio::Format format = audio::Format::FMT_S16_LE, int channel = 1)
+</code></pre>
+<h4 id="volume">volume</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Set/Get record volume</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>value</strong>: volume value, If you use this parameter, audio will set the value to volume,<br>if you don't, it will return the current volume.<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>the current volume</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int volume(int value = -1)
+</code></pre>
+<h4 id="record">record</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Record, Read all cached data in buffer and return.</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>record_ms</strong>: record time. unit: ms<br><strong>sample_rate</strong>: audio sample rate<br><strong>format</strong>: audio sample format<br><strong>channel</strong>: audio sample channel<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>pcm data. datatype @see Bytes. If you pass in record_ms parameter, the return value is an empty Bytes object.</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">maix::Bytes *record(int record_ms = -1)
+</code></pre>
+<h4 id="finish">finish</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Finish the record, if you have passed in the path, this api will save the audio data to file.</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>error code, err::ERR_NONE means success, others means failed</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">err::Err finish()
+</code></pre>
+<h4 id="sample_rate">sample_rate</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get sample rate</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>returns sample rate</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int sample_rate()
+</code></pre>
+<h4 id="format">format</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get sample format</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>returns sample format</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">audio::Format format()
+</code></pre>
+<h4 id="channel">channel</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get sample channel</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>returns sample channel</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int channel()
+</code></pre>
+<h3 id="Player">Player</h3>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Player class</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">class Player
+</code></pre>
+<h4 id="__init__">__init__</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Construct a new Player object</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>path</strong>: player path. the path determines the location where you save the file, if path is none, the audio module will not save file.<br><strong>sample_rate</strong>: player sample rate, default is 48000(48KHz), means 48000 samples per second.<br><strong>format</strong>: player sample format, default is audio::Format::FMT_S16_LE, means sampling 16 bits at a time and save as signed 16 bits, little endian. see @audio::Format<br><strong>channel</strong>: player sample channel, default is 1, means 1 channel sampling at the same time<br></td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">Player(std::string path = std::string(), int sample_rate = 48000, audio::Format format = audio::Format::FMT_S16_LE, int channel = 1)
+</code></pre>
+<h4 id="volume">volume</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Set/Get player volume(Not support now)</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>value</strong>: volume value, If you use this parameter, audio will set the value to volume,<br>if you don't, it will return the current volume.<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>the current volume</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int volume(int value = -1)
+</code></pre>
+<h4 id="play">play</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Play</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>data</strong>: audio data, must be raw data<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>error code, err::ERR_NONE means success, others means failed</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">err::Err play(maix::Bytes *data = maix::audio::Player::NoneBytes)
+</code></pre>
+<h4 id="sample_rate">sample_rate</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get sample rate</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>returns sample rate</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int sample_rate()
+</code></pre>
+<h4 id="format">format</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get sample format</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>returns sample format</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">audio::Format format()
+</code></pre>
+<h4 id="channel">channel</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get sample channel</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>returns sample channel</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int channel()
+</code></pre>
+
+                        
+                    </div>
+                </div>
+                <div id="previous_next">
+                    <div id="previous">
+                        
+                        <a href="/maixpy/api/maix/nn/F.html">
+                            <span class="icon"></span>
+                            <span class="label">F</span>
+                        </a>
+                        
+                    </div>
+                    <div id="next">
+                        
+                        <a href="/maixpy/api/maix/peripheral.html">
+                            <span class="label">peripheral</span>
+                            <span class="icon"></span>
+                        </a>
+                        
+                    </div>
+                </div>
+                <div id="comments-container"></div>
+            </div>
+            <div id="toc_wrapper">
+                <div id="toc">
+                    <div id="toc_content">
+                            
+                    </div>
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+            </div>
+        </div>
+    </div>
+    <a id="to_top" href="#"></a>
+    <div id="doc_footer">
+        <div id="footer">
+            <div id="footer_top">
+                <ul>
+<li><a>Links</a><ul><li><a target="_blank" href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li><a target="_blank" href="https://www.sipeed.com">Sipeed Official</a></li>
+<li><a target="_blank" href="https://maixhub.com/">MaixHub</a></li>
+<li><a  href="/maixpy/sitemap.xml">Site map</a></li>
+<li><a target="_blank" href="https://github.com/neutree/teedoc">Generated by teedoc</a></li>
+</ul>
+</li>
+<li><a>Source code</a><ul><li><a target="_blank" href="https://github.com/sipeed/maixpy">MaixPy source code</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/MaixCDK">MaixCDK source code</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/sipeed_wiki">Wiki source code</a></li>
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+<li><a target="_blank" href="https://github.com/sipeed">github</a></li>
+<li><a><a>Wechat </a><img src='/maixpy/static/image/wechat.png'></a>
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+</body>
+
+</html>
\ No newline at end of file
diff --git a/maixpy/api/maix/camera.html b/maixpy/api/maix/camera.html
index 3e06fdb9..c34e00a0 100644
--- a/maixpy/api/maix/camera.html
+++ b/maixpy/api/maix/camera.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -1278,6 +1281,90 @@ <h4 id="saturation">saturation</h4>
 <p><strong>C++ defination code</strong>:</p>
 
 <pre class="language-cpp"><code class="language-cpp">uint32_t saturation(uint32_t value = -1)
+</code></pre>
+<h4 id="awb_mode">awb_mode</h4>
+
+<pre class="language-python"><code class="language-python">def awb_mode(self, value: int = -1) -&gt; int
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Set/Get white balance mode</td>
+</tr>
+<tr>
+  <td><strong>attention</strong></td>
+  <td>This method will affect the isp and thus the image, so please be careful with it.</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>value</strong>: value = 0, means set white balance to auto mode, value = 1, means set white balance to manual mode, default is auto mode.<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>returns awb mode</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">uint32_t awb_mode(uint32_t value = -1)
+</code></pre>
+<h4 id="exp_mode">exp_mode</h4>
+
+<pre class="language-python"><code class="language-python">def exp_mode(self, value: int = -1) -&gt; int
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Set/Get exposure mode</td>
+</tr>
+<tr>
+  <td><strong>attention</strong></td>
+  <td>This method will affect the isp and thus the image, so please be careful with it.</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>value</strong>: value = 0, means set exposure to auto mode, value = 1, means set exposure to manual mode, default is auto mode.<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>returns exposure mode</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">uint32_t exp_mode(uint32_t value = -1)
 </code></pre>
 
                         
diff --git a/maixpy/api/maix/comm.html b/maixpy/api/maix/comm.html
index a2138c6b..bd5616bf 100644
--- a/maixpy/api/maix/comm.html
+++ b/maixpy/api/maix/comm.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/display.html b/maixpy/api/maix/display.html
index 649a7386..f31519b9 100644
--- a/maixpy/api/maix/display.html
+++ b/maixpy/api/maix/display.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/err.html b/maixpy/api/maix/err.html
index 89a73f3b..18a19659 100644
--- a/maixpy/api/maix/err.html
+++ b/maixpy/api/maix/err.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/example.html b/maixpy/api/maix/example.html
index 7cbbdd55..b24a83a5 100644
--- a/maixpy/api/maix/example.html
+++ b/maixpy/api/maix/example.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/fs.html b/maixpy/api/maix/fs.html
index b51ba236..6bc69f22 100644
--- a/maixpy/api/maix/fs.html
+++ b/maixpy/api/maix/fs.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/i18n.html b/maixpy/api/maix/i18n.html
index 9238d2e6..8a7e534c 100644
--- a/maixpy/api/maix/i18n.html
+++ b/maixpy/api/maix/i18n.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/image.html b/maixpy/api/maix/image.html
index ae77f1e0..59f602de 100644
--- a/maixpy/api/maix/image.html
+++ b/maixpy/api/maix/image.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -7804,6 +7807,45 @@ <h4 id="to_format">to_format</h4>
 
 <pre class="language-cpp"><code class="language-cpp">image::Image *to_format(const image::Format &amp;format)
 </code></pre>
+<h4 id="to_jpeg">to_jpeg</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Convert image to jpeg</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>quality</strong>: the quality of jpg, default is 95. range is (50, 100].<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>new image object. Need be delete by caller in C++.</td>
+</tr>
+<tr>
+  <td><strong>throw</strong></td>
+  <td>err.Exception, if two images' format not support, <strong>or already the format</strong>, will raise exception</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">image::Image *to_jpeg(int quality = 95)
+</code></pre>
 <h4 id="draw_image">draw_image</h4>
 <table>
 <thead>
@@ -8135,7 +8177,7 @@ <h4 id="draw_keypoints">draw_keypoints</h4>
 </tr>
 <tr>
   <td><strong>param</strong></td>
-  <td><strong>keypoints</strong>: keypoints, [x, y, rotation_andle_in_degrees], TODO: rotation_andle_in_degrees support in the feature<br><strong>color</strong>: keypoints color @see image::Color<br><strong>size</strong>: size of keypoints<br><strong>thickness</strong>: keypoints thickness(line width), by default(value is 1)<br><strong>fill</strong>: if true, will fill keypoints, by default(value is false)<br></td>
+  <td><strong>keypoints</strong>: keypoints, [x1, y1, x2, y2...] or [x, y, rotation_andle_in_degrees, x2, y2, rotation_andle_in_degrees2](TODO: rotation_andle_in_degrees support in the feature)<br><strong>color</strong>: keypoints color @see image::Color<br><strong>size</strong>: size of keypoints<br><strong>thickness</strong>: keypoints thickness(line width), by default(value is -1 means fill circle)<br></td>
 </tr>
 <tr>
   <td><strong>return</strong></td>
@@ -8149,7 +8191,7 @@ <h4 id="draw_keypoints">draw_keypoints</h4>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">image::Image *draw_keypoints(std::vector&lt;int&gt; keypoints, const image::Color &amp;color, int size = 10, int thickness = 1, bool fill = false)
+<pre class="language-cpp"><code class="language-cpp">image::Image *draw_keypoints(std::vector&lt;int&gt; keypoints, const image::Color &amp;color, int size = 10, int thickness = -1)
 </code></pre>
 <h4 id="resize">resize</h4>
 <table>
@@ -8409,7 +8451,7 @@ <h4 id="compress">compress</h4>
 </tr>
 <tr>
   <td><strong>brief</strong></td>
-  <td>JPEG compresses the image in place.</td>
+  <td>JPEG compresses the image in place, the same as to_jpeg functioin, it's recommend to use to_jpeg instead.</td>
 </tr>
 <tr>
   <td><strong>param</strong></td>
diff --git a/maixpy/api/maix/network.html b/maixpy/api/maix/network.html
index b53b32dc..70364db8 100644
--- a/maixpy/api/maix/network.html
+++ b/maixpy/api/maix/network.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/network/wifi.html b/maixpy/api/maix/network/wifi.html
index 693bd5d6..0008015d 100644
--- a/maixpy/api/maix/network/wifi.html
+++ b/maixpy/api/maix/network/wifi.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/nn.html b/maixpy/api/maix/nn.html
index 023785c0..2400c343 100644
--- a/maixpy/api/maix/nn.html
+++ b/maixpy/api/maix/nn.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -305,6 +308,9 @@ <h4 id="load">load</h4>
 <pre class="language-cpp"><code class="language-cpp">err::Err load(const string &amp;model)
 </code></pre>
 <h4 id="detect">detect</h4>
+
+<pre class="language-python"><code class="language-python">def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ...) -&gt; list[...]
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1123,9 +1129,6 @@ <h3 id="MUD">MUD</h3>
 <pre class="language-cpp"><code class="language-cpp">class MUD
 </code></pre>
 <h4 id="__init__">__init__</h4>
-
-<pre class="language-python"><code class="language-python">def __init__(self, model_path: str = None) -&gt; None
-</code></pre>
 <table>
 <thead>
 <tr>
@@ -1276,6 +1279,9 @@ <h3 id="LayerInfo">LayerInfo</h3>
 <pre class="language-cpp"><code class="language-cpp">class LayerInfo
 </code></pre>
 <h4 id="__init__">__init__</h4>
+
+<pre class="language-python"><code class="language-python">def __init__(self, name: str = '', dtype: maix.tensor.DType = ..., shape: list[int] = []) -&gt; None
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1404,6 +1410,9 @@ <h4 id="shape">shape</h4>
 <pre class="language-cpp"><code class="language-cpp">std::vector&lt;int&gt; shape
 </code></pre>
 <h4 id="to_str">to_str</h4>
+
+<pre class="language-python"><code class="language-python">def to_str(self) -&gt; str
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1480,6 +1489,9 @@ <h3 id="NN">NN</h3>
 <pre class="language-cpp"><code class="language-cpp">class NN
 </code></pre>
 <h4 id="__init__">__init__</h4>
+
+<pre class="language-python"><code class="language-python">def __init__(self, model: str = '') -&gt; None
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1549,6 +1561,9 @@ <h4 id="load">load</h4>
 <pre class="language-cpp"><code class="language-cpp">err::Err load(const std::string &amp;model)
 </code></pre>
 <h4 id="loaded">loaded</h4>
+
+<pre class="language-python"><code class="language-python">def loaded(self) -&gt; bool
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1580,6 +1595,9 @@ <h4 id="loaded">loaded</h4>
 <pre class="language-cpp"><code class="language-cpp">bool loaded()
 </code></pre>
 <h4 id="inputs_info">inputs_info</h4>
+
+<pre class="language-python"><code class="language-python">def inputs_info(self) -&gt; list[LayerInfo]
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1611,6 +1629,9 @@ <h4 id="inputs_info">inputs_info</h4>
 <pre class="language-cpp"><code class="language-cpp">std::vector&lt;nn::LayerInfo&gt; inputs_info()
 </code></pre>
 <h4 id="outputs_info">outputs_info</h4>
+
+<pre class="language-python"><code class="language-python">def outputs_info(self) -&gt; list[LayerInfo]
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1642,6 +1663,9 @@ <h4 id="outputs_info">outputs_info</h4>
 <pre class="language-cpp"><code class="language-cpp">std::vector&lt;nn::LayerInfo&gt; outputs_info()
 </code></pre>
 <h4 id="extra_info">extra_info</h4>
+
+<pre class="language-python"><code class="language-python">def extra_info(self) -&gt; dict[str, str]
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1673,6 +1697,9 @@ <h4 id="extra_info">extra_info</h4>
 <pre class="language-cpp"><code class="language-cpp">std::map&lt;std::string, std::string&gt; extra_info()
 </code></pre>
 <h4 id="forward">forward</h4>
+
+<pre class="language-python"><code class="language-python">def forward(self, inputs: maix.tensor.Tensors) -&gt; maix.tensor.Tensors
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1708,6 +1735,9 @@ <h4 id="forward">forward</h4>
 <pre class="language-cpp"><code class="language-cpp">tensor::Tensors *forward(tensor::Tensors &amp;inputs)
 </code></pre>
 <h4 id="forward_image">forward_image</h4>
+
+<pre class="language-python"><code class="language-python">def forward_image(self, img: maix.image.Image, mean: list[float] = [], scale: list[float] = [], fit: maix.image.Fit = ..., copy_result: bool = True) -&gt; maix.tensor.Tensors
+</code></pre>
 <table>
 <thead>
 <tr>
@@ -1742,7 +1772,7 @@ <h4 id="forward_image">forward_image</h4>
 
 <pre class="language-cpp"><code class="language-cpp">tensor::Tensors *forward_image(image::Image &amp;img, std::vector&lt;float&gt; mean = std::vector&lt;float&gt;(), std::vector&lt;float&gt; scale = std::vector&lt;float&gt;(), image::Fit fit = image::Fit::FIT_FILL, bool copy_result = true)
 </code></pre>
-<h3 id="Object">Object</h3>
+<h3 id="FaceDetector">FaceDetector</h3>
 <table>
 <thead>
 <tr>
@@ -1753,13 +1783,13 @@ <h3 id="Object">Object</h3>
 <tbody>
 <tr>
   <td><strong>brief</strong></td>
-  <td>Object for detect result</td>
+  <td>FaceDetector class</td>
 </tr>
 </tbody>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">class Object
+<pre class="language-cpp"><code class="language-cpp">class FaceDetector
 </code></pre>
 <h4 id="__init__">__init__</h4>
 <table>
@@ -1776,11 +1806,15 @@ <h4 id="__init__">__init__</h4>
 </tr>
 <tr>
   <td><strong>brief</strong></td>
-  <td>Constructor of Object for detect result</td>
+  <td>Constructor of FaceDetector class</td>
 </tr>
 <tr>
   <td><strong>param</strong></td>
-  <td><strong>x</strong>: left top x<br><strong>y</strong>: left top y<br><strong>w</strong>: width<br><strong>h</strong>: height<br><strong>class_id</strong>: class id<br><strong>score</strong>: score<br></td>
+  <td><strong>model</strong>: model path, default empty, you can load model later by load function.<br></td>
+</tr>
+<tr>
+  <td><strong>throw</strong></td>
+  <td>If model arg is not empty and load failed, will throw err::Exception.</td>
 </tr>
 <tr>
   <td><strong>static</strong></td>
@@ -1790,9 +1824,12 @@ <h4 id="__init__">__init__</h4>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">Object(int x = 0, int y = 0, int w = 0, int h = 0, int class_id = 0, float score = 0)
+<pre class="language-cpp"><code class="language-cpp">FaceDetector(const string &amp;model = &quot;&quot;)
+</code></pre>
+<h4 id="load">load</h4>
+
+<pre class="language-python"><code class="language-python">def load(self, model: str) -&gt; maix.err.Err
 </code></pre>
-<h4 id="__str__">__str__</h4>
 <table>
 <thead>
 <tr>
@@ -1807,11 +1844,15 @@ <h4 id="__str__">__str__</h4>
 </tr>
 <tr>
   <td><strong>brief</strong></td>
-  <td>Object info to string</td>
+  <td>Load model from file</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>model</strong>: Model path want to load<br></td>
 </tr>
 <tr>
   <td><strong>return</strong></td>
-  <td>Object info string</td>
+  <td>err::Err</td>
 </tr>
 <tr>
   <td><strong>static</strong></td>
@@ -1821,9 +1862,12 @@ <h4 id="__str__">__str__</h4>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">std::string to_str()
+<pre class="language-cpp"><code class="language-cpp">err::Err load(const string &amp;model)
+</code></pre>
+<h4 id="detect">detect</h4>
+
+<pre class="language-python"><code class="language-python">def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ...) -&gt; list[...]
 </code></pre>
-<h4 id="x">x</h4>
 <table>
 <thead>
 <tr>
@@ -1834,27 +1878,38 @@ <h4 id="x">x</h4>
 <tbody>
 <tr>
   <td><strong>type</strong></td>
-  <td>var</td>
+  <td>func</td>
 </tr>
 <tr>
   <td><strong>brief</strong></td>
-  <td>Object left top coordinate x</td>
+  <td>Detect objects from image</td>
 </tr>
 <tr>
-  <td><strong>static</strong></td>
-  <td>False</td>
+  <td><strong>param</strong></td>
+  <td><strong>img</strong>: Image want to detect, if image's size not match model input's, will auto resize with fit method.<br><strong>conf_th</strong>: Confidence threshold, default 0.5.<br><strong>iou_th</strong>: IoU threshold, default 0.45.<br><strong>fit</strong>: Resize method, default image.Fit.FIT_CONTAIN.<br></td>
 </tr>
 <tr>
-  <td><strong>readonly</strong></td>
+  <td><strong>throw</strong></td>
+  <td>If image format not match model input format, will throw err::Exception.</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>Object list. In C++, you should delete it after use.</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
   <td>False</td>
 </tr>
 </tbody>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">int x
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;nn::Object&gt; *detect(image::Image &amp;img, float conf_th = 0.5, float iou_th = 0.45, maix::image::Fit fit = maix::image::FIT_CONTAIN)
+</code></pre>
+<h4 id="input_size">input_size</h4>
+
+<pre class="language-python"><code class="language-python">def input_size(self) -&gt; maix.image.Size
 </code></pre>
-<h4 id="y">y</h4>
 <table>
 <thead>
 <tr>
@@ -1865,27 +1920,64 @@ <h4 id="y">y</h4>
 <tbody>
 <tr>
   <td><strong>type</strong></td>
-  <td>var</td>
+  <td>func</td>
 </tr>
 <tr>
   <td><strong>brief</strong></td>
-  <td>Object left top coordinate y</td>
+  <td>Get model input size</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>model input size</td>
 </tr>
 <tr>
   <td><strong>static</strong></td>
   <td>False</td>
 </tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">image::Size input_size()
+</code></pre>
+<h4 id="input_width">input_width</h4>
+
+<pre class="language-python"><code class="language-python">def input_width(self) -&gt; int
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
 <tr>
-  <td><strong>readonly</strong></td>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get model input width</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>model input size of width</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
   <td>False</td>
 </tr>
 </tbody>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">int y
+<pre class="language-cpp"><code class="language-cpp">int input_width()
+</code></pre>
+<h4 id="input_height">input_height</h4>
+
+<pre class="language-python"><code class="language-python">def input_height(self) -&gt; int
 </code></pre>
-<h4 id="w">w</h4>
 <table>
 <thead>
 <tr>
@@ -1896,27 +1988,61 @@ <h4 id="w">w</h4>
 <tbody>
 <tr>
   <td><strong>type</strong></td>
-  <td>var</td>
+  <td>func</td>
 </tr>
 <tr>
   <td><strong>brief</strong></td>
-  <td>Object width</td>
+  <td>Get model input height</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>model input size of height</td>
 </tr>
 <tr>
   <td><strong>static</strong></td>
   <td>False</td>
 </tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int input_height()
+</code></pre>
+<h4 id="input_format">input_format</h4>
+
+<pre class="language-python"><code class="language-python">def input_format(self) -&gt; maix.image.Format
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
 <tr>
-  <td><strong>readonly</strong></td>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get input image format</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>input image format, image::Format type.</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
   <td>False</td>
 </tr>
 </tbody>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">int w
+<pre class="language-cpp"><code class="language-cpp">image::Format input_format()
 </code></pre>
-<h4 id="h">h</h4>
+<h4 id="mean">mean</h4>
 <table>
 <thead>
 <tr>
@@ -1931,7 +2057,7 @@ <h4 id="h">h</h4>
 </tr>
 <tr>
   <td><strong>brief</strong></td>
-  <td>Object height</td>
+  <td>Get mean value, list type</td>
 </tr>
 <tr>
   <td><strong>static</strong></td>
@@ -1945,9 +2071,9 @@ <h4 id="h">h</h4>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">int h
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;float&gt; mean
 </code></pre>
-<h4 id="class_id">class_id</h4>
+<h4 id="scale">scale</h4>
 <table>
 <thead>
 <tr>
@@ -1962,7 +2088,7 @@ <h4 id="class_id">class_id</h4>
 </tr>
 <tr>
   <td><strong>brief</strong></td>
-  <td>Object class id</td>
+  <td>Get scale value, list type</td>
 </tr>
 <tr>
   <td><strong>static</strong></td>
@@ -1976,9 +2102,28 @@ <h4 id="class_id">class_id</h4>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">int class_id
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;float&gt; scale
 </code></pre>
-<h4 id="score">score</h4>
+<h3 id="Retinaface">Retinaface</h3>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Retinaface class</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">class Retinaface
+</code></pre>
+<h4 id="__init__">__init__</h4>
 <table>
 <thead>
 <tr>
@@ -1989,25 +2134,909 @@ <h4 id="score">score</h4>
 <tbody>
 <tr>
   <td><strong>type</strong></td>
-  <td>var</td>
+  <td>func</td>
 </tr>
 <tr>
   <td><strong>brief</strong></td>
-  <td>Object score</td>
+  <td>Constructor of Retinaface class</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>model</strong>: model path, default empty, you can load model later by load function.<br></td>
+</tr>
+<tr>
+  <td><strong>throw</strong></td>
+  <td>If model arg is not empty and load failed, will throw err::Exception.</td>
 </tr>
 <tr>
   <td><strong>static</strong></td>
   <td>False</td>
 </tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">Retinaface(const string &amp;model = &quot;&quot;)
+</code></pre>
+<h4 id="load">load</h4>
+
+<pre class="language-python"><code class="language-python">def load(self, model: str) -&gt; maix.err.Err
+</code></pre>
+<table>
+<thead>
 <tr>
-  <td><strong>readonly</strong></td>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Load model from file</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>model</strong>: Model path want to load<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>err::Err</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
   <td>False</td>
 </tr>
 </tbody>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">float score
+<pre class="language-cpp"><code class="language-cpp">err::Err load(const string &amp;model)
+</code></pre>
+<h4 id="detect">detect</h4>
+
+<pre class="language-python"><code class="language-python">def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ...) -&gt; list[...]
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Detect objects from image</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>img</strong>: Image want to detect, if image's size not match model input's, will auto resize with fit method.<br><strong>conf_th</strong>: Confidence threshold, default 0.4.<br><strong>iou_th</strong>: IoU threshold, default 0.45.<br><strong>fit</strong>: Resize method, default image.Fit.FIT_CONTAIN.<br></td>
+</tr>
+<tr>
+  <td><strong>throw</strong></td>
+  <td>If image format not match model input format, will throw err::Exception.</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>Object list. In C++, you should delete it after use.</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;nn::Object&gt; *detect(image::Image &amp;img, float conf_th = 0.4, float iou_th = 0.45, maix::image::Fit fit = maix::image::FIT_CONTAIN)
+</code></pre>
+<h4 id="input_size">input_size</h4>
+
+<pre class="language-python"><code class="language-python">def input_size(self) -&gt; maix.image.Size
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get model input size</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>model input size</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">image::Size input_size()
+</code></pre>
+<h4 id="input_width">input_width</h4>
+
+<pre class="language-python"><code class="language-python">def input_width(self) -&gt; int
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get model input width</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>model input size of width</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int input_width()
+</code></pre>
+<h4 id="input_height">input_height</h4>
+
+<pre class="language-python"><code class="language-python">def input_height(self) -&gt; int
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get model input height</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>model input size of height</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int input_height()
+</code></pre>
+<h4 id="input_format">input_format</h4>
+
+<pre class="language-python"><code class="language-python">def input_format(self) -&gt; maix.image.Format
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get input image format</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>input image format, image::Format type.</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">image::Format input_format()
+</code></pre>
+<h4 id="mean">mean</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get mean value, list type</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;float&gt; mean
+</code></pre>
+<h4 id="scale">scale</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get scale value, list type</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;float&gt; scale
+</code></pre>
+<h3 id="Object">Object</h3>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object for detect result</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">class Object
+</code></pre>
+<h4 id="__init__">__init__</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Constructor of Object for detect result</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>x</strong>: left top x<br><strong>y</strong>: left top y<br><strong>w</strong>: width<br><strong>h</strong>: height<br><strong>class_id</strong>: class id<br><strong>score</strong>: score<br></td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">Object(int x = 0, int y = 0, int w = 0, int h = 0, int class_id = 0, float score = 0, std::vector&lt;int&gt; points = std::vector&lt;int&gt;())
+</code></pre>
+<h4 id="__str__">__str__</h4>
+
+<pre class="language-python"><code class="language-python">def to_str(self) -&gt; str
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object info to string</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>Object info string</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::string to_str()
+</code></pre>
+<h4 id="x">x</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object left top coordinate x</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int x
+</code></pre>
+<h4 id="y">y</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object left top coordinate y</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int y
+</code></pre>
+<h4 id="w">w</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object width</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int w
+</code></pre>
+<h4 id="h">h</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object height</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int h
+</code></pre>
+<h4 id="class_id">class_id</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object class id</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">int class_id
+</code></pre>
+<h4 id="score">score</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object score</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">float score
+</code></pre>
+<h4 id="points">points</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>keypoints</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;int&gt; points
+</code></pre>
+<h3 id="ObjectFloat">ObjectFloat</h3>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object for detect result</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">class ObjectFloat
+</code></pre>
+<h4 id="__init__">__init__</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Constructor of Object for detect result</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>x</strong>: left top x<br><strong>y</strong>: left top y<br><strong>w</strong>: width<br><strong>h</strong>: height<br><strong>class_id</strong>: class id<br><strong>score</strong>: score<br></td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">ObjectFloat(float x = 0, float y = 0, float w = 0, float h = 0, float class_id = 0, float score = 0, std::vector&lt;float&gt; points = std::vector&lt;float&gt;())
+</code></pre>
+<h4 id="__str__">__str__</h4>
+
+<pre class="language-python"><code class="language-python">def to_str(self) -&gt; str
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object info to string</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>Object info string</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::string to_str()
+</code></pre>
+<h4 id="x">x</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object left top coordinate x</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">float x
+</code></pre>
+<h4 id="y">y</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object left top coordinate y</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">float y
+</code></pre>
+<h4 id="w">w</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object width</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">float w
+</code></pre>
+<h4 id="h">h</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object height</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">float h
+</code></pre>
+<h4 id="class_id">class_id</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object class id</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">float class_id
+</code></pre>
+<h4 id="score">score</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Object score</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">float score
+</code></pre>
+<h4 id="points">points</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>var</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>keypoints</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+<tr>
+  <td><strong>readonly</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;float&gt; points
 </code></pre>
 
                         
diff --git a/maixpy/api/maix/nn/F.html b/maixpy/api/maix/nn/F.html
index c28691f5..56b9c29b 100644
--- a/maixpy/api/maix/nn/F.html
+++ b/maixpy/api/maix/nn/F.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -248,8 +251,8 @@ <h2 id="Class">Class</h2>
                     </div>
                     <div id="next">
                         
-                        <a href="/maixpy/api/maix/peripheral.html">
-                            <span class="label">peripheral</span>
+                        <a href="/maixpy/api/maix/audio.html">
+                            <span class="label">audio</span>
                             <span class="icon"></span>
                         </a>
                         
diff --git a/maixpy/api/maix/peripheral.html b/maixpy/api/maix/peripheral.html
index 6bf7b107..daadbdee 100644
--- a/maixpy/api/maix/peripheral.html
+++ b/maixpy/api/maix/peripheral.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -210,6 +213,10 @@ <h2 id="Module">Module</h2>
   <td><a href="./peripheral/wdt.html"  >wdt</a></td>
   <td>maix.peripheral.wdt module</td>
 </tr>
+<tr>
+  <td><a href="./peripheral/pinmap.html"  >pinmap</a></td>
+  <td>maix.peripheral.pinmap module</td>
+</tr>
 <tr>
   <td><a href="./peripheral/pwm.html"  >pwm</a></td>
   <td>maix.peripheral.pwm module</td>
@@ -251,9 +258,9 @@ <h2 id="Class">Class</h2>
                 <div id="previous_next">
                     <div id="previous">
                         
-                        <a href="/maixpy/api/maix/nn/F.html">
+                        <a href="/maixpy/api/maix/audio.html">
                             <span class="icon"></span>
-                            <span class="label">F</span>
+                            <span class="label">audio</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/api/maix/peripheral/adc.html b/maixpy/api/maix/peripheral/adc.html
index cb6841e8..b1624247 100644
--- a/maixpy/api/maix/peripheral/adc.html
+++ b/maixpy/api/maix/peripheral/adc.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active_parent with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -443,8 +446,8 @@ <h4 id="read_vol">read_vol</h4>
                     </div>
                     <div id="next">
                         
-                        <a href="/maixpy/api/maix/rtsp.html">
-                            <span class="label">rtsp</span>
+                        <a href="/maixpy/api/maix/rtmp.html">
+                            <span class="label">rtmp</span>
                             <span class="icon"></span>
                         </a>
                         
diff --git a/maixpy/api/maix/peripheral/gpio.html b/maixpy/api/maix/peripheral/gpio.html
index fa3e25e4..862075e9 100644
--- a/maixpy/api/maix/peripheral/gpio.html
+++ b/maixpy/api/maix/peripheral/gpio.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active_parent with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/peripheral/i2c.html b/maixpy/api/maix/peripheral/i2c.html
index ef5f2db5..6e8f387b 100644
--- a/maixpy/api/maix/peripheral/i2c.html
+++ b/maixpy/api/maix/peripheral/i2c.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active_parent with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/peripheral/key.html b/maixpy/api/maix/peripheral/key.html
index 4ad196b0..0573d6db 100644
--- a/maixpy/api/maix/peripheral/key.html
+++ b/maixpy/api/maix/peripheral/key.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active_parent with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/peripheral/pinmap.html b/maixpy/api/maix/peripheral/pinmap.html
new file mode 100644
index 00000000..2f34d083
--- /dev/null
+++ b/maixpy/api/maix/peripheral/pinmap.html
@@ -0,0 +1,394 @@
+<!DOCTYPE html>
+
+<html lang="en"  class="">
+
+
+<head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    
+    <meta name="keywords" content="">
+    
+    
+    <meta name="description" content="">
+    
+    <meta name="generator" content="teedoc">
+    <meta name="theme" content="teedoc-plugin-theme-default">
+    
+        
+        <meta name="markdown-generator" content="teedoc-plugin-markdown-parser">
+        
+        <script>
+MathJax = {"loader": {"load": ["output/svg"]}, "tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]]}, "svg": {"fontCache": "global"}};
+</script>
+        
+        <script id="MathJax-script" async src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/pre_main.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/prism.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/viewer.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/dark.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/light.css" type="text/css"/>
+        
+        <script src="/maixpy/static/js/theme_default/jquery.min.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/split.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/search/style.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/custom.css" type="text/css"/>
+        
+    
+    
+    <title>maix.peripheral.pinmap - MaixPy</title>
+    
+    <script type="text/javascript">js_vars = {}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+</head>
+
+
+<body class="type_doc">
+    
+    <div id="navbar">
+        <div id="navbar_menu">
+            <a class="site_title" href="/maixpy/en/">
+                
+                
+                    <h2>MaixPy</h2>
+                
+        </a>
+            <a id="navbar_menu_btn"></a>
+        </div>
+        <div id="navbar_items">
+            <div>
+                <ul id="nav_left">
+<li class=""><a  href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li class=""><a  href="/maixpy/doc/en/index.html">Documentation</a></li>
+<li class="active"><a  href="/maixpy/api/index.html">API</a></li>
+<li class=""><a  href="/maixpy/doc/en/faq.html">FAQ</a></li>
+</ul>
+
+            </div>
+            <div>
+                <ul id="nav_right">
+<li class=""><a target="_blank" href="https://github.com/sipeed/maixpy"><img src='/maixpy/static/image/github-fill.svg' style='height: 1.5em;vertical-align: middle;'>&nbsp;</a></li>
+</ul>
+
+                <ul class="nav_plugins"><li><a id="themes" class="light"></a></li></ul><ul class="nav_plugins"><li><a id="search"><span class="icon"></span><span class="placeholder">Search</span>
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+                            
+                            <h1>maix.peripheral.pinmap</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
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+                                    Edit this page
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+                        
+                            <p>maix.peripheral.pinmap module</p>
+<blockquote>
+<p>You can use <code>maix.peripheral.pinmap</code> to access this module with MaixPy<br />
+This module is generated from <a href="https://github.com/sipeed/MaixCDK"  target="_blank">MaixCDK</a></p>
+</blockquote>
+<h2 id="Module">Module</h2>
+<p>No module</p>
+<h2 id="Enum">Enum</h2>
+<h2 id="Variable">Variable</h2>
+<h2 id="Function">Function</h2>
+<h3 id="get_pins">get_pins</h3>
+
+<pre class="language-python"><code class="language-python">def get_pins() -&gt; list[str]
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get all pins of devices</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>pin name list, string type.</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;std::string&gt; get_pins()
+</code></pre>
+<h3 id="get_pin_functions">get_pin_functions</h3>
+
+<pre class="language-python"><code class="language-python">def get_pin_functions(pin: str) -&gt; list[str]
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get all function of a pin</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>pin</strong>: pin name, string type.<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>function list, function name is string type.</td>
+</tr>
+<tr>
+  <td><strong>throw</strong></td>
+  <td>If pin name error will throwout err.Err.ERR_ARGS error.</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::vector&lt;std::string&gt; get_pin_functions(const std::string &amp;pin)
+</code></pre>
+<h3 id="set_pin_function">set_pin_function</h3>
+
+<pre class="language-python"><code class="language-python">def set_pin_function(pin: str, func: str) -&gt; maix.err.Err
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Set function of a pin</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>pin</strong>: pin name, string type.<br><strong>func</strong>: which function should this pin use.<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>if set ok, will return err.Err.ERR_NONE, else error occurs.</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">err::Err set_pin_function(const std::string &amp;pin, const std::string &amp;func)
+</code></pre>
+<h2 id="Class">Class</h2>
+
+                        
+                    </div>
+                </div>
+                <div id="previous_next">
+                    <div id="previous">
+                        
+                        <a href="/maixpy/api/maix/peripheral/wdt.html">
+                            <span class="icon"></span>
+                            <span class="label">wdt</span>
+                        </a>
+                        
+                    </div>
+                    <div id="next">
+                        
+                        <a href="/maixpy/api/maix/peripheral/pwm.html">
+                            <span class="label">pwm</span>
+                            <span class="icon"></span>
+                        </a>
+                        
+                    </div>
+                </div>
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\ No newline at end of file
diff --git a/maixpy/api/maix/peripheral/pwm.html b/maixpy/api/maix/peripheral/pwm.html
index ce80f1c1..abb25740 100644
--- a/maixpy/api/maix/peripheral/pwm.html
+++ b/maixpy/api/maix/peripheral/pwm.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active_parent with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -458,9 +461,9 @@ <h4 id="is_enabled">is_enabled</h4>
                 <div id="previous_next">
                     <div id="previous">
                         
-                        <a href="/maixpy/api/maix/peripheral/wdt.html">
+                        <a href="/maixpy/api/maix/peripheral/pinmap.html">
                             <span class="icon"></span>
-                            <span class="label">wdt</span>
+                            <span class="label">pinmap</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/api/maix/peripheral/spi.html b/maixpy/api/maix/peripheral/spi.html
index 1f0cdf5c..5d9dc9c1 100644
--- a/maixpy/api/maix/peripheral/spi.html
+++ b/maixpy/api/maix/peripheral/spi.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active_parent with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/peripheral/timer.html b/maixpy/api/maix/peripheral/timer.html
index a84995ec..aeb6acc6 100644
--- a/maixpy/api/maix/peripheral/timer.html
+++ b/maixpy/api/maix/peripheral/timer.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active_parent with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/peripheral/uart.html b/maixpy/api/maix/peripheral/uart.html
index 63a38ded..25583fc0 100644
--- a/maixpy/api/maix/peripheral/uart.html
+++ b/maixpy/api/maix/peripheral/uart.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active_parent with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/peripheral/wdt.html b/maixpy/api/maix/peripheral/wdt.html
index bbcbaba3..65f745da 100644
--- a/maixpy/api/maix/peripheral/wdt.html
+++ b/maixpy/api/maix/peripheral/wdt.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="active_parent with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -349,8 +352,8 @@ <h4 id="restart">restart</h4>
                     </div>
                     <div id="next">
                         
-                        <a href="/maixpy/api/maix/peripheral/pwm.html">
-                            <span class="label">pwm</span>
+                        <a href="/maixpy/api/maix/peripheral/pinmap.html">
+                            <span class="label">pinmap</span>
                             <span class="icon"></span>
                         </a>
                         
diff --git a/maixpy/api/maix/protocol.html b/maixpy/api/maix/protocol.html
index 1c6caa1a..931be8c9 100644
--- a/maixpy/api/maix/protocol.html
+++ b/maixpy/api/maix/protocol.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/rtmp.html b/maixpy/api/maix/rtmp.html
new file mode 100644
index 00000000..2c48f012
--- /dev/null
+++ b/maixpy/api/maix/rtmp.html
@@ -0,0 +1,529 @@
+<!DOCTYPE html>
+
+<html lang="en"  class="">
+
+
+<head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    
+    <meta name="keywords" content="">
+    
+    
+    <meta name="description" content="">
+    
+    <meta name="generator" content="teedoc">
+    <meta name="theme" content="teedoc-plugin-theme-default">
+    
+        
+        <meta name="markdown-generator" content="teedoc-plugin-markdown-parser">
+        
+        <script>
+MathJax = {"loader": {"load": ["output/svg"]}, "tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]]}, "svg": {"fontCache": "global"}};
+</script>
+        
+        <script id="MathJax-script" async src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/pre_main.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/prism.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/viewer.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/dark.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/light.css" type="text/css"/>
+        
+        <script src="/maixpy/static/js/theme_default/jquery.min.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/split.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/search/style.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/custom.css" type="text/css"/>
+        
+    
+    
+    <title>maix.rtmp - MaixPy</title>
+    
+    <script type="text/javascript">js_vars = {}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+</head>
+
+
+<body class="type_doc">
+    
+    <div id="navbar">
+        <div id="navbar_menu">
+            <a class="site_title" href="/maixpy/en/">
+                
+                
+                    <h2>MaixPy</h2>
+                
+        </a>
+            <a id="navbar_menu_btn"></a>
+        </div>
+        <div id="navbar_items">
+            <div>
+                <ul id="nav_left">
+<li class=""><a  href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li class=""><a  href="/maixpy/doc/en/index.html">Documentation</a></li>
+<li class="active"><a  href="/maixpy/api/index.html">API</a></li>
+<li class=""><a  href="/maixpy/doc/en/faq.html">FAQ</a></li>
+</ul>
+
+            </div>
+            <div>
+                <ul id="nav_right">
+<li class=""><a target="_blank" href="https://github.com/sipeed/maixpy"><img src='/maixpy/static/image/github-fill.svg' style='height: 1.5em;vertical-align: middle;'>&nbsp;</a></li>
+</ul>
+
+                <ul class="nav_plugins"><li><a id="themes" class="light"></a></li></ul><ul class="nav_plugins"><li><a id="search"><span class="icon"></span><span class="placeholder">Search</span>
+                            <div id="search_hints">
+                                <span id="search_input_hint">Keywords separated by space</span>
+                                <span id="search_loading_hint">Loading, wait please ...</span>
+                                <span id="search_download_err_hint">Download error, please check network and refresh again</span>
+                                <span id="search_other_docs_result_hint">Result from other docs</span>
+                                <span id="search_curr_doc_result_hint">Result from current doc</span>
+                            </div></a></li></ul>
+            </div>
+        </div>
+    </div>
+    
+    <div id="wrapper">
+        <div id="sidebar_wrapper">
+            <div id="sidebar">
+                <div id="sidebar_title">
+                    
+                </div>
+                <ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/index.html"><span class="label">Brief</span><span class=""></span></a></li>
+<li class="active_parent no_link"><a><span class="label">maix</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/maix/err.html"><span class="label">err</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/tensor.html"><span class="label">tensor</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/image.html"><span class="label">image</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/camera.html"><span class="label">camera</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/display.html"><span class="label">display</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/comm.html"><span class="label">comm</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/thread.html"><span class="label">thread</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/fs.html"><span class="label">fs</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/sys.html"><span class="label">sys</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/time.html"><span class="label">time</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/i18n.html"><span class="label">i18n</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/protocol.html"><span class="label">protocol</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/example.html"><span class="label">example</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/app.html"><span class="label">app</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/util.html"><span class="label">util</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/network.html"><span class="label">network</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/maix/network/wifi.html"><span class="label">wifi</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/nn.html"><span class="label">nn</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/uart.html"><span class="label">uart</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/key.html"><span class="label">key</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/i2c.html"><span class="label">i2c</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
+</ul>
+</li>
+</ul>
+
+            </div>
+        </div>
+        <div id="article">
+            <div id="menu_wrapper">
+                <div id="menu">
+                </div>
+            </div>
+            <div id="content_wrapper">
+                <div id="content_body">
+                    <div id="article_head">
+                        <div id="article_title">
+                            
+                            <h1>maix.rtmp</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
+                        </div>
+                        <div id="article_info">
+                        <div id="article_info_left">
+                            <span class="article_author">
+                                
+                            </span>
+                            
+                        </div>
+                        <div id="article_info_right">
+                            
+                            <div id="source_link">
+                                <a href="https://github.com/sipeed/MaixPy/blob/main/docs/api/maix/rtmp.md" target="_blank">
+                                    Edit this page
+                                </a>
+                            </div>
+                            
+                        </div>
+                        </div>
+                    </div>
+                    <div id="article_tools">
+                        <span></span>
+                        <span id="toc_btn"></span>
+                    </div>
+                    <div id="update_history">
+                        
+                    </div>
+                    <div id="article_content">
+                        
+                            <p>maix.rtmp module</p>
+<blockquote>
+<p>You can use <code>maix.rtmp</code> to access this module with MaixPy<br />
+This module is generated from <a href="https://github.com/sipeed/MaixCDK"  target="_blank">MaixCDK</a></p>
+</blockquote>
+<h2 id="Module">Module</h2>
+<p>No module</p>
+<h2 id="Enum">Enum</h2>
+<h2 id="Variable">Variable</h2>
+<h2 id="Function">Function</h2>
+<h2 id="Class">Class</h2>
+<h3 id="Rtmp">Rtmp</h3>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Rtmp class</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">class Rtmp
+</code></pre>
+<h4 id="__init__">__init__</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Construct a new Video object</td>
+</tr>
+<tr>
+  <td><strong>note</strong></td>
+  <td>Rtmp url : rtmp://host:prot/app/stream<br>example:<br>r = Rtmp(&quot;localhost&quot;, 1935, &quot;live&quot;, &quot;stream&quot;)<br>means rtmp url is rtmp://localhost:1935/live/stream</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>host</strong>: rtmp ip<br><strong>port</strong>: rtmp port, default is 1935.<br><strong>app</strong>: rtmp app name<br><strong>stream</strong>: rtmp stream name<br></td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">Rtmp(std::string host, int port = 1935, std::string app = std::string(), std::string stream = std::string())
+</code></pre>
+<h4 id="bind_camera">bind_camera</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Bind camera</td>
+</tr>
+<tr>
+  <td><strong>note</strong></td>
+  <td>If the cam object is bound, the cam object cannot be used elsewhere.</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>cam</strong>: camera object<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>error code, err::ERR_NONE means success, others means failed</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">err::Err bind_camera(camera::Camera *cam)
+</code></pre>
+<h4 id="start">start</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Start push stream</td>
+</tr>
+<tr>
+  <td><strong>note</strong></td>
+  <td>only support flv file now</td>
+</tr>
+<tr>
+  <td><strong>param</strong></td>
+  <td><strong>path</strong>: File path, if you passed file path, cyclic push the file, else if you bound camera, push the camera image.<br></td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>error code, err::ERR_NONE means success, others means failed</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">err::Err start(std::string path = std::string())
+</code></pre>
+<h4 id="stop">stop</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Stop push</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>error code, err::ERR_NONE means success, others means failed</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">err::Err stop()
+</code></pre>
+<h4 id="get_path">get_path</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Get the file path of the push stream</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>file path</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::string get_path()
+</code></pre>
+<h4 id="get_path-%28overload-1%29">get_path (overload 1)</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Check whether push streaming has started</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>If rtmp thread is running, returns true</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">bool is_started()
+</code></pre>
+
+                        
+                    </div>
+                </div>
+                <div id="previous_next">
+                    <div id="previous">
+                        
+                        <a href="/maixpy/api/maix/peripheral/adc.html">
+                            <span class="icon"></span>
+                            <span class="label">adc</span>
+                        </a>
+                        
+                    </div>
+                    <div id="next">
+                        
+                        <a href="/maixpy/api/maix/rtsp.html">
+                            <span class="label">rtsp</span>
+                            <span class="icon"></span>
+                        </a>
+                        
+                    </div>
+                </div>
+                <div id="comments-container"></div>
+            </div>
+            <div id="toc_wrapper">
+                <div id="toc">
+                    <div id="toc_content">
+                            
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    <a id="to_top" href="#"></a>
+    <div id="doc_footer">
+        <div id="footer">
+            <div id="footer_top">
+                <ul>
+<li><a>Links</a><ul><li><a target="_blank" href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li><a target="_blank" href="https://www.sipeed.com">Sipeed Official</a></li>
+<li><a target="_blank" href="https://maixhub.com/">MaixHub</a></li>
+<li><a  href="/maixpy/sitemap.xml">Site map</a></li>
+<li><a target="_blank" href="https://github.com/neutree/teedoc">Generated by teedoc</a></li>
+</ul>
+</li>
+<li><a>Source code</a><ul><li><a target="_blank" href="https://github.com/sipeed/maixpy">MaixPy source code</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/MaixCDK">MaixCDK source code</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/sipeed_wiki">Wiki source code</a></li>
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+<li><a target="_blank" href="https://github.com/sipeed">github</a></li>
+<li><a><a>Wechat </a><img src='/maixpy/static/image/wechat.png'></a>
+</li>
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+<li><a>Contact us</a><ul><li><a>Tel: +86 0755-27808509</a>
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+        <script src="/maixpy/teedoc-plugin-markdown-parser/mermaid.min.js"></script>
+    
+        <script>mermaid.initialize({startOnLoad:true});</script>
+    
+        <script src="/maixpy/static/js/theme_default/tocbot.min.js"></script>
+    
+        <script src="/maixpy/static/js/theme_default/main.js"></script>
+    
+        <script src="/maixpy/static/js/theme_default/viewer.min.js"></script>
+    
+        <script src="/maixpy/static/css/theme_default/prism.min.js"></script>
+    
+        <script src="/maixpy/static/js/search/search_main.js"></script>
+    
+        <script src="/maixpy/static/js/custom.js"></script>
+    
+</body>
+
+</html>
\ No newline at end of file
diff --git a/maixpy/api/maix/rtsp.html b/maixpy/api/maix/rtsp.html
index 07ece55b..68a68213 100644
--- a/maixpy/api/maix/rtsp.html
+++ b/maixpy/api/maix/rtsp.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -695,9 +698,9 @@ <h4 id="update_region">update_region</h4>
                 <div id="previous_next">
                     <div id="previous">
                         
-                        <a href="/maixpy/api/maix/peripheral/adc.html">
+                        <a href="/maixpy/api/maix/rtmp.html">
                             <span class="icon"></span>
-                            <span class="label">adc</span>
+                            <span class="label">rtmp</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/api/maix/sys.html b/maixpy/api/maix/sys.html
index 03aef499..53606a71 100644
--- a/maixpy/api/maix/sys.html
+++ b/maixpy/api/maix/sys.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/tensor.html b/maixpy/api/maix/tensor.html
index 3d15fef9..8d1fc8c2 100644
--- a/maixpy/api/maix/tensor.html
+++ b/maixpy/api/maix/tensor.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -578,6 +581,37 @@ <h4 id="dtype">dtype</h4>
 
 <pre class="language-cpp"><code class="language-cpp">tensor::DType  dtype()
 </code></pre>
+<h4 id="to_float_list">to_float_list</h4>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>get tensor data and return a list</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>list type data</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">std::valarray&lt;float&gt;* to_float_list()
+</code></pre>
 <h4 id="argmax">argmax</h4>
 <table>
 <thead>
diff --git a/maixpy/api/maix/thread.html b/maixpy/api/maix/thread.html
index e30c75ff..fd0bb525 100644
--- a/maixpy/api/maix/thread.html
+++ b/maixpy/api/maix/thread.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/time.html b/maixpy/api/maix/time.html
index 5d738493..164f2900 100644
--- a/maixpy/api/maix/time.html
+++ b/maixpy/api/maix/time.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/touchscreen.html b/maixpy/api/maix/touchscreen.html
index 05de444e..ecb906cf 100644
--- a/maixpy/api/maix/touchscreen.html
+++ b/maixpy/api/maix/touchscreen.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/util.html b/maixpy/api/maix/util.html
index df884cba..c855d8e8 100644
--- a/maixpy/api/maix/util.html
+++ b/maixpy/api/maix/util.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
diff --git a/maixpy/api/maix/video.html b/maixpy/api/maix/video.html
index 713b8b16..ef67e616 100644
--- a/maixpy/api/maix/video.html
+++ b/maixpy/api/maix/video.html
@@ -122,9 +122,11 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/nn/F.html"><span class="label">F</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/audio.html"><span class="label">audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral.html"><span class="label">peripheral</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/timer.html"><span class="label">timer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/wdt.html"><span class="label">wdt</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pinmap.html"><span class="label">pinmap</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/pwm.html"><span class="label">pwm</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/gpio.html"><span class="label">gpio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/spi.html"><span class="label">spi</span><span class=""></span></a></li>
@@ -134,6 +136,7 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/api/maix/peripheral/adc.html"><span class="label">adc</span><span class=""></span></a></li>
 </ul>
 </li>
+<li class="not_active with_link"><a href="/maixpy/api/maix/rtmp.html"><span class="label">rtmp</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/rtsp.html"><span class="label">rtsp</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/api/maix/video.html"><span class="label">video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/api/maix/touchscreen.html"><span class="label">touchscreen</span><span class=""></span></a></li>
@@ -548,7 +551,7 @@ <h3 id="Video">Video</h3>
 </code></pre>
 <h4 id="__init__">__init__</h4>
 
-<pre class="language-python"><code class="language-python">def __init__(self, path: str = '', width: int = 2560, height: int = 1440, format: maix.image.Format = ..., time_base: int = 30, framerate: int = 30, open: bool = True) -&gt; None
+<pre class="language-python"><code class="language-python">def __init__(self, path: str = '', width: int = 2560, height: int = 1440, format: maix.image.Format = ..., time_base: int = 30, framerate: int = 30, capture: bool = False, open: bool = True) -&gt; None
 </code></pre>
 <table>
 <thead>
@@ -568,7 +571,7 @@ <h4 id="__init__">__init__</h4>
 </tr>
 <tr>
   <td><strong>param</strong></td>
-  <td><strong>path</strong>: video path. the path determines the location where you load or save the file, if path is none, the video module will not save or load file.<br>xxx.h265 means video format is H265, xxx.mp4 means video format is MP4<br><strong>width</strong>: picture width. this value may be set automatically. default is 2560.<br><strong>height</strong>: picture height. this value may be set automatically. default is 1440.<br><strong>format</strong>: picture pixel format. this value may be set automatically. default is FMT_YVU420SP.<br><strong>time_base</strong>: frame time base. time_base default is 30, means 1/30 ms<br><strong>framerate</strong>: frame rate. framerate default is 30, means 30 frames per second<br>for video. 1/time_base is not the average frame rate if the frame rate is not constant.<br><strong>open</strong>: If true, vido will automatically call open() after creation. default is true.<br></td>
+  <td><strong>path</strong>: video path. the path determines the location where you load or save the file, if path is none, the video module will not save or load file.<br>xxx.h265 means video format is H265, xxx.mp4 means video format is MP4<br><strong>width</strong>: picture width. this value may be set automatically. default is 2560.<br><strong>height</strong>: picture height. this value may be set automatically. default is 1440.<br><strong>format</strong>: picture pixel format. this value may be set automatically. default is FMT_YVU420SP.<br><strong>time_base</strong>: frame time base. time_base default is 30, means 1/30 ms<br><strong>framerate</strong>: frame rate. framerate default is 30, means 30 frames per second<br>for video. 1/time_base is not the average frame rate if the frame rate is not constant.<br><strong>capture</strong>: enable capture, if true, you can use capture() function to get an image object<br><strong>open</strong>: If true, video will automatically call open() after creation. default is true.<br></td>
 </tr>
 <tr>
   <td><strong>static</strong></td>
@@ -578,7 +581,7 @@ <h4 id="__init__">__init__</h4>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">Video(std::string path = std::string(), int width = 2560, int height = 1440, image::Format format = image::Format::FMT_YVU420SP, int time_base = 30, int framerate = 30, bool open = true)
+<pre class="language-cpp"><code class="language-cpp">Video(std::string path = std::string(), int width = 2560, int height = 1440, image::Format format = image::Format::FMT_YVU420SP, int time_base = 30, int framerate = 30, bool capture = false, bool open = true)
 </code></pre>
 <h4 id="open">open</h4>
 
@@ -688,7 +691,7 @@ <h4 id="bind_camera">bind_camera</h4>
 </code></pre>
 <h4 id="encode">encode</h4>
 
-<pre class="language-python"><code class="language-python">def encode(self, img: maix.image.Image = 0) -&gt; Packet
+<pre class="language-python"><code class="language-python">def encode(self, img: maix.image.Image = ...) -&gt; Packet
 </code></pre>
 <table>
 <thead>
@@ -708,7 +711,7 @@ <h4 id="encode">encode</h4>
 </tr>
 <tr>
   <td><strong>param</strong></td>
-  <td><strong>img</strong>: the image will be encode.<br>if the img is NULL, this function will try to get image from camera, you must use bind_camera to bind camera.<br></td>
+  <td><strong>img</strong>: the image will be encode.<br>if the img is NULL, this function will try to get image from camera, you must use bind_camera() function to bind the camera.<br></td>
 </tr>
 <tr>
   <td><strong>return</strong></td>
@@ -722,11 +725,11 @@ <h4 id="encode">encode</h4>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">video::Packet encode(image::Image *img = NULL)
+<pre class="language-cpp"><code class="language-cpp">video::Packet *encode(image::Image *img = maix::video::Video::NoneImage)
 </code></pre>
 <h4 id="decode">decode</h4>
 
-<pre class="language-python"><code class="language-python">def decode(self, frame: Frame = 0) -&gt; maix.image.Image
+<pre class="language-python"><code class="language-python">def decode(self, frame: Frame = None) -&gt; maix.image.Image
 </code></pre>
 <table>
 <thead>
@@ -760,7 +763,7 @@ <h4 id="decode">decode</h4>
 </table>
 <p><strong>C++ defination code</strong>:</p>
 
-<pre class="language-cpp"><code class="language-cpp">image::Image *decode(video::Frame *frame = NULL)
+<pre class="language-cpp"><code class="language-cpp">image::Image *decode(video::Frame *frame = nullptr)
 </code></pre>
 <h4 id="finish">finish</h4>
 
@@ -796,6 +799,44 @@ <h4 id="finish">finish</h4>
 
 <pre class="language-cpp"><code class="language-cpp">err::Err finish()
 </code></pre>
+<h4 id="capture">capture</h4>
+
+<pre class="language-python"><code class="language-python">def capture(self) -&gt; maix.image.Image
+</code></pre>
+<table>
+<thead>
+<tr>
+  <th>item</th>
+  <th>doc</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td><strong>type</strong></td>
+  <td>func</td>
+</tr>
+<tr>
+  <td><strong>brief</strong></td>
+  <td>Capture image</td>
+</tr>
+<tr>
+  <td><strong>attention</strong></td>
+  <td>Each time encode is called, the last captured image will be released.</td>
+</tr>
+<tr>
+  <td><strong>return</strong></td>
+  <td>error code</td>
+</tr>
+<tr>
+  <td><strong>static</strong></td>
+  <td>False</td>
+</tr>
+</tbody>
+</table>
+<p><strong>C++ defination code</strong>:</p>
+
+<pre class="language-cpp"><code class="language-cpp">image::Image *capture()
+</code></pre>
 <h4 id="is_recording">is_recording</h4>
 
 <pre class="language-python"><code class="language-python">def is_recording(self) -&gt; bool
diff --git a/maixpy/api/sidebar.yaml b/maixpy/api/sidebar.yaml
index 2c492497..c6ab9414 100644
--- a/maixpy/api/sidebar.yaml
+++ b/maixpy/api/sidebar.yaml
@@ -62,6 +62,9 @@ items:
             file: maix/nn/F.md
             label: F
         label: nn
+    -   collapsed: false
+        file: maix/audio.md
+        label: audio
     -   collapsed: false
         file: maix/peripheral.md
         items:
@@ -71,6 +74,9 @@ items:
         -   collapsed: false
             file: maix/peripheral/wdt.md
             label: wdt
+        -   collapsed: false
+            file: maix/peripheral/pinmap.md
+            label: pinmap
         -   collapsed: false
             file: maix/peripheral/pwm.md
             label: pwm
@@ -93,6 +99,9 @@ items:
             file: maix/peripheral/adc.md
             label: adc
         label: peripheral
+    -   collapsed: false
+        file: maix/rtmp.md
+        label: rtmp
     -   collapsed: false
         file: maix/rtsp.md
         label: rtsp
diff --git a/maixpy/doc/assets/face_detection.jpg b/maixpy/doc/assets/face_detection.jpg
new file mode 100644
index 00000000..5e89913d
Binary files /dev/null and b/maixpy/doc/assets/face_detection.jpg differ
diff --git a/maixpy/doc/assets/maixvision_browser.jpg b/maixpy/doc/assets/maixvision_browser.jpg
new file mode 100644
index 00000000..3bcda9b9
Binary files /dev/null and b/maixpy/doc/assets/maixvision_browser.jpg differ
diff --git a/maixpy/doc/assets/maixvision_browser2.jpg b/maixpy/doc/assets/maixvision_browser2.jpg
new file mode 100644
index 00000000..94c2895c
Binary files /dev/null and b/maixpy/doc/assets/maixvision_browser2.jpg differ
diff --git a/maixpy/doc/en/audio/recognize.html b/maixpy/doc/en/audio/recognize.html
index c0f4a6c9..309a8418 100644
--- a/maixpy/doc/en/audio/recognize.html
+++ b/maixpy/doc/en/audio/recognize.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI audio</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/basic/app.html b/maixpy/doc/en/basic/app.html
index d1e3a2ac..318a0df3 100644
--- a/maixpy/doc/en/basic/app.html
+++ b/maixpy/doc/en/basic/app.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="active_parent no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/basic/app_usage.html b/maixpy/doc/en/basic/app_usage.html
index 4d99e94a..d84da815 100644
--- a/maixpy/doc/en/basic/app_usage.html
+++ b/maixpy/doc/en/basic/app_usage.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="active_parent no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/basic/linux_basic.html b/maixpy/doc/en/basic/linux_basic.html
index 98b84cdf..3148eb65 100644
--- a/maixpy/doc/en/basic/linux_basic.html
+++ b/maixpy/doc/en/basic/linux_basic.html
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 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="active_parent no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
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-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
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@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/basic/maixpy_upgrade.html b/maixpy/doc/en/basic/maixpy_upgrade.html
index 5020d936..7cf2073e 100644
--- a/maixpy/doc/en/basic/maixpy_upgrade.html
+++ b/maixpy/doc/en/basic/maixpy_upgrade.html
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 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="active_parent no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
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@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/basic/maixvision.html b/maixpy/doc/en/basic/maixvision.html
index e51e16e9..5c8abf2f 100644
--- a/maixpy/doc/en/basic/maixvision.html
+++ b/maixpy/doc/en/basic/maixvision.html
@@ -44,7 +44,7 @@
         
     
     
-    <title>MaixVision - MaixPy Programming + Graphical Block Programming - MaixPy</title>
+    <title>MaixVision -- MaixPy Programming IDE + Graphical Block Programming - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
     <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="active_parent no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1>MaixVision - MaixPy Programming + Graphical Block Programming</h1>
+                            <h1>MaixVision -- MaixPy Programming IDE + Graphical Block Programming</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -211,13 +234,15 @@ <h1>MaixVision - MaixPy Programming + Graphical Block Programming</h1>
                     <div id="article_content">
                         
                             <h2 id="Introduction">Introduction</h2>
-<p>MaixVision is a developer programming tool specifically designed for the Maix ecosystem, supporting MaixPy programming and graphical block programming. It also supports online running, debugging, and real-time image preview, allowing the synchronization of the device display screen for easy debugging and development.</p>
-<p>It also supports packaging applications and installing them on devices, making it convenient for users to generate and install applications with a single click.</p>
-<p>Additionally, it integrates some handy development tools, such as file management, threshold editors, QR code generators, and more.</p>
+<p><a href="https://wiki.sipeed.com/maixvision"  target="_blank">MaixVision</a> is a development tool specifically designed for the Maix ecosystem, supporting MaixPy programming and graphical block programming. It allows for online operation and debugging, real-time image preview, and synchronizing images from device displays, which is convenient for debugging and development.</p>
+<p>It also supports packaging and installing applications on devices, allowing users to easily generate and install applications with one click.</p>
+<p>In addition, it integrates several handy tools for development, such as file management, threshold editor, QR code generator, and more.</p>
+<h2 id="Download">Download</h2>
+<p>Visit the <a href="https://wiki.sipeed.com/maixvision"  target="_blank">MaixVision homepage</a> to download.</p>
 <h2 id="Using-MaixPy-Programming-and-Online-Running">Using MaixPy Programming and Online Running</h2>
-<p>By following the steps in the <a href="../index.html"  >Quick Start</a>, we can easily use MaixPy programming and run programs online.</p>
+<p>Follow the steps in <a href="../index.html"  >Quick Start</a> to connect your device, and you can easily use MaixPy programming and run it online.</p>
 <h2 id="Real-time-Image-Preview">Real-time Image Preview</h2>
-<p>MaixPy provides a <code>display</code> module, which can display images on the screen. When calling the <code>show</code> method of the <code>display</code> module, the image will be sent to MaixVision for display in real-time, for example:</p>
+<p>MaixPy provides a <code>display</code> module that can show images on the screen. Also, when the <code>show</code> method of the <code>display</code> module is called, it sends the image to be displayed on MaixVision, for example:</p>
 
 <pre class="language-python"><code class="language-python">from maix import display, camera
 
@@ -226,42 +251,71 @@ <h2 id="Real-time-Image-Preview">Real-time Image Preview</h2>
 while 1:
     disp.show(cam.read())
 </code></pre>
-<p>Here, we capture an image using the camera, and then display it on the screen using <code>disp.show()</code>, which will also transmit the image to MaixVision for display.</p>
-<p>By clicking the <code>Pause</code> button in the top right corner, the transmission of the image to MaixVision display will stop.</p>
-<h2 id="Computing-the-Histogram-of-an-Image">Computing the Histogram of an Image</h2>
-<p>In the previous step, we could see the image in real-time on MaixVision. By selecting a region with the mouse, we can view the histogram of that area below the image. Choosing different color representation methods allows us to see histograms of different color channels. This feature helps us find suitable parameters when working on image processing algorithms.</p>
-<h2 id="Using-Graphical-Block-Programming">Using Graphical Block Programming</h2>
-<p>Currently in development, stay tuned for updates.</p>
+<p>Here we use the camera to capture an image, then display it on the screen using the <code>disp.show()</code> method, and also send it to MaixVision for display.</p>
+<p>When we click the 'pause' button in the top right corner, it will stop sending images to MaixVision.</p>
+<h2 id="Code-Auto-Completion">Code Auto Completion</h2>
+<p>Code suggestions depend on local Python packages installed on your computer. To enable code suggestions, you need to install Python on your computer and the required Python packages.</p>
+<ul>
+<li>To install Python, visit the <a href="https://python.org/"  target="_blank">Python official website</a>.</li>
+<li>To install the required packages, for MaixPy, for instance, you need to install the MaixPy package on your computer using <code>pip install MaixPy</code>. If <code>MaixPy</code> gets updated, you should update it on both your computer and device. On your computer, manually execute <code>pip install MaixPy -U</code> in the terminal. For device updates, update directly in the <code>Settings</code> application.</li>
+</ul>
+<blockquote>
+<p>Users in China can use a local mirror <code>pip install -i https://pypi.tuna.tsinghua.edu.cn/simple MaixPy</code>.</p>
+</blockquote>
+<ul>
+<li>Restart MaixVision to see the code suggestions.</li>
+</ul>
+<blockquote>
+<p>If suggestions still do not appear, you can manually set the path to the Python executable in settings and restart.</p>
+</blockquote>
+<blockquote class="spoiler warning">
+<p> Note that installing Python packages on your computer is just for code suggestions. The actual code runs on the device (development board), and the device must also have the corresponding packages to run properly.</p>
+</blockquote>
+<blockquote>
+<p>Additionally, while you have the MaixPy package installed on your computer, due to our limited resources, we cannot guarantee that you can directly use the Maix package in your computer's Python. Please run it on supported devices.</p>
+</blockquote>
+<h2 id="Calculating-the-Image-Histogram">Calculating the Image Histogram</h2>
+<p>In the previous step, we could see the image in real-time in MaixVision. By selecting an area with the mouse, we can view the histogram for that area at the bottom of the screen, displaying different color channels.</p>
+<p>This feature is helpful when finding suitable parameters for some image processing algorithms.</p>
 <h2 id="Distinguishing-Between-%3Ccode%3EDevice-File-System%3C/code%3E-and-%3Ccode%3EComputer-File-System%3C/code%3E">Distinguishing Between <code>Device File System</code> and <code>Computer File System</code></h2>
-<p>An important concept to grasp here is distinguishing between the <strong><code>Computer File System</code></strong> and <strong><code>Device File System</code></strong>:</p>
+<p>Here we have an important concept to grasp: <strong>distinguish between the <code>Device File System</code> and the <code>Computer File System</code></strong>.</p>
 <ul>
-<li><strong>Computer File System</strong>: This operates on the computer. Opening files or projects in MaixVision accesses files stored on the computer. Any changes are automatically saved to the computer's file system.</li>
-<li><strong>Device File System</strong>: When a program runs, it sends files to the device for execution. Therefore, files accessed within the code are read from the device's file system.</li>
+<li><strong>Computer File System</strong>: Operates on the computer. Opening a file or project in MaixVision accesses files on the computer, and saving is automatically done to the computer's file system.</li>
+<li><strong>Device File System</strong>: The program sends the code to the device for execution, so the files used in the code are read from the device's file system.</li>
 </ul>
-<p>A common issue arises when a file is saved on the computer at <code>D:\data\a.jpg</code>, and then the file is referenced on the device like <code>img = image.load(&quot;D:\data\a.jpg&quot;)</code>. This file cannot be found on the device because there is no <code>D:\data\a.jpg</code> file stored there.</p>
-<p>For specific instructions on transferring computer files to the device, please refer to the following section.</p>
+<p>A common issue is when students save a file on the computer, such as <code>D:\data\a.jpg</code>, and then use this file on the device with <code>img = image.load(&quot;D:\data\a.jpg&quot;)</code>. Naturally, the file cannot be found because the device does not have <code>D:\data\a.jpg</code>.</p>
+<p>For specifics on how to send files from the computer to the device, refer to the following section.</p>
 <h2 id="Transferring-Files-to-the-Device">Transferring Files to the Device</h2>
-<p>Currently in development. In the meantime, you can use alternative tools:</p>
-<p>Begin by knowing the device's IP address or device name, which MaixVision can search for, or check in the device's <code>Settings -&gt; System Information</code>, where you might find something similar to <code>maixcam-xxxx.local</code> or <code>192.168.0.123</code>. The username and password are both <code>root</code>, and the file transfer protocol is <code>SFTP</code> with port number <code>22</code>.</p>
-<p>There are various user-friendly software options available for different operating systems:</p>
-<h3 id="For-Windows">For Windows</h3>
-<p>Use tools like <a href="https://winscp.net/eng/index.php"  target="_blank">WinSCP</a> or <a href="https://filezilla-project.org/"  target="_blank">FileZilla</a> to connect to the device via <code>SFTP</code>. Provide the necessary device and account information to establish the connection.</p>
-<p>For further guidance, perform a quick online search.</p>
-<h3 id="For-Linux">For Linux</h3>
-<p>Use the <code>scp</code> command in the terminal to transfer files to the device, for example:</p>
+<p>First, connect to the device, then click the button to browse the device file system, as shown below. Then you can upload files to the device or download files to the computer.</p>
+<p><img src="../../assets/maixvision_browser2.jpg" alt="maixvision_browser2" /></p>
+<p><img src="../../assets/maixvision_browser.jpg" alt="maixvision_browser" /></p>
+<details>
+<summary>Alternatively, other tools can be used, click to expand</summary>
+<div class="details-content"><p>First, know the device's IP address or name, which MaixVision can find, or see in the device's <code>Settings-&gt;System Information</code>, such as <code>maixcam-xxxx.local</code> or <code>192.168.0.123</code>.<br />
+ The username and password are <code>root</code>, using the <code>SFTP</code> protocol for file transfer, and the port number is <code>22</code>.</p>
+<p>There are many useful tools available for different systems:</p>
+<h3 id="Windows">Windows</h3>
+<p>Use <a href="https://winscp.net/eng/index.php"  target="_blank">WinSCP</a> or <a href="https://filezilla-project.org/"  target="_blank">FileZilla</a> to connect to the device and transfer files, choosing the <code>SFTP</code> protocol and entering the device and account information to connect.</p>
+<p>Specific instructions can be searched online.</p>
+<h3 id="Linux">Linux</h3>
+<p>In the terminal, use the <code>scp</code> command to transfer files to the device, such as:</p>
 
 <pre class="language-bash"><code class="language-bash">scp /path/to/your/file.py root@maixcam-xxxx.local:/root
 </code></pre>
-<h3 id="For-Mac">For Mac</h3>
+<h3 id="Mac">Mac</h3>
 <ul>
-<li><strong>Method 1</strong>: Use the <code>scp</code> command in the terminal to transfer files to the device, for example:</li>
+<li><strong>Method 1</strong>: In the terminal, use the <code>scp</code> command to transfer files to the device, such as:</li>
 </ul>
 
 <pre class="language-bash"><code class="language-bash">scp /path/to/your/file.py root@maixcam-xxxx.local:/root
 </code></pre>
 <ul>
-<li><strong>Method 2</strong>: Use tools like <a href="https://filezilla-project.org/"  target="_blank">FileZilla</a> to connect to the device, transfer the files to the device, choose the <code>SFTP</code> protocol, fill in the device and account information, and connect.</li>
+<li><strong>Method 2</strong>: Use <a href="https://filezilla-project.org/"  target="_blank">FileZilla</a> or other tools to connect to the device and transfer files, choosing the <code>SFTP</code> protocol and entering the device and account information to connect.</li>
 </ul>
+</div>
+</details>
+<h2 id="Using-Graphical-Block-Programming">Using Graphical Block Programming</h2>
+<p>Under development, please stay tuned.</p>
 
                         
                     </div>
diff --git a/maixpy/doc/en/basic/os.html b/maixpy/doc/en/basic/os.html
index d022990f..24e88013 100644
--- a/maixpy/doc/en/basic/os.html
+++ b/maixpy/doc/en/basic/os.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="active_parent no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/basic/python.html b/maixpy/doc/en/basic/python.html
index 917c011a..db219d04 100644
--- a/maixpy/doc/en/basic/python.html
+++ b/maixpy/doc/en/basic/python.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="active_parent no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/basic/python_pkgs.html b/maixpy/doc/en/basic/python_pkgs.html
index 145fb63a..cdfbec93 100644
--- a/maixpy/doc/en/basic/python_pkgs.html
+++ b/maixpy/doc/en/basic/python_pkgs.html
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-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="active_parent no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
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@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/faq.html b/maixpy/doc/en/faq.html
index c9b45e20..b756927f 100644
--- a/maixpy/doc/en/faq.html
+++ b/maixpy/doc/en/faq.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
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@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/index.html b/maixpy/doc/en/index.html
index 34b199e7..8fb09a2e 100644
--- a/maixpy/doc/en/index.html
+++ b/maixpy/doc/en/index.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/modules/acc.html b/maixpy/doc/en/modules/acc.html
index d6a75d24..ac1308c4 100644
--- a/maixpy/doc/en/modules/acc.html
+++ b/maixpy/doc/en/modules/acc.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/modules/thermal_cam.html b/maixpy/doc/en/modules/thermal_cam.html
index 3145ee4d..2c076aa6 100644
--- a/maixpy/doc/en/modules/thermal_cam.html
+++ b/maixpy/doc/en/modules/thermal_cam.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -229,8 +252,8 @@ <h1></h1>
                     </div>
                     <div id="next">
                         
-                        <a href="/maixpy/doc/en/source_code/contribute.html">
-                            <span class="label">Contribute</span>
+                        <a href="/maixpy/doc/en/projects/index.html">
+                            <span class="label">Intro & Collection</span>
                             <span class="icon"></span>
                         </a>
                         
diff --git a/maixpy/doc/en/modules/tof.html b/maixpy/doc/en/modules/tof.html
index ef7098bd..745a06f9 100644
--- a/maixpy/doc/en/modules/tof.html
+++ b/maixpy/doc/en/modules/tof.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
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+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
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+<li class="active_parent no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator"></span></a><ul class="show">
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-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
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 </ul>
 
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diff --git a/maixpy/doc/en/no_translate.html b/maixpy/doc/en/no_translate.html
index 7820a3fd..9d41eaf6 100644
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 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/peripheral/gpio.html b/maixpy/doc/en/peripheral/gpio.html
index 52e81607..b39bb669 100644
--- a/maixpy/doc/en/peripheral/gpio.html
+++ b/maixpy/doc/en/peripheral/gpio.html
@@ -44,7 +44,7 @@
         
     
     
-    <title>MaixPy</title>
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-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
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@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
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-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
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-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>MaixPy Using GPIO</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,8 +212,8 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="Last modify date: 2024-04-26">
-                                    2024-04-26
+                                <span class="article_date" title="Last modify date: 2024-05-14">
+                                    2024-05-14
                                 </span>
                             
                         </div>
@@ -214,7 +237,41 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <h2 id="Introduction">Introduction</h2>
+<p>Using GPIO allows you to control pins for input or output high and low levels, which is commonly used to read signals or output control signals.</p>
+<h2 id="Using-GPIO-in-MaixPy">Using GPIO in MaixPy</h2>
+<blockquote>
+<p>MaixPy Firmware should &gt; 4.1.2(not include)</p>
+</blockquote>
+<p>First, we need to know which pins and GPIOs the device has. For MaixCAM, each pin corresponds to a GPIO controller, as shown in the figure:</p>
+<p><img src="http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg" alt="" /></p>
+<p>It is important to note that pins can be used not only as GPIOs but also for other functions like PWM. Before using them, we need to set the pin function to GPIO.</p>
+<p>For example, on MaixCAM, some pins are already occupied by other functions by default, such as UART0 and WiFi (SDIO1 + A26), so it is not recommended to use them. Other pins can be used, and the A14 pin is connected to the onboard LED, which is used as a system load indicator by default. If initialized, it will automatically disable the system indicator function and can be used as a regular GPIO (note that <code>A14</code> can only be used as an output). This way, you can control the LED's on and off state.</p>
+
+<pre class="language-python"><code class="language-python">from maix import gpio, pinmap, time
+
+pinmap.set_pin_function(&quot;A14&quot;, &quot;GPIOA14&quot;)
+led = gpio.GPIO(&quot;A14&quot;, gpio.Mode.OUT)
+led.value(0)
+
+while 1:
+    led.toggle()
+    time.sleep_ms(500)
+</code></pre>
+<p>Here, we first use <code>pinmap</code> to set the function of the <code>A14</code> pin to <code>GPIO</code>. Of course, for <code>A14</code>, since it only has the <code>GPIO</code> function, it can be omitted. For the sake of generality, other pins may need to be set, so it is set in this example.</p>
+<p>For more APIs, please refer to the <a href="https://wiki.sipeed.com/maixpy/api/maix/peripheral/gpio.html"  target="_blank">GPIO API Documentation</a></p>
+<h2 id="GPIO-in-Input-Mode">GPIO in Input Mode</h2>
+
+<pre class="language-python"><code class="language-python">from maix import gpio, pinmap, time
+
+pinmap.set_pin_function(&quot;A19&quot;, &quot;GPIOA19&quot;)
+led = gpio.GPIO(&quot;A19&quot;, gpio.Mode.IN)
+
+while 1:
+    print(led.value())
+    time.sleep_ms(1) # sleep to make cpu free
+</code></pre>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/en/peripheral/i2c.html b/maixpy/doc/en/peripheral/i2c.html
index 5717f293..eb2b10fd 100644
--- a/maixpy/doc/en/peripheral/i2c.html
+++ b/maixpy/doc/en/peripheral/i2c.html
@@ -44,10 +44,10 @@
         
     
     
-    <title>MaixPy</title>
+    <title>MaixPy Using I2C - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
-    <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
 </head>
 
 
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>MaixPy Using I2C</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,10 +212,6 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="Last modify date: 2024-04-26">
-                                    2024-04-26
-                                </span>
-                            
                         </div>
                         <div id="article_info_right">
                             
@@ -214,7 +233,42 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <p>For MaixCAM, due to the tight pin resource constraints, the I2C pins overlap with the WiFi module (SDIO1), so you can only use either WiFi or hardware I2C, but not both.</p>
+<p>Therefore, it is recommended to use IO emulation for I2C.</p>
+<blockquote>
+<p>Note: Requires MaixPy image and firmware &gt; 4.1.2 (not included)</p>
+</blockquote>
+<h2 id="IO-Emulation-I2C">IO Emulation I2C</h2>
+<p>To emulate <code>I2C</code>, you only need to use the <code>GPIO</code> functionality for the pins. On <code>MaixCAM</code>, the emulated <code>I2C</code> is fixed to pins <code>A15</code> (<code>SCL</code>) and <code>A27</code> (<code>SDA</code>), with the <code>i2c</code> number being <code>5</code>. To use it, simply:</p>
+
+<pre class="language-python"><code class="language-python">from maix import i2c, pinmap
+
+# pinmap.set_pin_function(&quot;A15&quot;, &quot;GPIOA23&quot;)
+# pinmap.set_pin_function(&quot;A27&quot;, &quot;GPIOA24&quot;)
+
+bus1 = i2c.I2C(5, i2c.Mode.MASTER)
+slaves = bus1.scan()
+print(&quot;find slaves:&quot;, slaves)
+</code></pre>
+<p>More API visit <a href="https://wiki.sipeed.com/maixpy/api/maix/peripheral/i2c.html"  target="_blank">i2c API doc</a></p>
+<h2 id="Hardware-I2C">Hardware I2C</h2>
+<p>As mentioned above, for <code>MaixCAM</code>, hardware <code>I2C</code> and <code>WiFi</code> are mutually exclusive. If you must use hardware <code>I2C</code>, you need to disable <code>WiFi</code> and use the <code>pinmap</code> module to set the pin functions to <code>I2C</code>, then use the <code>maix.i2c</code> module to operate.</p>
+<blockquote>
+<p>TODO: Provide a method to disable WiFi (requires disabling the WiFi driver in the system, which is relatively complex)</p>
+</blockquote>
+<p>Hardware <code>I2C</code> and its correspond pin see:</p>
+<p><img src="http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg" alt="" /></p>
+
+<pre class="language-python"><code class="language-python">from maix import i2c, pinmap
+
+pinmap.set_pin_function(&quot;P18&quot;, &quot;I2C1_SCL&quot;)
+pinmap.set_pin_function(&quot;P21&quot;, &quot;I2C1_SDA&quot;)
+
+bus1 = i2c.I2C(1, i2c.Mode.MASTER)
+slaves = bus1.scan()
+print(&quot;find slaves:&quot;, slaves)
+</code></pre>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/en/peripheral/pwm.html b/maixpy/doc/en/peripheral/pwm.html
index 86ef178c..8ad748af 100644
--- a/maixpy/doc/en/peripheral/pwm.html
+++ b/maixpy/doc/en/peripheral/pwm.html
@@ -44,7 +44,7 @@
         
     
     
-    <title>MaixPy</title>
+    <title>Using PWM in MaixPy - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
     <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>Using PWM in MaixPy</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,8 +212,8 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="Last modify date: 2024-04-26">
-                                    2024-04-26
+                                <span class="article_date" title="Last modify date: 2024-05-14">
+                                    2024-05-14
                                 </span>
                             
                         </div>
@@ -214,7 +237,44 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <h2 id="Introduction">Introduction</h2>
+<p>To use <code>PWM</code> in MaixPy (v4), first set the pin function to <code>PWM</code> using <code>pinmap</code>.</p>
+<p>Each <code>PWM</code> corresponds to a specific pin, as shown in the pin diagram of MaixCAM:</p>
+<p><img src="http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg" alt="" /></p>
+<p>We recommend using <code>PWM6</code> and <code>PWM7</code>.</p>
+<p>For <code>MaixCAM</code>, since <code>WiFi</code> uses all pins of <code>SDIO1</code>, <code>PWM4~9</code> can only be used alternatively with <code>WiFi</code>.</p>
+<blockquote>
+<p>TODO: Provide a method to disable WiFi (requires disabling the WiFi driver in the system, which is quite complex)</p>
+</blockquote>
+<h2 id="Using-PWM-to-Control-a-Servo-in-MaixPy">Using PWM to Control a Servo in MaixPy</h2>
+<p>Here we take controlling a servo as an example, using <code>PWM7</code> and the <code>A19</code> pin of <code>MaixCAM</code>:</p>
+
+<pre class="language-python"><code class="language-python">from maix import pwm, time, pinmap
+
+SERVO_PERIOD = 50     # 50Hz 20ms
+SERVO_MIN_DUTY = 2.5  # 2.5% -&gt; 0.5ms
+SERVO_MAX_DUTY = 12.5  # 12.5% -&gt; 2.5ms
+
+# Use PWM7
+pwm_id = 7
+# !! set pinmap to use PWM7
+pinmap.set_pin_function(&quot;A19&quot;, &quot;PWM7&quot;)
+
+def angle_to_duty(percent):
+    return (SERVO_MAX_DUTY - SERVO_MIN_DUTY) * percent / 100.0 + SERVO_MIN_DUTY
+
+out = pwm.PWM(pwm_id, freq=SERVO_PERIOD, duty=angle_to_duty(0), enable=True)
+
+for i in range(100):
+    out.duty(angle_to_duty(i))
+    time.sleep_ms(100)
+
+for i in range(100):
+    out.duty(angle_to_duty(100 - i))
+    time.sleep_ms(100)
+</code></pre>
+<p>This code controls the servo to rotate from the minimum angle to the maximum angle and then back to the minimum angle.</p>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/en/peripheral/spi.html b/maixpy/doc/en/peripheral/spi.html
index baf5bb5e..22ced05a 100644
--- a/maixpy/doc/en/peripheral/spi.html
+++ b/maixpy/doc/en/peripheral/spi.html
@@ -44,10 +44,10 @@
         
     
     
-    <title>MaixPy</title>
+    <title>MaixPy ues SPI - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
-    <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
 </head>
 
 
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>MaixPy ues SPI</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,10 +212,6 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="Last modify date: 2024-04-26">
-                                    2024-04-26
-                                </span>
-                            
                         </div>
                         <div id="article_info_right">
                             
@@ -214,7 +233,8 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <p>TODO:</p>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/en/peripheral/uart.html b/maixpy/doc/en/peripheral/uart.html
index 1ef8e5ba..61a8a065 100644
--- a/maixpy/doc/en/peripheral/uart.html
+++ b/maixpy/doc/en/peripheral/uart.html
@@ -44,7 +44,7 @@
         
     
     
-    <title>MaixPy</title>
+    <title>Introduction to Using UART in MaixPy - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
     <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>Introduction to Using UART in MaixPy</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,8 +212,8 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="Last modify date: 2024-04-26">
-                                    2024-04-26
+                                <span class="article_date" title="Last modify date: 2024-05-14">
+                                    2024-05-14
                                 </span>
                             
                         </div>
@@ -214,7 +237,60 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <h2 id="Introduction-to-UART">Introduction to UART</h2>
+<p>UART (Universal Asynchronous Receiver/Transmitter) is a communication method that includes definitions for both hardware and communication protocols.</p>
+<ul>
+<li><p><strong>Hardware includes:</strong></p>
+<ul>
+<li>3 pins: <code>GND</code>, <code>RX</code>, <code>TX</code>. The communication parties connect <code>RX</code> and <code>TX</code> in a cross configuration, i.e., the <code>TX</code> of one side is connected to the <code>RX</code> of the other side, and both <code>GND</code> pins are connected together.</li>
+<li>Controller: Usually inside the chip, also known as a UART peripheral. A chip generally has one or more UART controllers, each with corresponding pins.</li>
+</ul>
+</li>
+<li><p><strong>Communication protocol:</strong> To ensure smooth communication between both parties, a set of protocols is defined. You can learn the specifics on your own. Common parameters include baud rate and parity bit, with baud rate being the most frequently used parameter.</p>
+</li>
+</ul>
+<p>Using the board's UART, you can communicate with other microcontrollers or SoCs. For instance, you can implement a human detection function on MaixCAM and send the detected coordinates to an STM32 microcontroller via UART.</p>
+<h2 id="Using-UART-in-MaixPy">Using UART in MaixPy</h2>
+<p>For MaixCAM, a UART is by default exposed through the USB port. By connecting a Type-C adapter board, you can directly use the UART pins on it. Alternatively, you can use the <code>A16 (TX)</code> and <code>A17 (RX)</code> pins on the board directly, which are equivalent to the ones exposed through the USB port.</p>
+<p>When using the UART exposed through the USB port on MaixCAM, <strong>note</strong> that the <code>RX</code> and <code>TX</code> pins on the Type-C adapter board will switch when you flip the Type-C connector. So, if communication fails, it might be due to reversed <code>RX</code> and <code>TX</code>. Try flipping the Type-C connector and check if the communication works properly. This is a design flaw, but it’s manageable with minimal adjustments.</p>
+<p>After connecting the communicating boards (connecting <code>RX</code> to <code>TX</code> in a cross configuration and both <code>GND</code> pins together), you can use the software.</p>
+<p>Using UART in MaixPy is simple:</p>
+
+<pre class="language-python"><code class="language-python">from maix import uart
+
+devices = uart.list_devices()
+
+serial = uart.UART(devices[0], 115200)
+serial.write_str(&quot;hello world&quot;)
+print(&quot;received:&quot;, serial.read(timeout = 2000))
+</code></pre>
+<p>Here, we list all UART devices in the system and use the first one, which is the one exposed through the Type-C port.</p>
+<p>For more UART APIs, please refer to the <a href="../../../api/maix/peripheral/uart.html"  >UART API Documentation</a></p>
+<h2 id="Other-Usage-and-Using-Additional-UARTs">Other Usage and Using Additional UARTs</h2>
+
+<pre class="language-python"><code class="language-python">from maix import app, uart, pinmap, time
+import sys
+
+# pinmap.set_pin_function(&quot;A16&quot;, &quot;UART0_TX&quot;)
+# pinmap.set_pin_function(&quot;A17&quot;, &quot;UART0_RX&quot;)
+device = &quot;/dev/ttyS0&quot;
+
+serial0 = uart.UART(device, 115200)
+
+serial0.write(&quot;hello 1\r\n&quot;.encode())
+serial0.write_str(&quot;hello 2\r\n&quot;)
+
+while not app.need_exit():
+    data = serial0.read()
+    if data:
+        print(&quot;Received, type: {}, len: {}, data: {}&quot;.format(type(data), len(data), data))
+        serial0.write(data)
+    time.sleep_ms(1) # sleep 1ms to make CPU free
+</code></pre>
+<p>Here, we set up pin mapping, especially if you want to use UARTs other than UART0. Use <code>pinmap.set_pin_function</code> based on the pin numbers and UART in the diagram:</p>
+<p><img src="http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg" alt="" /></p>
+<p>Additionally, a <code>sleep_ms</code> function is added in the loop to briefly release the CPU, ensuring that the program does not occupy the CPU fully. There are other methods to achieve this, but this is the simplest and most straightforward approach.</p>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/en/peripheral/wdt.html b/maixpy/doc/en/peripheral/wdt.html
index c628f269..6a8fa7be 100644
--- a/maixpy/doc/en/peripheral/wdt.html
+++ b/maixpy/doc/en/peripheral/wdt.html
@@ -44,7 +44,7 @@
         
     
     
-    <title>MaixPy</title>
+    <title>Using Watchdog Timer in MaixPy - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
     <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>Using Watchdog Timer in MaixPy</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,8 +212,8 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="Last modify date: 2024-04-26">
-                                    2024-04-26
+                                <span class="article_date" title="Last modify date: 2024-05-14">
+                                    2024-05-14
                                 </span>
                             
                         </div>
@@ -214,7 +237,23 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <h2 id="Introduction">Introduction</h2>
+<p>To prevent program issues, a watchdog timer (WDT) is often used to automatically restart the system when the program encounters a problem.</p>
+<p>The principle is that there is a countdown timer that we need to periodically reset within the program logic (also called &quot;feeding the dog&quot;). If our program gets stuck and fails to reset the countdown timer, the hardware will trigger a system reboot when the timer reaches 0.</p>
+<h2 id="Using-WDT-in-MaixPy">Using WDT in MaixPy</h2>
+
+<pre class="language-python"><code class="language-python">from maix import wdt, app, time
+
+w = wdt.WDT(0, 1000)
+
+while not app.need_exit():
+    w.feed()
+    # Here, sleep operation is our task
+    # 200 ms is normal; if it exceeds 1000 ms, it will cause a system reset
+    time.sleep_ms(200)
+</code></pre>
+<p>This code sets up a watchdog timer that requires feeding every 1000 ms. If the program fails to feed the watchdog within this period, the system will reset.</p>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/en/pro/compile_os.html b/maixpy/doc/en/pro/compile_os.html
index 61be8f61..d0f38ac8 100644
--- a/maixpy/doc/en/pro/compile_os.html
+++ b/maixpy/doc/en/pro/compile_os.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Advanced</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
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 <li class="active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
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+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
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+</ul>
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+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
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+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/object_track.html"><span class="label">Object tracking and counting</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
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+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
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+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Porjects</span><span class="sub_indicator"></span></a><ul class="show">
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+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
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+<li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
+</ul>
+
+            </div>
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+            <div id="menu_wrapper">
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+                    <div id="article_head">
+                        <div id="article_title">
+                            
+                            <h1>Practical Projects with MaixPy, Introduction and Collection</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
+                        </div>
+                        <div id="article_info">
+                        <div id="article_info_left">
+                            <span class="article_author">
+                                
+                            </span>
+                            
+                        </div>
+                        <div id="article_info_right">
+                            
+                            <div id="source_link">
+                                <a href="https://github.com/sipeed/MaixPy/blob/main/docs/doc/en/projects/README.md" target="_blank">
+                                    Edit this page
+                                </a>
+                            </div>
+                            
+                        </div>
+                        </div>
+                    </div>
+                    <div id="article_tools">
+                        <span></span>
+                        <span id="toc_btn"></span>
+                    </div>
+                    <div id="update_history">
+                        
+                    </div>
+                    <div id="article_content">
+                        
+                            <h2 id="Introduction">Introduction</h2>
+<p>Here we provide some common practical project examples for community members to refer to and replicate for use. This also helps to inspire everyone to create more and better applications and projects.</p>
+<p>There are several ways to find projects implemented with MaixPy:</p>
+<h2 id="MaixPy-Official-Documentation">MaixPy Official Documentation</h2>
+<p>You can find practical projects in the documentation on the left, such as &quot;Line Following Car.&quot;</p>
+<p>If you have a good project or a recommended project, you can also contribute by adding it to the documentation.</p>
+<h2 id="MaixHub-Project-Sharing-Square">MaixHub Project Sharing Square</h2>
+<p>Projects can be found in the <a href="https://maixhub.com/share?type=project"  target="_blank">MaixHub Project Sharing</a> section.</p>
+<p>High-quality shares will also be linked to the MaixPy official documentation.</p>
+<p>You can also share your project-making methods, which will receive official rewards (guaranteed) and cash tips from community members (usually, high-quality projects that meet urgent needs are more likely to be tipped).</p>
+<p>Recommend Projects:</p>
+<ul>
+<li>maixcam deploy yolov5s model: <a href="https://maixhub.com/share/23"  target="_blank">https://maixhub.com/share/23</a></li>
+</ul>
+<h2 id="MaixHub-App-Sharing">MaixHub App Sharing</h2>
+<p>In addition to project sharing, you can also find directly runnable applications at the <a href="https://maixhub.com/app"  target="_blank">MaixHub App Store</a>, some of which might be written in MaixPy. If the author has provided the source code or written detailed tutorials, these can also be referred to.</p>
+<p>Recommend Projects:</p>
+<ul>
+<li>Simple HTTP Streaming Server: <a href="https://maixhub.com/app/19"  target="_blank">https://maixhub.com/app/19</a></li>
+<li>Desktop Computer Performance Monitor: <a href="https://maixhub.com/app/13"  target="_blank">https://maixhub.com/app/13</a></li>
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+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
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+                        <div id="article_title">
+                            
+                            <h1>MaixPy Line Tracking Robot (/Car)</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
+                        </div>
+                        <div id="article_info">
+                        <div id="article_info_left">
+                            <span class="article_author">
+                                
+                            </span>
+                            
+                                <span class="article_date" title="Last modify date: 2024-05-09">
+                                    2024-05-09
+                                </span>
+                            
+                        </div>
+                        <div id="article_info_right">
+                            
+                            <div id="source_link">
+                                <a href="https://github.com/sipeed/MaixPy/blob/main/docs/doc/en/projects/line_tracking_robot.md" target="_blank">
+                                    Edit this page
+                                </a>
+                            </div>
+                            
+                        </div>
+                        </div>
+                    </div>
+                    <div id="article_tools">
+                        <span></span>
+                        <span id="toc_btn"></span>
+                    </div>
+                    <div id="update_history">
+                        
+                        
+                        <details open>
+                        
+                            <summary>Update history</summary>
+                            <div>
+                                <table>
+                                        <thead>
+                                            <tr>
+                                                <th>Date</th>
+                                                <th>Version</th>
+                                                <th>Author</th>
+                                                <th>Update content</th>
+                                            </tr>
+                                        </thead>
+                                        <tbody>
+                                            
+                                                <tr>
+                                                    <td>2024-05-09</td>
+                                                    <td>1.0.0</td>
+                                                    <td>lxowalle</td>
+                                                    <td>
+                                                    
+                                                        Initial documentation
+                                                    
+                                                    </td>
+                                                </tr>
+                                            
+                                        </tbody>
+                                </table>
+                            </div>
+                        </details>
+                        
+                    </div>
+                    <div id="article_content">
+                        
+                            <p>Before reading this article, make sure you know how to develop with MaixCAM. For details, please read <a href="../index.html"  >Quick Start</a>.</p>
+<h2 id="Introduction">Introduction</h2>
+<p>This article describes how to implement a line tracking robot using MaixPy.</p>
+<h2 id="How-to-implement-line-tracking-robot-using-MaixPy">How to implement line tracking robot using MaixPy</h2>
+<ol>
+<li>Preparation of MaixCAM and trolley</li>
+<li>Implementing the line tracking function</li>
+<li>Implement the trolley control function</li>
+</ol>
+<h3 id="Preparation-of-MaixCAM-and-trolley">Preparation of MaixCAM and trolley</h3>
+<p>TODO</p>
+<h3 id="Implementing-the-line-tracking-function">Implementing the line tracking function</h3>
+<p>You can quickly find straight lines using the <code>get_regression</code> of the <code>image</code> module, see [Line tracking](. /line_tracking.html).</p>
+<p>Code：</p>
+
+<pre class="language-python"><code class="language-python">from maix import camera, display, image
+
+cam = camera.Camera(320, 240)
+disp = display.Display()
+
+# thresholds = [[0, 80, 40, 80, 10, 80]]      # red
+thresholds = [[0, 80, -120, -10, 0, 30]]    # green
+# thresholds = [[0, 80, 30, 100, -120, -60]]  # blue
+
+while 1:
+    img = cam.read()
+
+    lines = img.get_regression(thresholds, area_threshold = 100)
+    for a in lines:
+        img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2)
+        theta = a.theta()
+        rho = a.rho()
+        if theta &gt; 90:
+            theta = 270 - theta
+        else:
+            theta = 90 - theta
+        img.draw_string(0, 0, &quot;theta: &quot; + str(theta) + &quot;, rho: &quot; + str(rho), image.COLOR_BLUE)
+
+    disp.show(img)
+
+</code></pre>
+<p>The above code implements the function of finding a straight line, note:</p>
+<ul>
+<li>Use <code>a.theta()</code> to get the angle of the line.</li>
+<li>Use <code>a.rho()</code> to get the distance between the line and the origin (the origin is in the upper left corner).</li>
+</ul>
+<p>After find the straight line with reference to the above code, you can use <code>a.theta()</code> and <code>a.rho()</code> to control the direction of the cart.</p>
+<h3 id="Implement-the-trolley-control-function">Implement the trolley control function</h3>
+<p>TODO</p>
+
+                        
+                    </div>
+                </div>
+                <div id="previous_next">
+                    <div id="previous">
+                        
+                        <a href="/maixpy/doc/en/projects/index.html">
+                            <span class="icon"></span>
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+                        </a>
+                        
+                    </div>
+                    <div id="next">
+                        
+                        <a href="/maixpy/doc/en/source_code/contribute.html">
+                            <span class="label">Contribute</span>
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+                        </a>
+                        
+                    </div>
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+    <div id="doc_footer">
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+            <div id="footer_top">
+                <ul>
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+    
+</body>
+
+</html>
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diff --git a/maixpy/doc/en/sidebar.yaml b/maixpy/doc/en/sidebar.yaml
index dabc8295..5751da37 100644
--- a/maixpy/doc/en/sidebar.yaml
+++ b/maixpy/doc/en/sidebar.yaml
@@ -2,126 +2,146 @@ items:
 -   file: README.md
     label: Quick Start
 -   file: faq.md
-    label: FAQ 
+    label: FAQ
 
 -   label: Base
--   file: basic/os.md
-    label: Burning system
--   file: basic/app_usage.md
-    label: App uses
--   file: basic/maixpy_upgrade.md
-    label: Update MaixPy
--   file: basic/maixvision.md
-    label: MaixVision uses
--   file: basic/python.md
-    label: Python syntax
--   file: basic/linux_basic.md
-    label: Linux fundamentals
--   file: basic/python_pkgs.md
-    label: Add python packages
--   file: basic/app.md
-    label: Apps development
+    collapsed: false
+    items:
+    -   file: basic/os.md
+        label: Burning system
+    -   file: basic/app_usage.md
+        label: App uses
+    -   file: basic/maixpy_upgrade.md
+        label: Update MaixPy
+    -   file: basic/maixvision.md
+        label: MaixVision uses
+    -   file: basic/python.md
+        label: Python syntax
+    -   file: basic/linux_basic.md
+        label: Linux fundamentals
+    -   file: basic/python_pkgs.md
+        label: Add python packages
+    -   file: basic/app.md
+        label: Apps development
 
 -   label: Basic images and algorithms
--   file: vision/display.md
-    label: Screen uses
--   file: vision/camera.md
-    label: Camera uses
--   file: vision/image_ops.md
-    label: Image control
--   file: vision/find_blobs.md
-    label: Finding color blocks
--   file: vision/qrcode.md
-    label: QRcode identity
--   file: vision/apriltag.md
-    label: AprilTag identity
+    items:
+    -   file: vision/display.md
+        label: Screen uses
+    -   file: vision/camera.md
+        label: Camera uses
+    -   file: vision/image_ops.md
+        label: Image control
+    -   file: vision/find_blobs.md
+        label: Finding color blocks
+    -   file: vision/line_tracking.md
+        label: Line tracking
+    -   file: vision/qrcode.md
+        label: QRcode identity
+    -   file: vision/apriltag.md
+        label: AprilTag identity
 
 -   label: AI Vision
--   file: vision/ai.md
-    label: AI vision knowledge
--   file: vision/classify.md
-    label: AI object classify
--   file: vision/yolov5.md
-    label: YOLOv5 object detect
--   file: vision/face_recognition.md
-    label: Face detect
--   file: vision/body_key_points.md
-    label: Human critical point detection
--   file: vision/self_learn_classifier.md
-    label: Self-learning classifier
--   file: vision/self_learn_detector.md
-    label: Self-learning detector
--   file: vision/object_track.md
-    label: Object tracking and counting
--   file: vision/ocr.md
-    label: OCR 
--   file: vision/maixhub_train.md
-    label: MaixHub online AI training
--   file: vision/custmize_model.md
-    label: Custom model
+    items:
+    -   file: vision/ai.md
+        label: AI vision knowledge
+    -   file: vision/classify.md
+        label: AI object classify
+    -   file: vision/yolov5.md
+        label: YOLOv5 object detect
+    -   file: vision/face_detection.md
+        label: Face detect and keypoints
+    -   file: vision/face_recognition.md
+        label: Face recognition
+    -   file: vision/body_key_points.md
+        label: Human critical point detection
+    -   file: vision/self_learn_classifier.md
+        label: Self-learning classifier
+    -   file: vision/self_learn_detector.md
+        label: Self-learning detector
+    -   file: vision/object_track.md
+        label: Object tracking and counting
+    -   file: vision/ocr.md
+        label: OCR 
+    -   file: vision/maixhub_train.md
+        label: MaixHub online AI training
+    -   file: vision/custmize_model.md
+        label: Custom model
 
 
 -   label: AI audio
--   file: audio/record.md
-    label: Audio record
--   file: audio/play.md
-    label: Play audio
--   file: audio/classifier.md
-    label: AI voice classifier
--   file: audio/keyword.md
-    label: Keyword recognize
--   file: audio/recognize.md
-    label: Real-time voice recognize
--   file: audio/synthesis.md
-    label: Speech synthesis
+    items:
+    -   file: audio/record.md
+        label: Audio record
+    -   file: audio/play.md
+        label: Play audio
+    -   file: audio/classifier.md
+        label: AI voice classifier
+    -   file: audio/keyword.md
+        label: Keyword recognize
+    -   file: audio/recognize.md
+        label: Real-time voice recognize
+    -   file: audio/synthesis.md
+        label: Speech synthesis
 
 -   label: Video
--   file: video/record.md
-    label: Video record
--   file: video/play.md
-    label: Play video
--   file: video/jpeg_streaming.md
-    label: JPEG stream
--   file: video/rtsp.md
-    label: RTSP stream
+    items:
+    -   file: video/record.md
+        label: Video record
+    -   file: video/play.md
+        label: Play video
+    -   file: video/jpeg_streaming.md
+        label: JPEG stream
+    -   file: video/rtsp.md
+        label: RTSP stream
 
 
 -   label: On-chip peripherals
--   file: peripheral/gpio.md
-    label: GPIO
--   file: peripheral/uart.md
-    label: UART
--   file: peripheral/i2c.md
-    label: I2C
--   file: peripheral/pwm.md
-    label: PWM
--   file: peripheral/spi.md
-    label: SPI
--   file: peripheral/wdt.md
-    label: WDT watchdog
+    items:
+    -   file: peripheral/gpio.md
+        label: GPIO
+    -   file: peripheral/uart.md
+        label: UART
+    -   file: peripheral/i2c.md
+        label: I2C
+    -   file: peripheral/pwm.md
+        label: PWM
+    -   file: peripheral/spi.md
+        label: SPI
+    -   file: peripheral/wdt.md
+        label: WDT watchdog
 
 -   label: Off-chip modules
--   file: modules/acc.md
-    label: Accelerometer
--   file: modules/temp_hum.md
-    label: Temperature and humidity
--   file: modules/tof.md
-    label: TOF
--   file: modules/thermal_cam.md
-    label: Thermal imaging
+    items:
+    -   file: modules/acc.md
+        label: Accelerometer
+    -   file: modules/temp_hum.md
+        label: Temperature and humidity
+    -   file: modules/tof.md
+        label: TOF
+    -   file: modules/thermal_cam.md
+        label: Thermal imaging
+
+-   label: Porjects
+    items:
+    -   file: projects/README.md
+        label: Intro & Collection
+    -   file: projects/line_tracking_robot.md
+        label: Line tracking robot
 
 -   label: Advanced
--   file: source_code/contribute.md
-    label: Contribute
--   file: source_code/build.md
-    label: Build source code
--   file: source_code/faq.md
-    label: MaixPy Source FAQ
--   file: source_code/add_c_module.md
-    label: Write in C/C++
--   file: source_code/maixcdk.md
-    label: MaixCDK develop
--   file: pro/compile_os.md
-    label: Build firmware
+    items:
+    -   file: source_code/contribute.md
+        label: Contribute
+    -   file: source_code/build.md
+        label: Build source code
+    -   file: source_code/faq.md
+        label: MaixPy Source FAQ
+    -   file: source_code/add_c_module.md
+        label: Write in C/C++
+    -   file: source_code/maixcdk.md
+        label: MaixCDK develop
+    -   file: pro/compile_os.md
+        label: Build firmware
 
 
diff --git a/maixpy/doc/en/source_code/add_c_module.html b/maixpy/doc/en/source_code/add_c_module.html
index bb2411df..ede25ae9 100644
--- a/maixpy/doc/en/source_code/add_c_module.html
+++ b/maixpy/doc/en/source_code/add_c_module.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Advanced</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/source_code/build.html b/maixpy/doc/en/source_code/build.html
index 93290e3e..0e5858cf 100644
--- a/maixpy/doc/en/source_code/build.html
+++ b/maixpy/doc/en/source_code/build.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Advanced</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -212,18 +235,34 @@ <h1>MaixPy develop source code guide</h1>
                         
                             <h2 id="Get-source-code">Get source code</h2>
 
-<pre class="language-shell"><code class="language-shell">git clone https://github.com/sipeed/MaixPy
-cd MaixPy
+<pre class="language-shell"><code class="language-shell">mkdir -p ~/maix
+cd ~/maix
+git clone https://github.com/sipeed/MaixPy
 </code></pre>
+<h2 id="Getting-MaixCDK-Source-Code">Getting MaixCDK Source Code</h2>
+<p>The MaixPy project depends on MaixCDK. You need to clone it first and place it in a directory on your computer (do not place it under the MaixPy directory).</p>
+
+<pre class="language-shell"><code class="language-shell">cd ~/maix
+git clone https://github.com/sipeed/MaixCDK
+</code></pre>
+<p>Then, you need to set the environment variable MAIXCAK_PATH to specify the path to MaixCDK, which can be added in ~/.bashrc or ~/.zshrc (depending on your shell):</p>
+
+<pre class="language-shell"><code class="language-shell">export MAIXCAK_PATH=~/maix/MaixCDK
+</code></pre>
+<p>Only after successfully setting the environment variable can MaixPy locate the MaixCDK source code.</p>
 <h2 id="Build-and-pack-to-wheel">Build and pack to wheel</h2>
 
-<pre class="language-shell"><code class="language-shell">python setup.py bdist_wheel maixcam
+<pre class="language-shell"><code class="language-shell">cd ~/maix/MaixPy
+python setup.py bdist_wheel maixcam
 </code></pre>
 <p><code>maixcam</code> Can be replaced with other board config, see <a href="%5B./configs%5D(https://github.com/sipeed/MaixPy/blob/main/setup.py)"  target="_blank">setup.py</a> 's <code>platform_names</code> variable.</p>
 <p>After build success, you will find wheel file in <code>dist</code> directory, use <code>pip install -U MaixPy****.wheel</code> on your device to install or upgrade.</p>
 <blockquote>
 <p><code>python setup.py bdist_wheel maixcam --skip-build</code> will not execute build command and only pack wheel, so you can use <code>maixcdk menuconfig</code> and <code>maixcdk build</code> first to customize building.</p>
 </blockquote>
+<blockquote>
+<p>Additionally, if you are debugging APIs and need to install frequently, using pip can be slow. You can compile and then copy the maix directory directly to the /usr/lib/python3.11/site-packages directory on your device to overwrite the old files.</p>
+</blockquote>
 <h2 id="Build-manually">Build manually</h2>
 
 <pre class="language-shell"><code class="language-shell">maixcdk build
diff --git a/maixpy/doc/en/source_code/contribute.html b/maixpy/doc/en/source_code/contribute.html
index 545110f2..e4e3741c 100644
--- a/maixpy/doc/en/source_code/contribute.html
+++ b/maixpy/doc/en/source_code/contribute.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Advanced</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -252,9 +275,9 @@ <h2 id="Contributing-to-MaixPy-Code-Contribution">Contributing to MaixPy Code Co
                 <div id="previous_next">
                     <div id="previous">
                         
-                        <a href="/maixpy/doc/en/modules/thermal_cam.html">
+                        <a href="/maixpy/doc/en/projects/line_tracking_robot.html">
                             <span class="icon"></span>
-                            <span class="label">Thermal imaging</span>
+                            <span class="label">Line tracking robot</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/doc/en/source_code/faq.html b/maixpy/doc/en/source_code/faq.html
index ebd0507c..e5e4de62 100644
--- a/maixpy/doc/en/source_code/faq.html
+++ b/maixpy/doc/en/source_code/faq.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Advanced</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -189,8 +212,8 @@ <h1>MaixPy Source Code FAQ</h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="Last modify date: 2024-04-26">
-                                    2024-04-26
+                                <span class="article_date" title="Last modify date: 2024-05-10">
+                                    2024-05-10
                                 </span>
                             
                         </div>
@@ -225,6 +248,8 @@ <h2 id="ImportError%3A-arg%28%29%3A-could-not-convert-default-argument-%27format
 <pre class="language-none"><code class="language-none">maix_image.hpp
 maix_camera.hpp
 </code></pre>
+<h2 id="/usr/bin/ld%3A-/lib/libgdal.so.30%3A-undefined-reference-to-%60std%3A%3Acondition_variable%3A%3Await%28std%3A%3Aunique_lock%3Ca-href%3D%22std%3A%3Amutex%22--%3Estd%3A%3Amutex%3C/a%3E%26amp%3B%29%40GLIBCXX_3.4.30%27-collect2%3A-error%3A-ld-returned-1-exit-status">/usr/bin/ld: /lib/libgdal.so.30: undefined reference to `std::condition_variable::wait(std::unique_lock<a href="std::mutex"  >std::mutex</a>&amp;)@GLIBCXX_3.4.30' collect2: error: ld returned 1 exit status</h2>
+<p>This issue commonly arises when building for Linux and using a conda environment, due to some libraries in the conda environment having compilation parameter problems. The solution is to not use conda, or to individually locate the problematic library within conda and replace it with the system's version or simply delete it (the system will then locate the necessary library).</p>
 
                         
                     </div>
diff --git a/maixpy/doc/en/source_code/maixcdk.html b/maixpy/doc/en/source_code/maixcdk.html
index 1c944884..0f35a5e6 100644
--- a/maixpy/doc/en/source_code/maixcdk.html
+++ b/maixpy/doc/en/source_code/maixcdk.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
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-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Advanced</span><span class="sub_indicator"></span></a><ul class="show">
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 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/video/jpeg_streaming.html b/maixpy/doc/en/video/jpeg_streaming.html
index 0424d3b8..a9ea7b09 100644
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+++ b/maixpy/doc/en/video/jpeg_streaming.html
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-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
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@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Video</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/ai.html b/maixpy/doc/en/vision/ai.html
index 89916de7..e1e8b8e5 100644
--- a/maixpy/doc/en/vision/ai.html
+++ b/maixpy/doc/en/vision/ai.html
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-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
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-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/apriltag.html b/maixpy/doc/en/vision/apriltag.html
index 152dc611..d80277fd 100644
--- a/maixpy/doc/en/vision/apriltag.html
+++ b/maixpy/doc/en/vision/apriltag.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -246,7 +269,7 @@ <h1>MaixPy Apriltag Recognition</h1>
                     </div>
                     <div id="article_content">
                         
-                            <p>Before reading this article, make sure you are familiar with how to develop with MaixPy. For more details, please read <a href="../basic/maixvision.html"  >MaixVision -- MaixPy Programming + Graphical Block Programming</a>.</p>
+                            <p>Before reading this article, make sure you are familiar with how to develop with MaixCAM. For more details, please read <a href="../index.html"  >Quick Start</a>.</p>
 <h2 id="Introduction">Introduction</h2>
 <p>This article introduces how to use MaixPy to recognize Apriltag labels.</p>
 <h2 id="Using-MaixPy-to-Recognize-Apriltag-Labels">Using MaixPy to Recognize Apriltag Labels</h2>
diff --git a/maixpy/doc/en/vision/body_key_points.html b/maixpy/doc/en/vision/body_key_points.html
index 83b7742f..be04477e 100644
--- a/maixpy/doc/en/vision/body_key_points.html
+++ b/maixpy/doc/en/vision/body_key_points.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -237,7 +260,7 @@ <h2 id="Usage">Usage</h2>
                         
                         <a href="/maixpy/doc/en/vision/face_recognition.html">
                             <span class="icon"></span>
-                            <span class="label">Face detect</span>
+                            <span class="label">Face recognition</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/doc/en/vision/camera.html b/maixpy/doc/en/vision/camera.html
index 400d1505..1cdc8373 100644
--- a/maixpy/doc/en/vision/camera.html
+++ b/maixpy/doc/en/vision/camera.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/classify.html b/maixpy/doc/en/vision/classify.html
index 2daed247..63843dd3 100644
--- a/maixpy/doc/en/vision/classify.html
+++ b/maixpy/doc/en/vision/classify.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/custmize_model.html b/maixpy/doc/en/vision/custmize_model.html
index 8a93376b..92b116ae 100644
--- a/maixpy/doc/en/vision/custmize_model.html
+++ b/maixpy/doc/en/vision/custmize_model.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/display.html b/maixpy/doc/en/vision/display.html
index 44015e52..a0cc80ce 100644
--- a/maixpy/doc/en/vision/display.html
+++ b/maixpy/doc/en/vision/display.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
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@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/face_detection.html b/maixpy/doc/en/vision/face_detection.html
new file mode 100644
index 00000000..d8a946c5
--- /dev/null
+++ b/maixpy/doc/en/vision/face_detection.html
@@ -0,0 +1,374 @@
+<!DOCTYPE html>
+
+<html lang="en"  class="">
+
+
+<head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    
+    <meta name="keywords" content="">
+    
+    
+    <meta name="description" content="">
+    
+    <meta name="generator" content="teedoc">
+    <meta name="theme" content="teedoc-plugin-theme-default">
+    
+        
+        <meta name="markdown-generator" content="teedoc-plugin-markdown-parser">
+        
+        <script>
+MathJax = {"loader": {"load": ["output/svg"]}, "tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]]}, "svg": {"fontCache": "global"}};
+</script>
+        
+        <script id="MathJax-script" async src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/pre_main.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/prism.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/viewer.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/dark.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/light.css" type="text/css"/>
+        
+        <script src="/maixpy/static/js/theme_default/jquery.min.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/split.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/search/style.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/custom.css" type="text/css"/>
+        
+    
+    
+    <title>MaixPy Face Detection and Key Points Detection - MaixPy</title>
+    
+    <script type="text/javascript">js_vars = {}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+</head>
+
+
+<body class="type_doc">
+    
+    <div id="navbar">
+        <div id="navbar_menu">
+            <a class="site_title" href="/maixpy/en/">
+                
+                
+                    <h2>MaixPy</h2>
+                
+        </a>
+            <a id="navbar_menu_btn"></a>
+        </div>
+        <div id="navbar_items">
+            <div>
+                <ul id="nav_left">
+<li class=""><a  href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li class="active"><a  href="/maixpy/doc/en/index.html">Documentation</a></li>
+<li class=""><a  href="/maixpy/api/index.html">API</a></li>
+<li class=""><a  href="/maixpy/doc/en/faq.html">FAQ</a></li>
+</ul>
+
+            </div>
+            <div>
+                <ul id="nav_right">
+<li class=""><a target="_blank" href="https://github.com/sipeed/maixpy"><img src='/maixpy/static/image/github-fill.svg' style='height: 1.5em;vertical-align: middle;'>&nbsp;</a></li>
+<li class="sub_items "><a  ><img src='/maixpy/static/image/language.svg' style='height: 1.5em;vertical-align: middle;'>&nbsp;English</a><ul><li class="active"><a  href="/maixpy/doc/en/vision/face_detection.html">English</a></li>
+<li class=""><a  href="/maixpy/doc/zh/vision/face_detection.html">中文</a></li>
+</ul></li>
+</ul>
+
+                <ul class="nav_plugins"><li><a id="themes" class="light"></a></li></ul><ul class="nav_plugins"><li><a id="search"><span class="icon"></span><span class="placeholder">Search</span>
+                            <div id="search_hints">
+                                <span id="search_input_hint">Keywords separated by space</span>
+                                <span id="search_loading_hint">Loading, wait please ...</span>
+                                <span id="search_download_err_hint">Download error, please check network and refresh again</span>
+                                <span id="search_other_docs_result_hint">Result from other docs</span>
+                                <span id="search_curr_doc_result_hint">Result from current doc</span>
+                            </div></a></li></ul>
+            </div>
+        </div>
+    </div>
+    
+    <div id="wrapper">
+        <div id="sidebar_wrapper">
+            <div id="sidebar">
+                <div id="sidebar_title">
+                    
+                </div>
+                <ul class="show">
+<li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixvision.html"><span class="label">MaixVision uses</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/python.html"><span class="label">Python syntax</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
+<li class="active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/object_track.html"><span class="label">Object tracking and counting</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
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+                        <div id="article_title">
+                            
+                            <h1>MaixPy Face Detection and Key Points Detection</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
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+                        
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+                    <div id="article_content">
+                        
+                            <h2 id="Introduction">Introduction</h2>
+<p>Face detection can be used in many places, such as providing the step of face detection for face recognition, or applications related to face tracking, and more.</p>
+<p>The face detection provided here can not only detect faces but also detect 5 key points, including two eyes, one nose, and the two corners of a mouth.</p>
+<p><img src="../../assets/face_detection.jpg" alt="face detection" /></p>
+<h2 id="Using-Face-Detection-in-MaixPy">Using Face Detection in MaixPy</h2>
+<p>MaixPy officially provides two face detection models, sourced from the open projects <a href="https://github.com/biubug6/Face-Detector-1MB-with-landmark"  target="_blank">face detector 1MB with landmark</a> and <a href="https://github.com/biubug6/Pytorch_Retinaface"  target="_blank">Retinaface</a>.</p>
+<p>To use them, first download a model, either one as there's not much difference between them:</p>
+<ul>
+<li><a href="https://maixhub.com/model/zoo/377"  target="_blank">face detector 1MB with landmark</a></li>
+<li><a href="https://maixhub.com/model/zoo/378"  target="_blank">Retinaface</a></li>
+</ul>
+<p>Then copy the model file to your device, see <a href="../basic/maixvision.html"  >Using MaixVision</a> for how to copy.</p>
+<blockquote>
+<p>The default image contains a file that can be used directly; if not available, you must download it yourself. The downloaded zip package contains multiple resolutions to choose from; the higher the resolution, the more precise but also more time-consuming.</p>
+</blockquote>
+<p>Next, run the code. The following line of commented code is for loading the <code>Retinaface</code> model, choose which line of code to use based on the model you downloaded.</p>
+<blockquote>
+<p>To use this function, MaixPy must &gt;= 4.1.4.</p>
+</blockquote>
+
+<pre class="language-python"><code class="language-python">from maix import camera, display, image, nn, app
+import math
+
+detector = nn.FaceDetector(model=&quot;/root/models/face_detector.mud&quot;)
+# detector = nn.Retinaface(model=&quot;/root/models/retinaface.mud&quot;)
+
+cam = camera.Camera(detector.input_width(), detector.input_height(), detector.input_format())
+dis = display.Display()
+
+while not app.need_exit():
+    img = cam.read()
+    objs = detector.detect(img, conf_th = 0.4, iou_th = 0.45)
+    for obj in objs:
+        img.draw_rect(obj.x, obj.y, obj.w, obj.h, color = image.COLOR_RED)
+        radius = math.ceil(obj.w / 10)
+        img.draw_keypoints(obj.points, image.COLOR_RED, size = radius if radius &lt; 5 else 4)
+    dis.show(img)
+
+</code></pre>
+
+                        
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diff --git a/maixpy/doc/en/vision/face_recognition.html b/maixpy/doc/en/vision/face_recognition.html
index 943253ff..d1d238ec 100644
--- a/maixpy/doc/en/vision/face_recognition.html
+++ b/maixpy/doc/en/vision/face_recognition.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
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-<li class="active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
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@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
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+</ul>
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+</ul>
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+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -259,9 +282,9 @@ <h2 id="Using-MaixPy">Using MaixPy</h2>
                 <div id="previous_next">
                     <div id="previous">
                         
-                        <a href="/maixpy/doc/en/vision/yolov5.html">
+                        <a href="/maixpy/doc/en/vision/face_detection.html">
                             <span class="icon"></span>
-                            <span class="label">YOLOv5 object detect</span>
+                            <span class="label">Face detect and keypoints</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/doc/en/vision/find_blobs.html b/maixpy/doc/en/vision/find_blobs.html
index ecfd8649..2128458c 100644
--- a/maixpy/doc/en/vision/find_blobs.html
+++ b/maixpy/doc/en/vision/find_blobs.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -257,7 +280,7 @@ <h1>MaixPy Find Blobs</h1>
                     </div>
                     <div id="article_content">
                         
-                            <p>Before reading this article, make sure you know how to develop with MaixPy. For details, please read <a href="../basic/maixvision.html"  >MaixVision -- MaixPy Programming + Graphical Block Programming</a>.</p>
+                            <p>Before reading this article, make sure you know how to develop with MaixCAM. For details, please read <a href="../index.html"  >Quick Start</a>.</p>
 <h2 id="Introduction">Introduction</h2>
 <p>This article will introduce how to use MaixPy to find color blobs and how to use the default application of MaixCam to find color blobs.</p>
 <p>In vision applications, finding color blobs is a very common requirement, such as robots finding color blobs, automated production lines finding color blobs, etc., which requires identifying specific color areas in the image and obtaining information such as the position and size of these areas.</p>
@@ -423,8 +446,8 @@ <h2 id="About-the-LAB-Color-Space">About the LAB Color Space</h2>
                     </div>
                     <div id="next">
                         
-                        <a href="/maixpy/doc/en/vision/qrcode.html">
-                            <span class="label">QRcode identity</span>
+                        <a href="/maixpy/doc/en/vision/line_tracking.html">
+                            <span class="label">Line tracking</span>
                             <span class="icon"></span>
                         </a>
                         
diff --git a/maixpy/doc/en/vision/image_ops.html b/maixpy/doc/en/vision/image_ops.html
index 1dbd356f..784a43e9 100644
--- a/maixpy/doc/en/vision/image_ops.html
+++ b/maixpy/doc/en/vision/image_ops.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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 </ul>
 
             </div>
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+</ul>
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+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
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+<li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
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+
+            </div>
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+                    <div id="article_head">
+                        <div id="article_title">
+                            
+                            <h1>MaixPy Line Tracking</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
+                        </div>
+                        <div id="article_info">
+                        <div id="article_info_left">
+                            <span class="article_author">
+                                
+                            </span>
+                            
+                                <span class="article_date" title="Last modify date: 2024-05-09">
+                                    2024-05-09
+                                </span>
+                            
+                        </div>
+                        <div id="article_info_right">
+                            
+                            <div id="source_link">
+                                <a href="https://github.com/sipeed/MaixPy/blob/main/docs/doc/en/vision/line_tracking.md" target="_blank">
+                                    Edit this page
+                                </a>
+                            </div>
+                            
+                        </div>
+                        </div>
+                    </div>
+                    <div id="article_tools">
+                        <span></span>
+                        <span id="toc_btn"></span>
+                    </div>
+                    <div id="update_history">
+                        
+                        
+                        <details open>
+                        
+                            <summary>Update history</summary>
+                            <div>
+                                <table>
+                                        <thead>
+                                            <tr>
+                                                <th>Date</th>
+                                                <th>Version</th>
+                                                <th>Author</th>
+                                                <th>Update content</th>
+                                            </tr>
+                                        </thead>
+                                        <tbody>
+                                            
+                                                <tr>
+                                                    <td>2024-05-09</td>
+                                                    <td>1.0.0</td>
+                                                    <td>lxowalle</td>
+                                                    <td>
+                                                    
+                                                        Initial document
+                                                    
+                                                    </td>
+                                                </tr>
+                                            
+                                        </tbody>
+                                </table>
+                            </div>
+                        </details>
+                        
+                    </div>
+                    <div id="article_content">
+                        
+                            <p>Before reading this article, make sure you already know how to develop MaixCAM. For details, please read <a href="../index.html"  >Quick Start</a>.</p>
+<h2 id="Introduction">Introduction</h2>
+<p>In vision applications, the function of tracking line is often required in applications such as line-following robot. In this article, we will describe:</p>
+<ul>
+<li><p>How to use MaixPy to tracking line.</p>
+</li>
+<li><p>How to tracking line using MaixCam's default application</p>
+</li>
+</ul>
+<h2 id="How-to-use-MaixPy-to-tracking-line">How to use MaixPy to tracking line</h2>
+<p>The <code>maix.image.Image</code> module in MaixPy provides the <code>get_regression</code> method, which can conveniently tracking line.</p>
+<h3 id="Code-example">Code example</h3>
+<p>A simple example of finding and drawing a line.</p>
+
+<pre class="language-python"><code class="language-python">from maix import camera, display, image
+
+cam = camera.Camera(320, 240)
+disp = display.Display()
+
+# thresholds = [[0, 80, 40, 80, 10, 80]] # red
+thresholds = [[0, 80, -120, -10, 0, 30]] # green
+# thresholds = [[0, 80, 30, 100, -120, -60]] # blue
+
+while 1:
+    img = cam.read()
+
+    lines = img.get_regression(thresholds, area_threshold = 100)
+    for a in lines:
+        img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2)
+        theta = a.theta()
+        rho = a.rho()
+        if theta &gt; 90:
+            theta = 270 - theta
+        else:
+            theta = 90 - theta
+        img.draw_string(0, 0, &quot;theta: &quot; + str(theta) + &quot;, rho: &quot; + str(rho), image.COLOR_BLUE)
+
+    disp.show(img)
+</code></pre>
+<p>Steps:</p>
+<ol>
+<li><p>import image, camera, display modules</p>
+
+<pre class="language-python"><code class="language-python">from maix import image, camera, display
+</code></pre>
+</li>
+<li><p>Initialize camera and display</p>
+
+<pre class="language-python"><code class="language-python">cam = camera.Camera(320, 240) # Initialise camera, output resolution 320x240 in RGB format.
+disp = display.Display()
+</code></pre>
+</li>
+<li><p>Get the image from the camera and display it</p>
+
+<pre class="language-python"><code class="language-python">while 1:
+    img = cam.read()
+    disp.show(img)
+</code></pre>
+</li>
+<li><p>Call the <code>get_regression</code> method to find the straight line in the camera image and draw it to the screen</p>
+
+<pre class="language-python"><code class="language-python">lines = img.get_regression(thresholds, area_threshold = 100)
+for a in lines:
+   img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2)
+   theta = a.theta()
+   rho = a.rho()
+   if theta &gt; 90:
+      theta = 270 - theta
+   else:
+      theta = 90 - theta
+   img.draw_string(0, 0, &quot;theta: &quot; + str(theta) + &quot;, rho: &quot; + str(rho), image.COLOR_BLUE)
+</code></pre>
+<ul>
+<li><code>img</code> is the camera image read via <code>cam.read()</code>, when initialised as <code>cam = camera.Camera(320, 240)</code>, the <code>img</code> object is an RGB image with a resolution of 320x240.</li>
+<li><code>img.get_regression</code> is used to find straight lines, <code>thresholds</code> is a list of colour thresholds, each element is a colour threshold, multiple thresholds are passed in if multiple thresholds are found at the same time, and each colour threshold has the format <code>[L_MIN, L_MAX, A_MIN, A_MAX, B_MIN, B_MAX]</code>, where <code>L</code>, <code>A</code>, <code>B</code> are the three channels of <code>LAB</code> colour space, <code>L</code> channel is the luminance, <code>A</code> channel is the red-green channel, <code>B</code> channel is the blue-yellow channel. <code>pixels_threshold</code> is a pixel area threshold used to filter some unwanted straight lines.</li>
+<li><code>for a in lines</code> is used to iterate through the returned <code>Line</code> objects, where <code>a</code> is the current <code>Line</code> object. Normally the <code>get_regression</code> function will only return one <code>Line</code> object, but if you need to find more than one line, try the <code>find_line</code> method.</li>
+<li>Use <code>img.draw_line</code> to draw the found line, <code>a.x1(), a.y1(), a.x2(), a.y2()</code> represent the coordinates of the ends of the line.</li>
+<li>Use <code>img.draw_string</code> to show the angle between the line and the x-axis in the upper left corner, and <code>a.theta()</code> is the angle between the line and the y-axis, which is converted to <code>theta</code> for easier understanding, <code>a.rho()</code> is the length of the vertical line from the origin to the line.</li>
+</ul>
+</li>
+<li><p>Run the code through the maixvision, you can find the line, look at the effect!</p>
+<p><img src="../../../static/image/line_tracking_demo.jpg" alt="image-20240509110204007" /></p>
+</li>
+</ol>
+<h3 id="Common-Parameter-Explanations">Common Parameter Explanations</h3>
+<p>Here are explanations of commonly used parameters. If you cannot find parameters that can implement your application, you may need to consider using other algorithms or extending the required functionality based on the current algorithm's results.</p>
+<table>
+<thead>
+<tr>
+  <th>Parameter</th>
+  <th>Description</th>
+  <th>Example</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td>thresholds</td>
+  <td>Thresholds based on the LAB color space, thresholds=[[l_min, l_max, a_min, a_max, b_min, b_max]], representing:<br/>Brightness range [l_min, l_max]<br/>Green to red component range [a_min, a_max]<br/>Blue to yellow component range [b_min, b_max]<br/>Multiple thresholds can be set simultaneously</td>
+  <td>Set two thresholds to detect red and green<br/><code>img.find_blobs(thresholds=[[0, 80, 40, 80, 10, 80], [0, 80, -120, -10, 0, 30]])</code><br/>Red threshold is [0, 80, 40, 80, 10, 80]<br/>Green threshold is [0, 80, -120, -10, 0, 30]</td>
+</tr>
+<tr>
+  <td>invert</td>
+  <td>Enable threshold inversion, when enabled, the passed thresholds are inverted. Default is False.</td>
+  <td>Enable threshold inversion<br/><code>img.find_blobs(invert=True)</code></td>
+</tr>
+<tr>
+  <td>roi</td>
+  <td>Set the rectangular region for the algorithm to compute, roi=[x, y, w, h], where x and y represent the coordinates of the top-left corner of the rectangle, and w and h represent the width and height of the rectangle, respectively. The default is the entire image.</td>
+  <td>Compute the region at (50, 50) with a width and height of 100<br/><code>img.find_blobs(roi=[50, 50, 100, 100])</code></td>
+</tr>
+<tr>
+  <td>area_threshold</td>
+  <td>Filter out blobs with a pixel area smaller than area_threshold, in units of pixels. The default is 10. This parameter can be used to filter out some useless small blobs.</td>
+  <td>Filter out blobs with an area smaller than 1000<br/><code>img.find_blobs(area_threshold=1000)</code></td>
+</tr>
+<tr>
+  <td>pixels_threshold</td>
+  <td>Filter out blobs with fewer valid pixels than pixels_threshold. The default is 10. This parameter can be used to filter out some useless small blobs.</td>
+  <td>Filter out blobs with fewer than 1000 valid pixels<br/><code>img.find_blobs(pixels_threshold=1000)</code></td>
+</tr>
+</tbody>
+</table>
+<p>This article introduces commonly used methods. For more APIs, please see the <a href="../../../api/maix/image.html"  >image</a> section of the API documentation.</p>
+<h2 id="How-to-tracking-line-using-MaixCam%27s-default-application">How to tracking line using MaixCam's default application</h2>
+<p>To quickly verify the line tracking functionality, you can use the <code>line_tracking</code> application provided by MaixCam to experience the line finding effect.</p>
+<h3 id="How-to-use-it">How to use it</h3>
+<ol>
+<li>Select and open the <code>Line tracking</code> application.</li>
+<li>Click on the line in the screen that needs to be identified and the colour of the line will be displayed on the left hand side</li>
+<li>Click on the colour to be detected on the left (the colour below L A B in the screen)</li>
+<li>The line will be identified and the coordinates and angle of the line will be output from the serial port.</li>
+</ol>
+<h3 id="Demo">Demo</h3>
+<p><video src="/maixpy/static/video/line_tracking_app.mp4" controls="controls" width="100%" height="auto"></video></p>
+<h3 id="Advanced-operations">Advanced operations</h3>
+<h4 id="Manual-adjustment-of-LAB-threshold-to-tracking-line">Manual adjustment of LAB threshold to tracking line</h4>
+<p>The application provides manual setting of LAB threshold to tracking line accurately.</p>
+<p>Steps:</p>
+<ol>
+<li><code>Click</code> the <code>options icon</code> in the bottom-left corner to enter configuration mode.</li>
+<li>Point the <code>camera</code> at the <code>object</code> you need to <code>find</code>, <code>click</code> on the <code>target object</code> on the screen, and the <code>left side</code> will display a <code>rectangular frame</code> of the object's color and show the <code>LAB values</code> of that color.</li>
+<li>Click on the bottom options <code>L Min</code>, <code>L Max</code>, <code>A Min</code>, <code>A Max</code>, <code>B Min</code>, <code>B Max</code>. After clicking, a slider will appear on the right side to set the value for that option. These values correspond to the minimum and maximum values of the L, A, and B channels in the LAB color format, respectively.</li>
+<li>Referring to the <code>LAB values</code> of the object color calculated in step 2, adjust <code>L Min</code>, <code>L Max</code>, <code>A Min</code>, <code>A Max</code>, <code>B Min</code>, <code>B Max</code> to appropriate values to identify the corresponding color blobs. For example, if <code>LAB = (20, 50, 80)</code>, since <code>L=20</code>, to accommodate a certain range, set <code>L Min=10</code> and <code>L Max=30</code>. Similarly, since <code>A=50</code>, set <code>A Min=40</code> and <code>A Max=60</code>. Since <code>B=80</code>, set <code>B Min=70</code> and <code>B Max=90</code>.</li>
+</ol>
+<h4 id="Getting-Detection-Data-via-Serial-Protocol">Getting Detection Data via Serial Protocol</h4>
+<p>The line tracking application supports reporting detected straight line information via the serial port (default baud rate is 115200).</p>
+<p>Since only one report message is sent, we can illustrate the content of the report message with an example.</p>
+<p>For instance, if the report message is:</p>
+
+<pre class="language-shell"><code class="language-shell">AA CA AC BB 0E 00 00 00 00 E1 09 FC 01 01 00 E9 01 6F 01 57 00 C1 C6
+</code></pre>
+<ul>
+<li><p><code>AA CA AC BB</code>: Protocol header, fixed content</p>
+</li>
+<li><p><code>0E 00 00 00</code>: Data length, the total length excluding the protocol header and data length, here means the length is 14.</p>
+</li>
+<li><p><code>E1</code>: Flag bit, used to identify the serial message flag</p>
+</li>
+<li><p><code>09</code>: Command type, for the line tracking application, this value is fixed at 0x09.</p>
+</li>
+<li><p><code>FC 01 01 00 E9 01 6F 01 57 00</code>: The coordinates and angle information for both ends of  line, with each value represented as a 2-byte value in little-end format. <code>FC 01</code> and <code>01 00</code> indicate that the coordinates of the first endpoint are (508, 1), <code>E9 01</code> and <code>6F 01</code> indicate that the coordinates of the second endpoint are (489, 367), and <code>57 00</code> indicates that the angle of the line to the x-axis is 87 degrees</p>
+</li>
+<li><p><code>C1 C6</code>: CRC checksum value, used to verify if the frame data has errors during transmission.</p>
+</li>
+</ul>
+
+                        
+                    </div>
+                </div>
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+                    <div id="previous">
+                        
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diff --git a/maixpy/doc/en/vision/maixhub_train.html b/maixpy/doc/en/vision/maixhub_train.html
index 0334a01f..5233dea3 100644
--- a/maixpy/doc/en/vision/maixhub_train.html
+++ b/maixpy/doc/en/vision/maixhub_train.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
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-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
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@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
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-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/object_track.html b/maixpy/doc/en/vision/object_track.html
index feafd5a2..8eedf2cb 100644
--- a/maixpy/doc/en/vision/object_track.html
+++ b/maixpy/doc/en/vision/object_track.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/qrcode.html b/maixpy/doc/en/vision/qrcode.html
index f773fdbc..282678e5 100644
--- a/maixpy/doc/en/vision/qrcode.html
+++ b/maixpy/doc/en/vision/qrcode.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI Vision</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -246,7 +269,7 @@ <h1>MaixPy QR Code Recognition</h1>
                     </div>
                     <div id="article_content">
                         
-                            <p>Before reading this article, make sure you are familiar with how to develop with MaixPy. For details, please read <a href="../basic/maixvision.html"  >MaixVision -- MaixPy Programming + Graphical Block Programming</a></p>
+                            <p>Before reading this article, make sure you are familiar with how to develop with MaixCAM. For details, please read <a href="../index.html"  >Quick Start</a>.</p>
 <h2 id="Introduction">Introduction</h2>
 <p>This article explains how to use MaixPy for QR code recognition.</p>
 <h2 id="Using-MaixPy-to-Recognize-QR-Codes">Using MaixPy to Recognize QR Codes</h2>
@@ -339,9 +362,9 @@ <h3 id="Common-Parameter-Explanation">Common Parameter Explanation</h3>
                 <div id="previous_next">
                     <div id="previous">
                         
-                        <a href="/maixpy/doc/en/vision/find_blobs.html">
+                        <a href="/maixpy/doc/en/vision/line_tracking.html">
                             <span class="icon"></span>
-                            <span class="label">Finding color blocks</span>
+                            <span class="label">Line tracking</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/doc/en/vision/self_learn_classifier.html b/maixpy/doc/en/vision/self_learn_classifier.html
index d3e2c867..ea13ed2b 100644
--- a/maixpy/doc/en/vision/self_learn_classifier.html
+++ b/maixpy/doc/en/vision/self_learn_classifier.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/self_learn_detector.html b/maixpy/doc/en/vision/self_learn_detector.html
index dda43445..6cb1a257 100644
--- a/maixpy/doc/en/vision/self_learn_detector.html
+++ b/maixpy/doc/en/vision/self_learn_detector.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/en/vision/yolov5.html b/maixpy/doc/en/vision/yolov5.html
index 24181af3..88c5d44a 100644
--- a/maixpy/doc/en/vision/yolov5.html
+++ b/maixpy/doc/en/vision/yolov5.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/index.html"><span class="label">Quick Start</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/faq.html"><span class="label">FAQ</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Base</span></li>
+<li class="not_active no_link"><a><span class="label">Base</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/os.html"><span class="label">Burning system</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app_usage.html"><span class="label">App uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/maixpy_upgrade.html"><span class="label">Update MaixPy</span><span class=""></span></a></li>
@@ -111,18 +111,24 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/linux_basic.html"><span class="label">Linux fundamentals</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/python_pkgs.html"><span class="label">Add python packages</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/basic/app.html"><span class="label">Apps development</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Basic images and algorithms</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Basic images and algorithms</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/display.html"><span class="label">Screen uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/camera.html"><span class="label">Camera uses</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/image_ops.html"><span class="label">Image control</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/find_blobs.html"><span class="label">Finding color blocks</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/line_tracking.html"><span class="label">Line tracking</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/qrcode.html"><span class="label">QRcode identity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/apriltag.html"><span class="label">AprilTag identity</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI Vision</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI Vision</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/ai.html"><span class="label">AI vision knowledge</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/classify.html"><span class="label">AI object classify</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/en/vision/yolov5.html"><span class="label">YOLOv5 object detect</span><span class=""></span></a></li>
-<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face detect</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_detection.html"><span class="label">Face detect and keypoints</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/vision/face_recognition.html"><span class="label">Face recognition</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/body_key_points.html"><span class="label">Human critical point detection</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_classifier.html"><span class="label">Self-learning classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/self_learn_detector.html"><span class="label">Self-learning detector</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/vision/ocr.html&from=/doc/en/vision/ocr.html"><span class="label">OCR</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/maixhub_train.html"><span class="label">MaixHub online AI training</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/vision/custmize_model.html"><span class="label">Custom model</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI audio</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI audio</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/record.html&from=/doc/en/audio/record.html"><span class="label">Audio record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/play.html&from=/doc/en/audio/play.html"><span class="label">Play audio</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/classifier.html&from=/doc/en/audio/classifier.html"><span class="label">AI voice classifier</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/keyword.html&from=/doc/en/audio/keyword.html"><span class="label">Keyword recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/audio/recognize.html"><span class="label">Real-time voice recognize</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/audio/synthesis.html&from=/doc/en/audio/synthesis.html"><span class="label">Speech synthesis</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Video</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Video</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/record.html&from=/doc/en/video/record.html"><span class="label">Video record</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/play.html&from=/doc/en/video/play.html"><span class="label">Play video</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/video/jpeg_streaming.html"><span class="label">JPEG stream</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/video/rtsp.html&from=/doc/en/video/rtsp.html"><span class="label">RTSP stream</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">On-chip peripherals</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">On-chip peripherals</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/gpio.html"><span class="label">GPIO</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/uart.html"><span class="label">UART</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/i2c.html"><span class="label">I2C</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/pwm.html"><span class="label">PWM</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/spi.html"><span class="label">SPI</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/peripheral/wdt.html"><span class="label">WDT watchdog</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Off-chip modules</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Off-chip modules</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/acc.html"><span class="label">Accelerometer</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/no_translate.html?ref=/doc/zh/modules/temp_hum.html&from=/doc/en/modules/temp_hum.html"><span class="label">Temperature and humidity</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/tof.html"><span class="label">TOF</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/modules/thermal_cam.html"><span class="label">Thermal imaging</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">Advanced</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Porjects</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/index.html"><span class="label">Intro & Collection</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/en/projects/line_tracking_robot.html"><span class="label">Line tracking robot</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">Advanced</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/contribute.html"><span class="label">Contribute</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/build.html"><span class="label">Build source code</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/faq.html"><span class="label">MaixPy Source FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/add_c_module.html"><span class="label">Write in C/C++</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/source_code/maixcdk.html"><span class="label">MaixCDK develop</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/en/pro/compile_os.html"><span class="label">Build firmware</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -253,8 +276,8 @@ <h2 id="Training-Your-Own-Object-Detection-Model">Training Your Own Object Detec
                     </div>
                     <div id="next">
                         
-                        <a href="/maixpy/doc/en/vision/face_recognition.html">
-                            <span class="label">Face detect</span>
+                        <a href="/maixpy/doc/en/vision/face_detection.html">
+                            <span class="label">Face detect and keypoints</span>
                             <span class="icon"></span>
                         </a>
                         
diff --git a/maixpy/doc/zh/audio/recognize.html b/maixpy/doc/zh/audio/recognize.html
index 6ece9d84..16d8cfa7 100644
--- a/maixpy/doc/zh/audio/recognize.html
+++ b/maixpy/doc/zh/audio/recognize.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/basic/app.html b/maixpy/doc/zh/basic/app.html
index 5b440849..85f503a0 100644
--- a/maixpy/doc/zh/basic/app.html
+++ b/maixpy/doc/zh/basic/app.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="active_parent no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/basic/app_usage.html b/maixpy/doc/zh/basic/app_usage.html
index 446e1cfd..5d7b2a83 100644
--- a/maixpy/doc/zh/basic/app_usage.html
+++ b/maixpy/doc/zh/basic/app_usage.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="active_parent no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/basic/linux_basic.html b/maixpy/doc/zh/basic/linux_basic.html
index 7dba26f9..c49c03e6 100644
--- a/maixpy/doc/zh/basic/linux_basic.html
+++ b/maixpy/doc/zh/basic/linux_basic.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="active_parent no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/basic/maixpy_upgrade.html b/maixpy/doc/zh/basic/maixpy_upgrade.html
index 87a1773f..78871064 100644
--- a/maixpy/doc/zh/basic/maixpy_upgrade.html
+++ b/maixpy/doc/zh/basic/maixpy_upgrade.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="active_parent no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/basic/maixvision.html b/maixpy/doc/zh/basic/maixvision.html
index 8eb77a7e..3a8402e9 100644
--- a/maixpy/doc/zh/basic/maixvision.html
+++ b/maixpy/doc/zh/basic/maixvision.html
@@ -44,7 +44,7 @@
         
     
     
-    <title>MaixVision -- MaixPy 编程 + 图形化积木编程 - MaixPy</title>
+    <title>MaixVision -- MaixPy 编程 IDE + 图形化积木编程 - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
     <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="active_parent no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1>MaixVision -- MaixPy 编程 + 图形化积木编程</h1>
+                            <h1>MaixVision -- MaixPy 编程 IDE + 图形化积木编程</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -211,9 +234,11 @@ <h1>MaixVision -- MaixPy 编程 + 图形化积木编程</h1>
                     <div id="article_content">
                         
                             <h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
-<p>MaixVision 是专为 Maix 生态打造的一款开发者编程工具，支持 MaixPy 编程和图形化积木编程，同时支持在线运行和调试，以及实时预览图像，可以同步设备显示屏的图像，方便调试和开发。</p>
+<p><a href="https://wiki.sipeed.com/maixvision"  target="_blank">MaixVision</a> 是专为 Maix 生态打造的一款开发者编程工具，支持 MaixPy 编程和图形化积木编程，同时支持在线运行和调试，以及实时预览图像，可以同步设备显示屏的图像，方便调试和开发。</p>
 <p>以及支持打包应用和安装应用到设备，方便用户一键生成、安装应用。</p>
 <p>同时还集成一些方便开发的小工具，比如文件管理，阈值编辑器，二维码生成等等。</p>
+<h2 id="%E4%B8%8B%E8%BD%BD">下载</h2>
+<p>访问 <a href="https://wiki.sipeed.com/maixvision"  target="_blank">MaixVision 主页</a> 下载。</p>
 <h2 id="%E4%BD%BF%E7%94%A8-MaixPy-%E7%BC%96%E7%A8%8B%E5%92%8C%E5%9C%A8%E7%BA%BF%E8%BF%90%E8%A1%8C">使用 MaixPy 编程和在线运行</h2>
 <p>按照<a href="../index.html"  >快速开始</a>的步骤连接设备，我们可以很方便地使用 MaixPy 编程和在线运行。</p>
 <h2 id="%E5%AE%9E%E6%97%B6%E9%A2%84%E8%A7%88%E5%9B%BE%E5%83%8F">实时预览图像</h2>
@@ -228,11 +253,30 @@ <h2 id="%E5%AE%9E%E6%97%B6%E9%A2%84%E8%A7%88%E5%9B%BE%E5%83%8F">实时预览图
 </code></pre>
 <p>这里我们用摄像头读取了图像，然后通过<code>disp.show()</code>方法将图像显示到屏幕上，同时也会发送到 MaixVision 显示。</p>
 <p>当我们点击了右上角的<code>暂停</code>按钮，就会停止发送图像到 MaixVision 显示。</p>
+<h2 id="%E4%BB%A3%E7%A0%81%E8%87%AA%E5%8A%A8%E8%A1%A5%E5%85%A8">代码自动补全</h2>
+<p>代码提示依赖电脑本地的 Python 包，为了实现代码提示，我们需要在电脑中安装 Python，并且安装需要提示的 Python 包。</p>
+<ul>
+<li>安装 Python 请访问 <a href="https://python.org/"  target="_blank">Python 官网</a>安装。</li>
+<li>安装需要提示的包，比如对于 MaixPy， 你需要在电脑也安装一份 MaixPy 包，在电脑使用<code>pip install MaixPy</code>即可安装好，如果<code>MaixPy</code>更新了，你也需要在电脑和设备更新到<code>MaixPy</code>，电脑手动在终端执行<code>pip install MaixPy -U</code>即可，设备更新直接在<code>设置</code>应用中更新即可。</li>
+</ul>
+<blockquote>
+<p>中国国内用户可以使用国内镜像<code>pip install -i https://pypi.tuna.tsinghua.edu.cn/simple MaixPy</code>。</p>
+</blockquote>
+<ul>
+<li>重启 MaixVision 就能够看到代码提示了。</li>
+</ul>
+<blockquote>
+<p>如果仍然不能提示，可以手动在设置中设置 python 可执行文件的路径后重启。</p>
+</blockquote>
+<blockquote class="spoiler warning">
+<p> 注意在电脑安装 Python 包这里只是为了用作代码提示，实际代码运行还是在设备（开发板）上，设备上也要有对应的包才能正常运行。</p>
+</blockquote>
+<blockquote>
+<p>另外，虽然你在电脑上安装了 MaixPy 包，但是由于我们精力有限，我们不确保你能直接在电脑的 Python 导入 maix 包进行使用，请在支持的设备上运行。</p>
+</blockquote>
 <h2 id="%E8%AE%A1%E7%AE%97%E5%9B%BE%E5%83%8F%E7%9A%84%E7%9B%B4%E6%96%B9%E5%9B%BE">计算图像的直方图</h2>
 <p>在上一步中我们可以在 MaixVision 中实时看到图像，我们用鼠标框选一个区域，图像下方就能看到这个区域的直方图了，选择不同的颜色表示方法，可以看到不同的颜色通道的直方图。</p>
 <p>这个功能方便我们在做某些图像处理算法时找到一些合适的参数。</p>
-<h2 id="%E4%BD%BF%E7%94%A8%E5%9B%BE%E5%BD%A2%E5%8C%96%E7%A7%AF%E6%9C%A8%E7%BC%96%E7%A8%8B">使用图形化积木编程</h2>
-<p>开发中，敬请期待。</p>
 <h2 id="%E5%8C%BA%E5%88%86%3Ccode%3E%E8%AE%BE%E5%A4%87%E6%96%87%E4%BB%B6%E7%B3%BB%E7%BB%9F%3C/code%3E%E5%92%8C%3Ccode%3E%E7%94%B5%E8%84%91%E6%96%87%E4%BB%B6%E7%B3%BB%E7%BB%9F%3C/code%3E">区分<code>设备文件系统</code>和<code>电脑文件系统</code></h2>
 <p>这里我们有一个比较重要的概念需要掌握：<strong>分清楚<code>设备文件系统</code>和<code>电脑文件系统</code></strong>。</p>
 <ul>
@@ -242,10 +286,13 @@ <h2 id="%E5%8C%BA%E5%88%86%3Ccode%3E%E8%AE%BE%E5%A4%87%E6%96%87%E4%BB%B6%E7%B3%B
 <p>所以常见的问题是有同学在电脑上保存了文件<code>D:\data\a.jpg</code>，然后在设备上使用这个文件<code>img = image.load(&quot;D:\data\a.jpg&quot;)</code>，这样当然是找不到文件的，因为设备上没有<code>D:\data\a.jpg</code>这个文件。</p>
 <p>具体如何将电脑的文件发送到设备上，参考下面的章节。</p>
 <h2 id="%E4%BC%A0%E8%BE%93%E6%96%87%E4%BB%B6%E5%88%B0%E8%AE%BE%E5%A4%87">传输文件到设备</h2>
-<p>开发中，敬请期待。</p>
-<p>目前可以用其它工具代替：</p>
-<p>先知道设备的 ip 地址或者设备名称，MaixVision 就可以搜索到, 或者在设备<code>设置-&gt;系统信息</code>中看到，比如类似 <code>maixcam-xxxx.local</code> 或者 <code>192.168.0.123</code>。<br />
-用户名和密码都是 <code>root</code>, 使用 <code>SFTP</code> 协议传输文件，端口号是 <code>22</code>。</p>
+<p>先连接设备，然后点击浏览设备文件系统的按钮，有两个入口，如下图，然后就能上传文件到设备，或者从设备下载文件到电脑了。</p>
+<p><img src="../../assets/maixvision_browser2.jpg" alt="maixvision_browser2" /></p>
+<p><img src="../../assets/maixvision_browser.jpg" alt="maixvision_browser" /></p>
+<details>
+<summary>也可以用其它工具代替，点击展开</summary>
+<div class="details-content"><p>先知道设备的 ip 地址或者设备名称，MaixVision 就可以搜索到, 或者在设备<code>设置-&gt;系统信息</code>中看到，比如类似 <code>maixcam-xxxx.local</code> 或者 <code>192.168.0.123</code>。<br />
+ 用户名和密码都是 <code>root</code>, 使用 <code>SFTP</code> 协议传输文件，端口号是 <code>22</code>。</p>
 <p>然后不同系统下都有很多好用的软件：</p>
 <h3 id="Windows-%E4%B8%8B">Windows 下</h3>
 <p>使用 <a href="https://winscp.net/eng/index.php"  target="_blank">WinSCP</a> 或者 <a href="https://filezilla-project.org/"  target="_blank">FileZilla</a> 等工具连接设备，将文件传输到设备上，选择 <code>SFTP</code> 协议填写设备和账号信息连接即可。</p>
@@ -265,6 +312,10 @@ <h3 id="Mac-%E4%B8%8B">Mac 下</h3>
 <ul>
 <li><strong>方法二</strong>：使用 <a href="https://filezilla-project.org/"  target="_blank">FileZilla</a> 等工具连接设备，将文件传输到设备上，选择 <code>SFTP</code> 协议填写设备和账号信息连接即可。</li>
 </ul>
+</div>
+</details>
+<h2 id="%E4%BD%BF%E7%94%A8%E5%9B%BE%E5%BD%A2%E5%8C%96%E7%A7%AF%E6%9C%A8%E7%BC%96%E7%A8%8B">使用图形化积木编程</h2>
+<p>开发中，敬请期待。</p>
 
                         
                     </div>
diff --git a/maixpy/doc/zh/basic/os.html b/maixpy/doc/zh/basic/os.html
index 6fb91233..9a085a1d 100644
--- a/maixpy/doc/zh/basic/os.html
+++ b/maixpy/doc/zh/basic/os.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="active_parent no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/basic/python.html b/maixpy/doc/zh/basic/python.html
index 3e9bea9d..fb9ec593 100644
--- a/maixpy/doc/zh/basic/python.html
+++ b/maixpy/doc/zh/basic/python.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="active_parent no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/basic/python_pkgs.html b/maixpy/doc/zh/basic/python_pkgs.html
index 11a4c214..0287ed66 100644
--- a/maixpy/doc/zh/basic/python_pkgs.html
+++ b/maixpy/doc/zh/basic/python_pkgs.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="active_parent no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/faq.html b/maixpy/doc/zh/faq.html
index 7900326c..9f44faa1 100644
--- a/maixpy/doc/zh/faq.html
+++ b/maixpy/doc/zh/faq.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/index.html b/maixpy/doc/zh/index.html
index 45b8e794..a7806653 100644
--- a/maixpy/doc/zh/index.html
+++ b/maixpy/doc/zh/index.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/modules/acc.html b/maixpy/doc/zh/modules/acc.html
index b0f7ea88..465a0f0d 100644
--- a/maixpy/doc/zh/modules/acc.html
+++ b/maixpy/doc/zh/modules/acc.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">片外模块</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/modules/thermal_cam.html b/maixpy/doc/zh/modules/thermal_cam.html
index 778c54ef..b4329804 100644
--- a/maixpy/doc/zh/modules/thermal_cam.html
+++ b/maixpy/doc/zh/modules/thermal_cam.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">片外模块</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -229,8 +252,8 @@ <h1></h1>
                     </div>
                     <div id="next">
                         
-                        <a href="/maixpy/doc/zh/source_code/contribute.html">
-                            <span class="label">贡献文档和代码</span>
+                        <a href="/maixpy/doc/zh/projects/index.html">
+                            <span class="label">介绍和汇总</span>
                             <span class="icon"></span>
                         </a>
                         
diff --git a/maixpy/doc/zh/modules/tof.html b/maixpy/doc/zh/modules/tof.html
index d0a5b485..97d041c2 100644
--- a/maixpy/doc/zh/modules/tof.html
+++ b/maixpy/doc/zh/modules/tof.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">片外模块</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/peripheral/gpio.html b/maixpy/doc/zh/peripheral/gpio.html
index df80ecf0..44ff9ea9 100644
--- a/maixpy/doc/zh/peripheral/gpio.html
+++ b/maixpy/doc/zh/peripheral/gpio.html
@@ -44,10 +44,10 @@
         
     
     
-    <title>MaixPy</title>
+    <title>MaixPy 使用 GPIO - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
-    <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
 </head>
 
 
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">片上外设</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>MaixPy 使用 GPIO</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,10 +212,6 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="最后修改日期： 2024-03-07">
-                                    2024-03-07
-                                </span>
-                            
                         </div>
                         <div id="article_info_right">
                             
@@ -214,7 +233,41 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
+<p>使用 GPIO 可以控制引脚输入或者输出高低电平，用来读取信号或者输出控制信号，十分常用。</p>
+<h2 id="MaixPy-%E4%B8%AD%E4%BD%BF%E7%94%A8-GPIO">MaixPy 中使用 GPIO</h2>
+<blockquote>
+<p>MaixPy 固件版本应该 &gt; 4.1.2(不包含)</p>
+</blockquote>
+<p>首先我们需要知道设备有哪些引脚和 GPIO，对于 MaixCAM 每个引脚都对应了一个 GPIO 控制器，如图：</p>
+<p><img src="http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg" alt="" /></p>
+<p>需要注意的是，引脚除了作为 GPIO 使用，还能用作其它功能比如 PWM 使用，使用前我们需要设置一下引脚的功能为 GPIO。</p>
+<p>比如在 MaixCAM 上有些引脚默认已经被其它功能占用，比如 UART0， WiFi(SDIO1 + A26), 不建议使用它们，其它的可以使用，另外 A14 引脚连接到了板载的 LED，默认是作为系统的负载提示灯，如果初始化它会自动取消系统提示灯功能作为普通 GPIO 被使用(注意<code>A14</code>只能作为输出)，这样你就能控制这颗 LED 的亮灭了。</p>
+
+<pre class="language-python"><code class="language-python">from maix import gpio, pinmap, time
+
+pinmap.set_pin_function(&quot;A14&quot;, &quot;GPIOA14&quot;)
+led = gpio.GPIO(&quot;A14&quot;, gpio.Mode.OUT)
+led.value(0)
+
+while 1:
+    led.toggle()
+    time.sleep_ms(500)
+</code></pre>
+<p>这里先使用<code>pinmap</code>设置了<code>A14</code>引脚的功能为<code>GPIO</code>，当然，对于<code>A14</code>因为只有<code>GPIO</code>功能，可以不设置，为了程序通用起见，其它引脚可能需要设置，所以这里例程设置了。</p>
+<p>更多 API 请看 <a href="https://wiki.sipeed.com/maixpy/api/maix/peripheral/gpio.html"  target="_blank">GPIO API 文档</a></p>
+<h2 id="GPIO-%E4%BD%9C%E4%B8%BA%E8%BE%93%E5%85%A5%E6%A8%A1%E5%BC%8F">GPIO 作为输入模式</h2>
+
+<pre class="language-python"><code class="language-python">from maix import gpio, pinmap, time
+
+pinmap.set_pin_function(&quot;A19&quot;, &quot;GPIOA19&quot;)
+led = gpio.GPIO(&quot;A19&quot;, gpio.Mode.IN)
+
+while 1:
+    print(led.value())
+    time.sleep_ms(1) # sleep to make cpu free
+</code></pre>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/zh/peripheral/i2c.html b/maixpy/doc/zh/peripheral/i2c.html
index ad64524c..656b51b7 100644
--- a/maixpy/doc/zh/peripheral/i2c.html
+++ b/maixpy/doc/zh/peripheral/i2c.html
@@ -44,10 +44,10 @@
         
     
     
-    <title>MaixPy</title>
+    <title>MaixPy 使用 I2C - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
-    <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
 </head>
 
 
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">片上外设</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>MaixPy 使用 I2C</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,10 +212,6 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="最后修改日期： 2024-03-30">
-                                    2024-03-30
-                                </span>
-                            
                         </div>
                         <div id="article_info_right">
                             
@@ -214,7 +233,44 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <p>对于 MaixCAM，由于引脚资源比较紧张，引出的 I2C 引脚和 WiFi 模块（SDIO1）重合了，所以 WiFi 和硬件 I2C 只能二选一使用。</p>
+<p>所以推荐使用 IO 模拟 I2C。</p>
+<blockquote>
+<p>注意需要 MaixPy 镜像和固件 &gt; 4.1.2(不包含)</p>
+</blockquote>
+<h2 id="IO-%E6%A8%A1%E6%8B%9F-I2C">IO 模拟 I2C</h2>
+<p>模拟 <code>I2C</code> 只需要引脚使用 <code>GPIO</code> 功能即可，在 <code>MaixCAM</code> 上，模拟 <code>I2C</code> 被固定在引脚<code>A15</code>(<code>SCL</code>)，<code>A27</code>(<code>SDA</code>)，并且<code>i2c</code>编号为<code>5</code>， 要使用，只需要:</p>
+
+<pre class="language-python"><code class="language-python">from maix import i2c, pinmap
+
+# pinmap.set_pin_function(&quot;A15&quot;, &quot;GPIOA23&quot;)
+# pinmap.set_pin_function(&quot;A27&quot;, &quot;GPIOA24&quot;)
+
+bus1 = i2c.I2C(5, i2c.Mode.MASTER)
+slaves = bus1.scan()
+print(&quot;find slaves:&quot;, slaves)
+
+</code></pre>
+<p>更多 API 看 <a href="https://wiki.sipeed.com/maixpy/api/maix/peripheral/i2c.html"  target="_blank">i2c API 文档</a></p>
+<h2 id="%E7%A1%AC%E4%BB%B6-I2C">硬件 I2C</h2>
+<p>如上面所说， 对于 <code>MaixCAM</code> 硬件 <code>I2C</code> 和 <code>WiFi</code> 只能二选一，如果一定要用，需要禁用<code>WiFi</code>，使用<code>pinmap</code>模块设置引脚功能为 <code>I2C</code>，在使用<code>maix.i2c</code>模块操作。</p>
+<blockquote>
+<p>TODO: 提供禁用 WiFi 的方法（需要系统里面禁用掉 WiFi 驱动，比较复杂）</p>
+</blockquote>
+<p>硬件<code>I2C</code>及对应的引脚看图：</p>
+<p><img src="http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg" alt="" /></p>
+
+<pre class="language-python"><code class="language-python">from maix import i2c, pinmap
+
+pinmap.set_pin_function(&quot;P18&quot;, &quot;I2C1_SCL&quot;)
+pinmap.set_pin_function(&quot;P21&quot;, &quot;I2C1_SDA&quot;)
+
+bus1 = i2c.I2C(1, i2c.Mode.MASTER)
+slaves = bus1.scan()
+print(&quot;find slaves:&quot;, slaves)
+
+</code></pre>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/zh/peripheral/pwm.html b/maixpy/doc/zh/peripheral/pwm.html
index 91bdb2aa..84b8ef83 100644
--- a/maixpy/doc/zh/peripheral/pwm.html
+++ b/maixpy/doc/zh/peripheral/pwm.html
@@ -44,10 +44,10 @@
         
     
     
-    <title>MaixPy</title>
+    <title>MaixPy 使用 PWM - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
-    <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
 </head>
 
 
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">片上外设</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>MaixPy 使用 PWM</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,10 +212,6 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="最后修改日期： 2024-03-07">
-                                    2024-03-07
-                                </span>
-                            
                         </div>
                         <div id="article_info_right">
                             
@@ -214,7 +233,47 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
+<p>在 MaixPy (v4) 中使用 <code>PWM</code>，先使用<code>pinmap</code>设置引脚的功能为 <code>PWM</code>，在使用。</p>
+<p>以及每个 <code>PWM</code> 有对应的引脚，根据 MaixCAM 的引脚图可以看到:</p>
+<p><img src="http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg" alt="" /></p>
+<p>这里我们推荐使用<code>PWM6</code> 和 <code>PWM7</code>。</p>
+<p>对于 <code>MaixCAM</code> 因为<code>WiFi</code> 使用了<code>SDIO1</code>的所有引脚，所以<code>PWM4~9</code>只能和<code>WiFi</code>二选一使用。</p>
+<blockquote>
+<p>TODO: 提供禁用 WiFi 的方法（需要系统里面禁用掉 WiFi 驱动，比较复杂）</p>
+</blockquote>
+<h2 id="MaixPy-%E4%BD%BF%E7%94%A8-PWM-%E6%8E%A7%E5%88%B6%E8%88%B5%E6%9C%BA">MaixPy 使用 PWM 控制舵机</h2>
+<p>这里我们以控制舵机为例， 使用<code>MaixCAM</code>的<code>PWM7</code>和<code>A19</code>引脚：</p>
+
+<pre class="language-python"><code class="language-python">from maix import pwm, time, pinmap
+
+SERVO_PERIOD = 50     # 50Hz 20ms
+SERVO_MIN_DUTY = 2.5  # 2.5% -&gt; 0.5ms
+SERVO_MAX_DUTY = 12.5  # 12.5% -&gt; 2.5ms
+
+# Use PWM7
+pwm_id = 7
+# !! set pinmap to use PWM7
+pinmap.set_pin_function(&quot;A19&quot;, &quot;PWM7&quot;)
+
+
+
+def angle_to_duty(percent):
+    return (SERVO_MAX_DUTY - SERVO_MIN_DUTY) * percent / 100.0 + SERVO_MIN_DUTY
+
+
+out = pwm.PWM(pwm_id, freq=SERVO_PERIOD, duty=angle_to_duty(0), enable=True)
+
+for i in range(100):
+    out.duty(angle_to_duty(i))
+    time.sleep_ms(100)
+
+for i in range(100):
+    out.duty(angle_to_duty(100 - i))
+    time.sleep_ms(100)
+</code></pre>
+<p>这里的功能是控制舵机从最小角度旋转到最大角度再旋转回最小角度。</p>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/zh/peripheral/spi.html b/maixpy/doc/zh/peripheral/spi.html
index ad2d74ea..d543a267 100644
--- a/maixpy/doc/zh/peripheral/spi.html
+++ b/maixpy/doc/zh/peripheral/spi.html
@@ -44,10 +44,10 @@
         
     
     
-    <title>MaixPy</title>
+    <title>MaixPy 使用 SPI - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
-    <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
 </head>
 
 
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">片上外设</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>MaixPy 使用 SPI</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,10 +212,6 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="最后修改日期： 2024-03-07">
-                                    2024-03-07
-                                </span>
-                            
                         </div>
                         <div id="article_info_right">
                             
@@ -214,7 +233,8 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <p>TODO:</p>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/zh/peripheral/uart.html b/maixpy/doc/zh/peripheral/uart.html
index 5cc99367..6b97a43e 100644
--- a/maixpy/doc/zh/peripheral/uart.html
+++ b/maixpy/doc/zh/peripheral/uart.html
@@ -44,10 +44,10 @@
         
     
     
-    <title>MaixPy</title>
+    <title>MaixPy UART 串口使用介绍 - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
-    <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
 </head>
 
 
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">片上外设</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>MaixPy UART 串口使用介绍</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,10 +212,6 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="最后修改日期： 2024-03-07">
-                                    2024-03-07
-                                </span>
-                            
                         </div>
                         <div id="article_info_right">
                             
@@ -214,7 +233,60 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <h2 id="%E4%B8%B2%E5%8F%A3%E7%AE%80%E4%BB%8B">串口简介</h2>
+<p>串口是一种通信方式，包含了硬件和通信协议的定义。</p>
+<ul>
+<li>硬件包括：<ul>
+<li>3 个引脚： <code>GND</code>， <code>RX</code>， <code>TX</code>，通信双发交叉连接 RX TX， 即一方 TX 发送到另一方的 RX， 双方 GND 连接到一起。</li>
+<li>控制器，一般在芯片内部，也叫 UART 外设，一般一个芯片有一个或者多个 UART 控制器，每个控制器有相对应的引脚。</li>
+</ul>
+</li>
+<li>通信协议： 为了让双方能顺利通信，规定了一套协议，具体可以自行学习，常见的参数有 波特率 校验位等，波特率是我们用得最多的参数。</li>
+</ul>
+<p>通过板子的串口，可以和其它单片机或者 SOC 进行数据通信，比如可以在 MaixCAM 上实现人体检测功能，检测到坐标后通过串口发送给 STM32 单片机。</p>
+<h2 id="MaixPy-%E4%B8%AD%E4%BD%BF%E7%94%A8%E4%B8%B2%E5%8F%A3">MaixPy 中使用串口</h2>
+<p>对于 MaixCAM 默认从 USB 口引出了一个串口，可以插上配套的 Type-C 转接小板，就能直接使用上面的串口引脚，<br />
+也可以不用转接板，直接使用板子上的 <code>A16(TX)</code> 和 <code>A17(RX)</code>引脚, 和 USB 口引出的是同样的引脚，是等效的。</p>
+<p>对于 MaixCAM 使用 USB 引出的串口时需要<strong>注意</strong>，Typc-C 正插和反插，转接小板上的 <code>RX</code> 和 <code>TX</code>会交换，所以当你发现无法通信时，有可能就是 RX TX 反了，可以尝试将 Type-C 翻转一面插再看看通信是否正常。这个算是设计缺陷，不过一般也不会经常拔插所以适应一下也能接受。</p>
+<p>将两个通信的板子双方连接好后（通信双发交叉连接 RX TX， 即一方 TX 发送到另一方的 RX， 双方 GND 连接到一起），就可以使用软件了。</p>
+<p>通过 MaixPy 使用串口很简单：</p>
+
+<pre class="language-python"><code class="language-python">from maix import uart
+
+devices = uart.list_devices()
+
+serial = uart.UART(devices[0], 115200)
+serial.write_str(&quot;hello world&quot;)
+print(&quot;received:&quot;, serial.read(timeout = 2000))
+</code></pre>
+<p>先列出了系统的所有串口设备，然后这里使用了第一个，也就是上面说的 Type-C 出 引出的串口。</p>
+<p>更多串口的 API 请看 <a href="../../../api/maix/peripheral/uart.html"  >UART API 文档</a></p>
+<h2 id="%E5%85%B6%E5%AE%83%E5%86%99%E6%B3%95%EF%BC%8C%E4%BB%A5%E5%8F%8A%E4%BD%BF%E7%94%A8%E5%85%B6%E5%AE%83%E4%B8%B2%E5%8F%A3">其它写法，以及使用其它串口</h2>
+
+<pre class="language-python"><code class="language-python">
+from maix import app, uart, pinmap, time
+import sys
+
+# pinmap.set_pin_function(&quot;A16&quot;, &quot;UART0_TX&quot;)
+# pinmap.set_pin_function(&quot;A17&quot;, &quot;UART0_RX&quot;)
+device = &quot;/dev/ttyS0&quot;
+
+serial0 = uart.UART(device, 115200)
+
+serial0.write(&quot;hello 1\r\n&quot;.encode())
+serial0.write_str(&quot;hello 2\r\n&quot;)
+
+while not app.need_exit():
+    data = serial0.read()
+    if data:
+        print(&quot;Received, type: {}, len: {}, data: {}&quot;.format(type(data), len(data), data))
+        serial0.write(data)
+    time.sleep_ms(1) # sleep 1ms to make CPU free
+</code></pre>
+<p>这里先设置了引脚映射，特别是如果你要使用除了 UART0 以外的串口，根据图中的引脚号和 UART 使用<code>pinmap.set_pin_function</code>来设置</p>
+<p><img src="http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg" alt="" /></p>
+<p>另外，这里循环里面加了一个 <code>sleep_ms</code> 是简单地释放一下 CPU，以达到程序不会占满 CPU 的效果，当然也有其它方式，这种方式最简单粗暴。</p>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/zh/peripheral/wdt.html b/maixpy/doc/zh/peripheral/wdt.html
index d62d6710..e458290a 100644
--- a/maixpy/doc/zh/peripheral/wdt.html
+++ b/maixpy/doc/zh/peripheral/wdt.html
@@ -44,10 +44,10 @@
         
     
     
-    <title>MaixPy</title>
+    <title>MaixPy 使用看门狗定时器 - MaixPy</title>
     
     <script type="text/javascript">js_vars = {}</script>
-    <script type="text/javascript">metadata = {"tags": [], "date": null, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
 </head>
 
 
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">片上外设</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -175,7 +198,7 @@ <h2>MaixPy</h2>
                     <div id="article_head">
                         <div id="article_title">
                             
-                            <h1></h1>
+                            <h1>MaixPy 使用看门狗定时器</h1>
                             
                         </div>
                         <div id="article_tags">
@@ -189,10 +212,6 @@ <h1></h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="最后修改日期： 2024-03-07">
-                                    2024-03-07
-                                </span>
-                            
                         </div>
                         <div id="article_info_right">
                             
@@ -214,7 +233,23 @@ <h1></h1>
                     </div>
                     <div id="article_content">
                         
-                            
+                            <h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
+<p>为了防止程序出现问题，常常会用到看门狗定时器（WDT), 在程序出问题时自动重启系统。</p>
+<p>原理就是有一个倒计时计数器，我们需要在程序的逻辑中定期地去设置这个倒计时时间（也叫喂狗），如果我们的程序在哪儿卡住了导致没有定期去设置倒计时，倒计时到 0 后硬件就会出发系统重启。</p>
+<h2 id="MaixPy-%E4%B8%AD%E4%BD%BF%E7%94%A8-WDT">MaixPy 中使用 WDT</h2>
+
+<pre class="language-python"><code class="language-python">from maix import wdt, app, time
+
+w = wdt.WDT(0, 1000)
+
+while not app.need_exit():
+    w.feed()
+    # here sleep op is our operation
+    # 200 ms is normal, if &gt; 1000ms will cause system reset
+    time.sleep_ms(200)
+
+</code></pre>
+
                         
                     </div>
                 </div>
diff --git a/maixpy/doc/zh/pro/compile_os.html b/maixpy/doc/zh/pro/compile_os.html
index 219cb05d..0caa5682 100644
--- a/maixpy/doc/zh/pro/compile_os.html
+++ b/maixpy/doc/zh/pro/compile_os.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">进阶</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/projects/index.html b/maixpy/doc/zh/projects/index.html
new file mode 100644
index 00000000..0b2239f9
--- /dev/null
+++ b/maixpy/doc/zh/projects/index.html
@@ -0,0 +1,357 @@
+<!DOCTYPE html>
+
+<html lang="zh"  class="">
+
+
+<head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    
+    <meta name="keywords" content="">
+    
+    
+    <meta name="description" content="">
+    
+    <meta name="generator" content="teedoc">
+    <meta name="theme" content="teedoc-plugin-theme-default">
+    
+        
+        <meta name="markdown-generator" content="teedoc-plugin-markdown-parser">
+        
+        <script>
+MathJax = {"loader": {"load": ["output/svg"]}, "tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]]}, "svg": {"fontCache": "global"}};
+</script>
+        
+        <script id="MathJax-script" async src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/pre_main.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/prism.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/viewer.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/dark.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/light.css" type="text/css"/>
+        
+        <script src="/maixpy/static/js/theme_default/jquery.min.js"></script>
+        
+        <script src="/maixpy/static/js/theme_default/split.js"></script>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/search/style.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/custom.css" type="text/css"/>
+        
+    
+    
+    <title>MaixPy 项目实战 介绍和汇总 - MaixPy</title>
+    
+    <script type="text/javascript">js_vars = {}</script>
+    <script type="text/javascript">metadata = {"tags": [], "date": false, "update": [], "ts": 0, "author": "", "brief": "", "cover": ""}</script>
+</head>
+
+
+<body class="type_doc">
+    
+    <div id="navbar">
+        <div id="navbar_menu">
+            <a class="site_title" href="/maixpy/">
+                
+                
+                    <h2>MaixPy</h2>
+                
+        </a>
+            <a id="navbar_menu_btn"></a>
+        </div>
+        <div id="navbar_items">
+            <div>
+                <ul id="nav_left">
+<li class=""><a  href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li class="active"><a  href="/maixpy/doc/zh/index.html">文档</a></li>
+<li class=""><a  href="/maixpy/api/index.html">API</a></li>
+<li class=""><a  href="/maixpy/doc/zh/faq.html">FAQ</a></li>
+</ul>
+
+            </div>
+            <div>
+                <ul id="nav_right">
+<li class=""><a target="_blank" href="https://github.com/sipeed/maixpy"><img src='/maixpy/static/image/github-fill.svg' style='height: 1.5em;vertical-align: middle;'>&nbsp;</a></li>
+<li class="sub_items "><a  ><img src='/maixpy/static/image/language.svg' style='height: 1.5em;vertical-align: middle;'>&nbsp;中文</a><ul><li class=""><a  href="/maixpy/doc/en/projects/index.html">English</a></li>
+<li class="active"><a  href="/maixpy/doc/zh/projects/index.html">中文</a></li>
+</ul></li>
+</ul>
+
+                <ul class="nav_plugins"><li><a id="themes" class="light"></a></li></ul><ul class="nav_plugins"><li><a id="search"><span class="icon"></span><span class="placeholder">搜索</span>
+                            <div id="search_hints">
+                                <span id="search_input_hint">输入关键词，多关键词空格隔开</span>
+                                <span id="search_loading_hint">正在加载，请稍候。。。</span>
+                                <span id="search_download_err_hint">下载文件失败，请刷新重试或检查网络</span>
+                                <span id="search_other_docs_result_hint">来自其它文档的结果</span>
+                                <span id="search_curr_doc_result_hint">当前文档搜索结果</span>
+                            </div></a></li></ul>
+            </div>
+        </div>
+    </div>
+    
+    <div id="wrapper">
+        <div id="sidebar_wrapper">
+            <div id="sidebar">
+                <div id="sidebar_title">
+                    
+                </div>
+                <ul class="show">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixvision.html"><span class="label">MaixVision 使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python.html"><span class="label">Python 语法</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_detector.html"><span class="label">自学习检测器</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/object_track.html"><span class="label">物体轨迹跟踪和计数</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">项目实战</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
+</ul>
+
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+            <div id="content_wrapper">
+                <div id="content_body">
+                    <div id="article_head">
+                        <div id="article_title">
+                            
+                            <h1>MaixPy 项目实战 介绍和汇总</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
+                        </div>
+                        <div id="article_info">
+                        <div id="article_info_left">
+                            <span class="article_author">
+                                
+                            </span>
+                            
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+                            
+                            <div id="source_link">
+                                <a href="https://github.com/sipeed/MaixPy/blob/main/docs/doc/zh/projects/README.md" target="_blank">
+                                    Edit this page
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+                            </div>
+                            
+                        </div>
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+                    <div id="article_tools">
+                        <span></span>
+                        <span id="toc_btn"></span>
+                    </div>
+                    <div id="update_history">
+                        
+                    </div>
+                    <div id="article_content">
+                        
+                            <h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
+<p>这里提供一些常见的项目实战示例，方便社区成员可以参考复现使用，也方便激发大家的灵感做出更多更好的应用和项目出来。</p>
+<p>要找到用 MaixPy 实现的相关的项目，有几种方式：</p>
+<h2 id="MaixPy-%E5%AE%98%E6%96%B9%E6%96%87%E6%A1%A3">MaixPy 官方文档</h2>
+<p>也就是本文档左边目录可以找到的项目实战，比如<code>小车巡线</code>。</p>
+<p>如果你有好的项目，或者好的项目推荐，也可以贡献文档添加进来。</p>
+<h2 id="MaixHub-%E9%A1%B9%E7%9B%AE%E5%88%86%E4%BA%AB%E5%B9%BF%E5%9C%BA">MaixHub 项目分享广场</h2>
+<p>在<a href="https://maixhub.com/share?type=project"  target="_blank">MaixHub 项目分享</a> 栏目可以找到项目分享。</p>
+<p>有高质量的分享也会被链接到 MaixPy 官方文档。</p>
+<p>你也可以分享你的项目制作方法，会获得官方（必获得）以及社区成员的现金打赏（通常高质量能解决急需需求的更容易被打赏）。</p>
+<p>推荐项目：</p>
+<ul>
+<li>maixcam部署yolov5s 自定义模型: <a href="https://maixhub.com/share/23"  target="_blank">https://maixhub.com/share/23</a></li>
+</ul>
+<h2 id="MaixHub-%E5%BA%94%E7%94%A8%E5%88%86%E4%BA%AB">MaixHub 应用分享</h2>
+<p>除了项目分享以外，还可以在<a href="https://maixhub.com/app"  target="_blank">MaixHub 应用商店</a> 找到可以直接运行的应用，有部分应用可能是用 MaixPy 编写的，如果作者提供了源码或者写了详细的教程也都可以参考。</p>
+<p>推荐项目：</p>
+<ul>
+<li>简易HTTP串流服务器: <a href="https://maixhub.com/app/19"  target="_blank">https://maixhub.com/app/19</a></li>
+<li>桌面电脑性能监视器: <a href="https://maixhub.com/app/13"  target="_blank">https://maixhub.com/app/13</a></li>
+<li>安全帽检测模型应用: <a href="https://maixhub.com/app/10"  target="_blank">https://maixhub.com/app/10</a></li>
+</ul>
+
+                        
+                    </div>
+                </div>
+                <div id="previous_next">
+                    <div id="previous">
+                        
+                        <a href="/maixpy/doc/zh/modules/thermal_cam.html">
+                            <span class="icon"></span>
+                            <span class="label">热成像摄像头</span>
+                        </a>
+                        
+                    </div>
+                    <div id="next">
+                        
+                        <a href="/maixpy/doc/zh/projects/line_tracking_robot.html">
+                            <span class="label">小车巡线</span>
+                            <span class="icon"></span>
+                        </a>
+                        
+                    </div>
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+                <div id="comments-container"></div>
+            </div>
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+                <ul>
+<li><a>相关链接</a><ul><li><a target="_blank" href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li><a target="_blank" href="https://www.sipeed.com">Sipeed 官网</a></li>
+<li><a target="_blank" href="https://maixhub.com/">MaixHub</a></li>
+<li><a  href="/maixpy/sitemap.xml">网站地图</a></li>
+<li><a target="_blank" href="https://github.com/neutree/teedoc">网站使用 teedoc 生成</a></li>
+</ul>
+</li>
+<li><a>源码</a><ul><li><a target="_blank" href="https://github.com/sipeed/maixpy">MaixPy 源码</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/MaixCDK">MaixCDK 源码</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/sipeed_wiki">Wiki 源码</a></li>
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+<li><a><a>微信公众号</a><img src='/maixpy/static/image/wechat.png'></a>
+</li>
+</ul>
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+<li><a>联系我们</a><ul><li><a>电话: +86 0755-27808509</a>
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+<li><a>商业支持: support@sipeed.com</a>
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\ No newline at end of file
diff --git a/maixpy/doc/zh/projects/line_tracking_robot.html b/maixpy/doc/zh/projects/line_tracking_robot.html
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+++ b/maixpy/doc/zh/projects/line_tracking_robot.html
@@ -0,0 +1,422 @@
+<!DOCTYPE html>
+
+<html lang="zh"  class="">
+
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+<head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
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+MathJax = {"loader": {"load": ["output/svg"]}, "tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]]}, "svg": {"fontCache": "global"}};
+</script>
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+        
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+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/viewer.min.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/dark.css" type="text/css"/>
+        
+        <link rel="stylesheet" href="/maixpy/static/css/theme_default/light.css" type="text/css"/>
+        
+        <script src="/maixpy/static/js/theme_default/jquery.min.js"></script>
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+    <script type="text/javascript">metadata = {"tags": [], "date": "2024-05-09", "update": [{"date": "2024-05-09", "author": "lxowalle", "version": "1.0.0", "content": "初版文档"}], "ts": 1715184000, "author": "", "brief": "", "cover": ""}</script>
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+    
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+        <div id="navbar_menu">
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+<li class=""><a  href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li class="active"><a  href="/maixpy/doc/zh/index.html">文档</a></li>
+<li class=""><a  href="/maixpy/api/index.html">API</a></li>
+<li class=""><a  href="/maixpy/doc/zh/faq.html">FAQ</a></li>
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+                <ul id="nav_right">
+<li class=""><a target="_blank" href="https://github.com/sipeed/maixpy"><img src='/maixpy/static/image/github-fill.svg' style='height: 1.5em;vertical-align: middle;'>&nbsp;</a></li>
+<li class="sub_items "><a  ><img src='/maixpy/static/image/language.svg' style='height: 1.5em;vertical-align: middle;'>&nbsp;中文</a><ul><li class=""><a  href="/maixpy/doc/en/projects/line_tracking_robot.html">English</a></li>
+<li class="active"><a  href="/maixpy/doc/zh/projects/line_tracking_robot.html">中文</a></li>
+</ul></li>
+</ul>
+
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+    
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+            <div id="sidebar">
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+                    
+                </div>
+                <ul class="show">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixvision.html"><span class="label">MaixVision 使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python.html"><span class="label">Python 语法</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_detector.html"><span class="label">自学习检测器</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/object_track.html"><span class="label">物体轨迹跟踪和计数</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">项目实战</span><span class="sub_indicator"></span></a><ul class="show">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
+</ul>
+
+            </div>
+        </div>
+        <div id="article">
+            <div id="menu_wrapper">
+                <div id="menu">
+                </div>
+            </div>
+            <div id="content_wrapper">
+                <div id="content_body">
+                    <div id="article_head">
+                        <div id="article_title">
+                            
+                            <h1>MaixPy 小车巡线</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
+                        </div>
+                        <div id="article_info">
+                        <div id="article_info_left">
+                            <span class="article_author">
+                                
+                            </span>
+                            
+                                <span class="article_date" title="最后修改日期： 2024-05-09">
+                                    2024-05-09
+                                </span>
+                            
+                        </div>
+                        <div id="article_info_right">
+                            
+                            <div id="source_link">
+                                <a href="https://github.com/sipeed/MaixPy/blob/main/docs/doc/zh/projects/line_tracking_robot.md" target="_blank">
+                                    Edit this page
+                                </a>
+                            </div>
+                            
+                        </div>
+                        </div>
+                    </div>
+                    <div id="article_tools">
+                        <span></span>
+                        <span id="toc_btn"></span>
+                    </div>
+                    <div id="update_history">
+                        
+                        
+                        <details open>
+                        
+                            <summary>更新历史</summary>
+                            <div>
+                                <table>
+                                        <thead>
+                                            <tr>
+                                                <th>日期</th>
+                                                <th>版本</th>
+                                                <th>作者</th>
+                                                <th>更新内容</th>
+                                            </tr>
+                                        </thead>
+                                        <tbody>
+                                            
+                                                <tr>
+                                                    <td>2024-05-09</td>
+                                                    <td>1.0.0</td>
+                                                    <td>lxowalle</td>
+                                                    <td>
+                                                    
+                                                        初版文档
+                                                    
+                                                    </td>
+                                                </tr>
+                                            
+                                        </tbody>
+                                </table>
+                            </div>
+                        </details>
+                        
+                    </div>
+                    <div id="article_content">
+                        
+                            <p>阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读<a href="../index.html"  >快速开始</a></p>
+<h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
+<p>本文将介绍如何使用MaixPy实现寻线小车</p>
+<h2 id="%E5%A6%82%E4%BD%95%E4%BD%BF%E7%94%A8MaixPy%E5%AE%9E%E7%8E%B0%E5%AF%BB%E7%BA%BF%E5%B0%8F%E8%BD%A6">如何使用MaixPy实现寻线小车</h2>
+<ol>
+<li>准备MaixCAM与小车</li>
+<li>实现寻线功能</li>
+<li>实现小车控制功能</li>
+</ol>
+<h3 id="%E5%87%86%E5%A4%87MaixCAM%E4%B8%8E%E5%B0%8F%E8%BD%A6">准备MaixCAM与小车</h3>
+<p>TODO</p>
+<h3 id="%E5%AE%9E%E7%8E%B0%E5%AF%BB%E7%BA%BF%E5%8A%9F%E8%83%BD">实现寻线功能</h3>
+<p>使用<code>image</code>模块的<code>get_regression</code>可以快速寻找到直线，详情见<a href="./line_tracking.html"  >寻找直线</a></p>
+<p>代码实现：</p>
+
+<pre class="language-python"><code class="language-python">from maix import camera, display, image
+
+cam = camera.Camera(320, 240)
+disp = display.Display()
+
+# thresholds = [[0, 80, 40, 80, 10, 80]]      # red
+thresholds = [[0, 80, -120, -10, 0, 30]]    # green
+# thresholds = [[0, 80, 30, 100, -120, -60]]  # blue
+
+while 1:
+    img = cam.read()
+
+    lines = img.get_regression(thresholds, area_threshold = 100)
+    for a in lines:
+        img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2)
+        theta = a.theta()
+        rho = a.rho()
+        if theta &gt; 90:
+            theta = 270 - theta
+        else:
+            theta = 90 - theta
+        img.draw_string(0, 0, &quot;theta: &quot; + str(theta) + &quot;, rho: &quot; + str(rho), image.COLOR_BLUE)
+
+    disp.show(img)
+
+</code></pre>
+<p>上述代码实现了寻线功能， 上述参数中需注意：</p>
+<ul>
+<li>设置合适的thresholds值来寻找到对应的直线</li>
+<li>设置合适的area_threshold值来过滤环境干扰，可以过滤一些面积小的直线</li>
+<li>使用<code>a.theta()</code>获取直线的角度</li>
+<li>使用<code>a.rho()</code>获取直线与原点(原点在左上角)的距离</li>
+</ul>
+<p>根据实际环境调试好寻线参数后， 就可以利用<code>a.theta()</code>和<code>a.rho()</code>控制小车方向了。</p>
+<h3 id="%E5%AE%9E%E7%8E%B0%E5%B0%8F%E8%BD%A6%E6%8E%A7%E5%88%B6%E5%8A%9F%E8%83%BD">实现小车控制功能</h3>
+<p>TODO</p>
+
+                        
+                    </div>
+                </div>
+                <div id="previous_next">
+                    <div id="previous">
+                        
+                        <a href="/maixpy/doc/zh/projects/index.html">
+                            <span class="icon"></span>
+                            <span class="label">介绍和汇总</span>
+                        </a>
+                        
+                    </div>
+                    <div id="next">
+                        
+                        <a href="/maixpy/doc/zh/source_code/contribute.html">
+                            <span class="label">贡献文档和代码</span>
+                            <span class="icon"></span>
+                        </a>
+                        
+                    </div>
+                </div>
+                <div id="comments-container"></div>
+            </div>
+            <div id="toc_wrapper">
+                <div id="toc">
+                    <div id="toc_content">
+                            
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    <a id="to_top" href="#"></a>
+    <div id="doc_footer">
+        <div id="footer">
+            <div id="footer_top">
+                <ul>
+<li><a>相关链接</a><ul><li><a target="_blank" href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li><a target="_blank" href="https://www.sipeed.com">Sipeed 官网</a></li>
+<li><a target="_blank" href="https://maixhub.com/">MaixHub</a></li>
+<li><a  href="/maixpy/sitemap.xml">网站地图</a></li>
+<li><a target="_blank" href="https://github.com/neutree/teedoc">网站使用 teedoc 生成</a></li>
+</ul>
+</li>
+<li><a>源码</a><ul><li><a target="_blank" href="https://github.com/sipeed/maixpy">MaixPy 源码</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/MaixCDK">MaixCDK 源码</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/sipeed_wiki">Wiki 源码</a></li>
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+<li><a><a>微信公众号</a><img src='/maixpy/static/image/wechat.png'></a>
+</li>
+</ul>
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+<li><a>联系我们</a><ul><li><a>电话: +86 0755-27808509</a>
+</li>
+<li><a>商业支持: support@sipeed.com</a>
+</li>
+<li><a>地址: 深圳市宝安区新湖路4008号蘅芳科技办公大厦A座-2101C</a>
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+<li><a target="_blank" href="https://www.sipeed.com">©2018-2023 深圳矽速科技有限公司</a></li>
+<li><a target="_blank" href="https://beian.miit.gov.cn/#/Integrated/index">粤ICP备19015433号</a></li>
+</ul>
+
+            </div>
+        </div>
+    </div>
+    
+        <script src="/maixpy/teedoc-plugin-markdown-parser/mermaid.min.js"></script>
+    
+        <script>mermaid.initialize({startOnLoad:true});</script>
+    
+        <script src="/maixpy/static/js/theme_default/tocbot.min.js"></script>
+    
+        <script src="/maixpy/static/js/theme_default/main.js"></script>
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+</body>
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+</html>
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diff --git a/maixpy/doc/zh/sidebar.yaml b/maixpy/doc/zh/sidebar.yaml
index 3c0a1185..0fa76b58 100644
--- a/maixpy/doc/zh/sidebar.yaml
+++ b/maixpy/doc/zh/sidebar.yaml
@@ -5,123 +5,143 @@ items:
     label: FAQ 常见问题
 
 -   label: 基础
--   file: basic/os.md
-    label: 升级和烧录系统
--   file: basic/app_usage.md
-    label: 应用使用说明
--   file: basic/maixpy_upgrade.md
-    label: 更新 MaixPy
--   file: basic/maixvision.md
-    label: MaixVision 使用
--   file: basic/python.md
-    label: Python 语法
--   file: basic/linux_basic.md
-    label: Linux 基础知识
--   file: basic/python_pkgs.md
-    label: 添加额外的 Python 包
--   file: basic/app.md
-    label: 应用开发和商店
+    collapsed: false
+    items:
+    -   file: basic/os.md
+        label: 升级和烧录系统
+    -   file: basic/app_usage.md
+        label: 应用使用说明
+    -   file: basic/maixpy_upgrade.md
+        label: 更新 MaixPy
+    -   file: basic/maixvision.md
+        label: MaixVision 使用
+    -   file: basic/python.md
+        label: Python 语法
+    -   file: basic/linux_basic.md
+        label: Linux 基础知识
+    -   file: basic/python_pkgs.md
+        label: 添加额外的 Python 包
+    -   file: basic/app.md
+        label: 应用开发和商店
 
 -   label: 基础图像和算法
--   file: vision/display.md
-    label: 屏幕使用
--   file: vision/camera.md
-    label: 摄像头使用
--   file: vision/image_ops.md
-    label: 基本图像操作
--   file: vision/find_blobs.md
-    label: 寻找色块
--   file: vision/qrcode.md
-    label: 二维码识别
--   file: vision/apriltag.md
-    label: AprilTag 识别
+    items:
+    -   file: vision/display.md
+        label: 屏幕使用
+    -   file: vision/camera.md
+        label: 摄像头使用
+    -   file: vision/image_ops.md
+        label: 基本图像操作
+    -   file: vision/find_blobs.md
+        label: 寻找色块
+    -   file: vision/line_tracking.md
+        label: 寻找直线
+    -   file: vision/qrcode.md
+        label: 二维码识别
+    -   file: vision/apriltag.md
+        label: AprilTag 识别
 
 -   label: AI 视觉
--   file: vision/ai.md
-    label: AI 视觉基本知识
--   file: vision/classify.md
-    label: AI 物体分类
--   file: vision/yolov5.md
-    label: YOLOv5 物体检测
--   file: vision/face_recognition.md
-    label: 人脸识别
--   file: vision/body_key_points.md
-    label: 人体关键点检测
--   file: vision/self_learn_classifier.md
-    label: 自学习分类器
--   file: vision/self_learn_detector.md
-    label: 自学习检测器
--   file: vision/object_track.md
-    label: 物体轨迹跟踪和计数
--   file: vision/ocr.md
-    label: OCR 文字识别
--   file: vision/maixhub_train.md
-    label: MaixHub 在线 AI 模型训练
--   file: vision/custmize_model.md
-    label: 自定义（离线训练转换）模型
+    items:
+    -   file: vision/ai.md
+        label: AI 视觉基本知识
+    -   file: vision/classify.md
+        label: AI 物体分类
+    -   file: vision/yolov5.md
+        label: YOLOv5 物体检测
+    -   file: vision/face_detection.md
+        label: 人脸及关键点检测
+    -   file: vision/face_recognition.md
+        label: 人脸识别
+    -   file: vision/body_key_points.md
+        label: 人体关键点检测
+    -   file: vision/self_learn_classifier.md
+        label: 自学习分类器
+    -   file: vision/self_learn_detector.md
+        label: 自学习检测器
+    -   file: vision/object_track.md
+        label: 物体轨迹跟踪和计数
+    -   file: vision/ocr.md
+        label: OCR 文字识别
+    -   file: vision/maixhub_train.md
+        label: MaixHub 在线 AI 模型训练
+    -   file: vision/custmize_model.md
+        label: 自定义（离线训练转换）模型
 
 
 -   label: AI 听觉
--   file: audio/record.md
-    label: 录音
--   file: audio/play.md
-    label: 播放音频
--   file: audio/classifier.md
-    label: AI 声音分类器
--   file: audio/keyword.md
-    label: 关键词识别
--   file: audio/recognize.md
-    label: 语音实时识别
--   file: audio/synthesis.md
-    label: 语音合成
+    items:
+    -   file: audio/record.md
+        label: 录音
+    -   file: audio/play.md
+        label: 播放音频
+    -   file: audio/classifier.md
+        label: AI 声音分类器
+    -   file: audio/keyword.md
+        label: 关键词识别
+    -   file: audio/recognize.md
+        label: 语音实时识别
+    -   file: audio/synthesis.md
+        label: 语音合成
 
 -   label: 视频
--   file: video/record.md
-    label: 录像
--   file: video/play.md
-    label: 播放视频
--   file: video/jpeg_streaming.md
-    label: JPEG 串流
--   file: video/rtsp.md
-    label: RTSP 串流
+    items:
+    -   file: video/record.md
+        label: 录像
+    -   file: video/play.md
+        label: 播放视频
+    -   file: video/jpeg_streaming.md
+        label: JPEG 串流
+    -   file: video/rtsp.md
+        label: RTSP 串流
 
 
 -   label: 片上外设
--   file: peripheral/gpio.md
-    label: GPIO 和 点灯
--   file: peripheral/uart.md
-    label: UART 串口使用
--   file: peripheral/i2c.md
-    label: I2C 使用
--   file: peripheral/pwm.md
-    label: PWM 使用
--   file: peripheral/spi.md
-    label: SPI 使用
--   file: peripheral/wdt.md
-    label: WDT 看门狗使用
+    items:
+    -   file: peripheral/gpio.md
+        label: GPIO 和 点灯
+    -   file: peripheral/uart.md
+        label: UART 串口使用
+    -   file: peripheral/i2c.md
+        label: I2C 使用
+    -   file: peripheral/pwm.md
+        label: PWM 使用
+    -   file: peripheral/spi.md
+        label: SPI 使用
+    -   file: peripheral/wdt.md
+        label: WDT 看门狗使用
 
 -   label: 片外模块
--   file: modules/acc.md
-    label: 加速度计使用
--   file: modules/temp_hum.md
-    label: 温湿度传感器
--   file: modules/tof.md
-    label: TOF 测距
--   file: modules/thermal_cam.md
-    label: 热成像摄像头
+    items:
+    -   file: modules/acc.md
+        label: 加速度计使用
+    -   file: modules/temp_hum.md
+        label: 温湿度传感器
+    -   file: modules/tof.md
+        label: TOF 测距
+    -   file: modules/thermal_cam.md
+        label: 热成像摄像头
+
+-   label: 项目实战
+    items:
+    -   file: projects/README.md
+        label: 介绍和汇总
+    -   file: projects/line_tracking_robot.md
+        label: 小车巡线
 
 -   label: 进阶
--   file: source_code/contribute.md
-    label: 贡献文档和代码
--   file: source_code/build.md
-    label: 构建 MaixPy 源码
--   file: source_code/faq.md
-    label: MaixPy 源码 FAQ
--   file: source_code/add_c_module.md
-    label: 使用 C/C++ 写一个模块
--   file: source_code/maixcdk.md
-    label: 使用 MaixCDK 开发
--   file: pro/compile_os.md
-    label: 编译系统
+    items:
+    -   file: source_code/contribute.md
+        label: 贡献文档和代码
+    -   file: source_code/build.md
+        label: 构建 MaixPy 源码
+    -   file: source_code/faq.md
+        label: MaixPy 源码 FAQ
+    -   file: source_code/add_c_module.md
+        label: 使用 C/C++ 写一个模块
+    -   file: source_code/maixcdk.md
+        label: 使用 MaixCDK 开发
+    -   file: pro/compile_os.md
+        label: 编译系统
 
 
diff --git a/maixpy/doc/zh/source_code/add_c_module.html b/maixpy/doc/zh/source_code/add_c_module.html
index adfad721..91c3338b 100644
--- a/maixpy/doc/zh/source_code/add_c_module.html
+++ b/maixpy/doc/zh/source_code/add_c_module.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">进阶</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/source_code/build.html b/maixpy/doc/zh/source_code/build.html
index bb403d5f..73790c04 100644
--- a/maixpy/doc/zh/source_code/build.html
+++ b/maixpy/doc/zh/source_code/build.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">进阶</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -212,18 +235,34 @@ <h1>MaixPy 开发源代码指南</h1>
                         
                             <h2 id="%E8%8E%B7%E5%8F%96%E6%BA%90%E4%BB%A3%E7%A0%81">获取源代码</h2>
 
-<pre class="language-shell"><code class="language-shell">git clone https://github.com/sipeed/MaixPy
-cd MaixPy
+<pre class="language-shell"><code class="language-shell">mkdir -p ~/maix
+cd ~/maix
+git clone https://github.com/sipeed/MaixPy
 </code></pre>
+<h2 id="%E8%8E%B7%E5%8F%96-MaixCDK-%E6%BA%90%E7%A0%81">获取 MaixCDK 源码</h2>
+<p>MaixPy 项目依赖于 MaixCDK，需要先克隆它，放到电脑的某个目录（勿放在 MaixPy 目录下）</p>
+
+<pre class="language-shell"><code class="language-shell">cd ~/maix
+git clone https://github.com/sipeed/MaixCDK
+</code></pre>
+<p>然后需要设置环境变量 <code>MAIXCAK_PATH</code> 指定 MaixCDK 的路径，可以在 <code>~/.bashrc</code> 或者<code>~/.zshrc</code>（根据你使用的shell决定）添加：</p>
+
+<pre class="language-shell"><code class="language-shell">export MAIXCAK_PATH=~/maix/MaixCDK
+</code></pre>
+<p>只有在成功设置环境变量后， MaixPy 才能找到 MaixCDK 源码。</p>
 <h2 id="%E6%9E%84%E5%BB%BA%E5%B9%B6%E6%89%93%E5%8C%85%E6%88%90-wheel-%E6%96%87%E4%BB%B6">构建并打包成 wheel 文件</h2>
 
-<pre class="language-shell"><code class="language-shell">python setup.py bdist_wheel maixcam
+<pre class="language-shell"><code class="language-shell">cd ~/maix/MaixPy
+python setup.py bdist_wheel maixcam
 </code></pre>
-<p><code>maixcam</code> 可以被替换为其他板卡配置, 请查看 <a href="%5B./configs%5D(https://github.com/sipeed/MaixPy/blob/main/setup.py)"  target="_blank">setup.py</a> 中的 <code>platform_names</code> 变量。</p>
-<p>构建成功后, 你会在 <code>dist</code> 目录中找到 wheel 文件, 使用 <code>pip install -U MaixPy****.wheel</code> 在你的设备上安装或升级。</p>
+<p><code>maixcam</code> 可以被替换为其他板卡配置, 请查看 <code>MaixPy/platforms</code> 目录。</p>
+<p>构建成功后, 你会在 <code>dist</code> 目录中找到 wheel 文件, 传输到设备（开发板），在设备终端中使用 <code>pip install -U MaixPy****.wheel</code> 在你的设备上安装或升级。</p>
 <blockquote>
 <p><code>python setup.py bdist_wheel maixcam --skip-build</code> 不会执行构建命令, 只会打包 wheel 文件, 因此你可以先使用 <code>maixcdk menuconfig</code> 和 <code>maixcdk build</code> 来自定义构建。</p>
 </blockquote>
+<blockquote>
+<p>另外如果你是在调试 API，需要频繁安装，使用 pip 安装会比较慢，可以直接编译后拷贝 <code>maix</code> 目录到设备的 <code>/usr/lib/python3.11/site-packages</code>目录下覆盖旧的文件即可。</p>
+</blockquote>
 <h2 id="%E6%89%8B%E5%8A%A8%E6%9E%84%E5%BB%BA">手动构建</h2>
 
 <pre class="language-shell"><code class="language-shell">maixcdk build
diff --git a/maixpy/doc/zh/source_code/contribute.html b/maixpy/doc/zh/source_code/contribute.html
index 9acb65c7..dadb86de 100644
--- a/maixpy/doc/zh/source_code/contribute.html
+++ b/maixpy/doc/zh/source_code/contribute.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">进阶</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -252,9 +275,9 @@ <h2 id="%E5%8F%82%E4%B8%8E-MaixPy-%E4%BB%A3%E7%A0%81%E8%B4%A1%E7%8C%AE">参与 M
                 <div id="previous_next">
                     <div id="previous">
                         
-                        <a href="/maixpy/doc/zh/modules/thermal_cam.html">
+                        <a href="/maixpy/doc/zh/projects/line_tracking_robot.html">
                             <span class="icon"></span>
-                            <span class="label">热成像摄像头</span>
+                            <span class="label">小车巡线</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/doc/zh/source_code/faq.html b/maixpy/doc/zh/source_code/faq.html
index 356dcab6..eceb4578 100644
--- a/maixpy/doc/zh/source_code/faq.html
+++ b/maixpy/doc/zh/source_code/faq.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">进阶</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -189,8 +212,8 @@ <h1>MaixPy 源代码常见问题</h1>
                                 
                             </span>
                             
-                                <span class="article_date" title="最后修改日期： 2024-04-26">
-                                    2024-04-26
+                                <span class="article_date" title="最后修改日期： 2024-05-10">
+                                    2024-05-10
                                 </span>
                             
                         </div>
@@ -225,6 +248,8 @@ <h2 id="ImportError%3A-arg%28%29%3A-could-not-convert-default-argument-%27format
 <pre class="language-none"><code class="language-none">maix_image.hpp
 maix_camera.hpp
 </code></pre>
+<h2 id="/usr/bin/ld%3A-/lib/libgdal.so.30%3A-undefined-reference-to-%60std%3A%3Acondition_variable%3A%3Await%28std%3A%3Aunique_lock%3Ca-href%3D%22std%3A%3Amutex%22--%3Estd%3A%3Amutex%3C/a%3E%26amp%3B%29%40GLIBCXX_3.4.30%27-collect2%3A-error%3A-ld-returned-1-exit-status">/usr/bin/ld: /lib/libgdal.so.30: undefined reference to `std::condition_variable::wait(std::unique_lock<a href="std::mutex"  >std::mutex</a>&amp;)@GLIBCXX_3.4.30' collect2: error: ld returned 1 exit status</h2>
+<p>一般在为 Linux 构建时并且使用 conda 环境时容易出现，conda 环境中的一些库编译参数问题，解决方法就是不用 conda 即可， 或者单独找到 conda 中的那个库，替换成系统的或者直接删掉（会从系统找）</p>
 
                         
                     </div>
diff --git a/maixpy/doc/zh/source_code/maixcdk.html b/maixpy/doc/zh/source_code/maixcdk.html
index 4c95e517..fe36593b 100644
--- a/maixpy/doc/zh/source_code/maixcdk.html
+++ b/maixpy/doc/zh/source_code/maixcdk.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">进阶</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/video/jpeg_streaming.html b/maixpy/doc/zh/video/jpeg_streaming.html
index 6128f1e2..9e04a317 100644
--- a/maixpy/doc/zh/video/jpeg_streaming.html
+++ b/maixpy/doc/zh/video/jpeg_streaming.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">视频</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/ai.html b/maixpy/doc/zh/vision/ai.html
index c9711493..c3a63954 100644
--- a/maixpy/doc/zh/vision/ai.html
+++ b/maixpy/doc/zh/vision/ai.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/apriltag.html b/maixpy/doc/zh/vision/apriltag.html
index 105bd483..0ea2ccba 100644
--- a/maixpy/doc/zh/vision/apriltag.html
+++ b/maixpy/doc/zh/vision/apriltag.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -246,7 +269,7 @@ <h1>MaixPy 识别Apriltag标签</h1>
                     </div>
                     <div id="article_content">
                         
-                            <p>阅读本文前，确保已经知晓如何开发MaixPy，详情请阅读<a href="../basic/maixvision.html"  >MaixVision -- MaixPy 编程 + 图形化积木编程</a></p>
+                            <p>阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读<a href="../index.html"  >快速开始</a></p>
 <h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
 <p>本文介绍如何使用MaixPy来识别Apriltag标签</p>
 <h2 id="%E4%BD%BF%E7%94%A8-MaixPy-%E8%AF%86%E5%88%ABApriltag%E6%A0%87%E7%AD%BE">使用 MaixPy 识别Apriltag标签</h2>
diff --git a/maixpy/doc/zh/vision/body_key_points.html b/maixpy/doc/zh/vision/body_key_points.html
index a249e3b4..332ce68e 100644
--- a/maixpy/doc/zh/vision/body_key_points.html
+++ b/maixpy/doc/zh/vision/body_key_points.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/camera.html b/maixpy/doc/zh/vision/camera.html
index 280a3fb7..6194893a 100644
--- a/maixpy/doc/zh/vision/camera.html
+++ b/maixpy/doc/zh/vision/camera.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/classify.html b/maixpy/doc/zh/vision/classify.html
index 1f9999f5..6fc4dedd 100644
--- a/maixpy/doc/zh/vision/classify.html
+++ b/maixpy/doc/zh/vision/classify.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/custmize_model.html b/maixpy/doc/zh/vision/custmize_model.html
index 11d390be..29a2d238 100644
--- a/maixpy/doc/zh/vision/custmize_model.html
+++ b/maixpy/doc/zh/vision/custmize_model.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/display.html b/maixpy/doc/zh/vision/display.html
index b4ca2751..77b1d36a 100644
--- a/maixpy/doc/zh/vision/display.html
+++ b/maixpy/doc/zh/vision/display.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
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-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/face_detection.html b/maixpy/doc/zh/vision/face_detection.html
new file mode 100644
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+++ b/maixpy/doc/zh/vision/face_detection.html
@@ -0,0 +1,375 @@
+<!DOCTYPE html>
+
+<html lang="zh"  class="">
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+        
+        <link rel="stylesheet" href="/maixpy/static/css/custom.css" type="text/css"/>
+        
+    
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+    <title>MaixPy 人脸检测和关键点检测 - MaixPy</title>
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+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
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+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
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+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
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+</ul>
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+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
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+</ul>
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+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
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+
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+            <div id="content_wrapper">
+                <div id="content_body">
+                    <div id="article_head">
+                        <div id="article_title">
+                            
+                            <h1>MaixPy 人脸检测和关键点检测</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
+                        </div>
+                        <div id="article_info">
+                        <div id="article_info_left">
+                            <span class="article_author">
+                                
+                            </span>
+                            
+                        </div>
+                        <div id="article_info_right">
+                            
+                            <div id="source_link">
+                                <a href="https://github.com/sipeed/MaixPy/blob/main/docs/doc/zh/vision/face_detection.md" target="_blank">
+                                    Edit this page
+                                </a>
+                            </div>
+                            
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+                    <div id="update_history">
+                        
+                    </div>
+                    <div id="article_content">
+                        
+                            <h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
+<p>人脸检测在很多地方都能用到，比如是为人脸识别提供人脸检测这一步骤，或者是人脸跟踪相关的应用等等。</p>
+<p>这里提供的人脸检测不光可以检测到人脸，还能检测到 5 个关键点，包括两个眼睛，一个鼻子，一张嘴巴的两个嘴角。</p>
+<p><img src="../../assets/face_detection.jpg" alt="face detection" /></p>
+<h2 id="MaixPy-%E4%B8%AD%E4%BD%BF%E7%94%A8%E4%BA%BA%E8%84%B8%E6%A3%80%E6%B5%8B">MaixPy 中使用人脸检测</h2>
+<p>MaixPy 官方提供了两种人脸检测模型，分别来自开源项目 <a href="https://github.com/biubug6/Face-Detector-1MB-with-landmark"  target="_blank">face detector 1MB with landmark</a> 和 <a href="https://github.com/biubug6/Pytorch_Retinaface"  target="_blank">Retinafate</a>。</p>
+<p>要使用需要先下载模型，选择一个即可，两者区别不大：</p>
+<ul>
+<li><a href="https://maixhub.com/model/zoo/377"  target="_blank">face detector 1MB with landmark</a></li>
+<li><a href="https://maixhub.com/model/zoo/378"  target="_blank">Retinafate</a></li>
+</ul>
+<p>然后拷贝模型文件到设备，拷贝方法见 <a href="../basic/maixvision.html"  >MaixVision 使用</a>。</p>
+<blockquote>
+<p>默认镜像里面有一个文件，可以直接使用，如果没有则需要你自己下载，而且下载的压缩包里面有多个分辨率可以选择，分辨率越高越精准但耗时更长</p>
+</blockquote>
+<p>然后执行代码，这里有一行被注释了代码是加载<code>Retinafae</code>模型，根据你下载的模型选择使用哪一行代码</p>
+<blockquote>
+<p>本功能需要 MaixPy &gt;= 4.1.4 才能使用</p>
+</blockquote>
+
+<pre class="language-python"><code class="language-python">from maix import camera, display, image, nn, app
+import math
+
+
+detector = nn.FaceDetector(model=&quot;/root/models/face_detector.mud&quot;)
+# detector = nn.Retinaface(model=&quot;/root/models/retinaface.mud&quot;)
+
+cam = camera.Camera(detector.input_width(), detector.input_height(), detector.input_format())
+dis = display.Display()
+
+while not app.need_exit():
+    img = cam.read()
+    objs = detector.detect(img, conf_th = 0.4, iou_th = 0.45)
+    for obj in objs:
+        img.draw_rect(obj.x, obj.y, obj.w, obj.h, color = image.COLOR_RED)
+        radius = math.ceil(obj.w / 10)
+        img.draw_keypoints(obj.points, image.COLOR_RED, size = radius if radius &lt; 5 else 4)
+    dis.show(img)
+
+</code></pre>
+
+                        
+                    </div>
+                </div>
+                <div id="previous_next">
+                    <div id="previous">
+                        
+                        <a href="/maixpy/doc/zh/vision/yolov5.html">
+                            <span class="icon"></span>
+                            <span class="label">YOLOv5 物体检测</span>
+                        </a>
+                        
+                    </div>
+                    <div id="next">
+                        
+                        <a href="/maixpy/doc/zh/vision/face_recognition.html">
+                            <span class="label">人脸识别</span>
+                            <span class="icon"></span>
+                        </a>
+                        
+                    </div>
+                </div>
+                <div id="comments-container"></div>
+            </div>
+            <div id="toc_wrapper">
+                <div id="toc">
+                    <div id="toc_content">
+                            
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    <a id="to_top" href="#"></a>
+    <div id="doc_footer">
+        <div id="footer">
+            <div id="footer_top">
+                <ul>
+<li><a>相关链接</a><ul><li><a target="_blank" href="https://wiki.sipeed.com">Sipeed Wiki</a></li>
+<li><a target="_blank" href="https://www.sipeed.com">Sipeed 官网</a></li>
+<li><a target="_blank" href="https://maixhub.com/">MaixHub</a></li>
+<li><a  href="/maixpy/sitemap.xml">网站地图</a></li>
+<li><a target="_blank" href="https://github.com/neutree/teedoc">网站使用 teedoc 生成</a></li>
+</ul>
+</li>
+<li><a>源码</a><ul><li><a target="_blank" href="https://github.com/sipeed/maixpy">MaixPy 源码</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/MaixCDK">MaixCDK 源码</a></li>
+<li><a target="_blank" href="https://github.com/sipeed/sipeed_wiki">Wiki 源码</a></li>
+<li><a target="_blank" href="https://github.com/sipeed">开源项目</a></li>
+</ul>
+</li>
+<li><a>关注我们</a><ul><li><a target="_blank" href="https://twitter.com/SipeedIO">twitter</a></li>
+<li><a target="_blank" href="https://sipeed.taobao.com/">淘宝</a></li>
+<li><a target="_blank" href="https://www.aliexpress.com/store/911876460">AliExpress</a></li>
+<li><a target="_blank" href="https://github.com/sipeed">github</a></li>
+<li><a><a>微信公众号</a><img src='/maixpy/static/image/wechat.png'></a>
+</li>
+</ul>
+</li>
+<li><a>联系我们</a><ul><li><a>电话: +86 0755-27808509</a>
+</li>
+<li><a>商业支持: support@sipeed.com</a>
+</li>
+<li><a>地址: 深圳市宝安区新湖路4008号蘅芳科技办公大厦A座-2101C</a>
+</li>
+<li><a  href="https://wiki.sipeed.com/join_us.html">加入我们</a></li>
+</ul>
+</li>
+</ul>
+
+            </div>
+            <div id="footer_bottom">
+                <ul>
+<li><a target="_blank" href="https://www.sipeed.com">©2018-2023 深圳矽速科技有限公司</a></li>
+<li><a target="_blank" href="https://beian.miit.gov.cn/#/Integrated/index">粤ICP备19015433号</a></li>
+</ul>
+
+            </div>
+        </div>
+    </div>
+    
+        <script src="/maixpy/teedoc-plugin-markdown-parser/mermaid.min.js"></script>
+    
+        <script>mermaid.initialize({startOnLoad:true});</script>
+    
+        <script src="/maixpy/static/js/theme_default/tocbot.min.js"></script>
+    
+        <script src="/maixpy/static/js/theme_default/main.js"></script>
+    
+        <script src="/maixpy/static/js/theme_default/viewer.min.js"></script>
+    
+        <script src="/maixpy/static/css/theme_default/prism.min.js"></script>
+    
+        <script src="/maixpy/static/js/search/search_main.js"></script>
+    
+        <script src="/maixpy/static/js/custom.js"></script>
+    
+</body>
+
+</html>
\ No newline at end of file
diff --git a/maixpy/doc/zh/vision/face_recognition.html b/maixpy/doc/zh/vision/face_recognition.html
index c499b6b0..26280790 100644
--- a/maixpy/doc/zh/vision/face_recognition.html
+++ b/maixpy/doc/zh/vision/face_recognition.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -259,9 +282,9 @@ <h2 id="MaixPy-%E4%BD%BF%E7%94%A8">MaixPy 使用</h2>
                 <div id="previous_next">
                     <div id="previous">
                         
-                        <a href="/maixpy/doc/zh/vision/yolov5.html">
+                        <a href="/maixpy/doc/zh/vision/face_detection.html">
                             <span class="icon"></span>
-                            <span class="label">YOLOv5 物体检测</span>
+                            <span class="label">人脸及关键点检测</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/doc/zh/vision/find_blobs.html b/maixpy/doc/zh/vision/find_blobs.html
index d759a2c6..99ae3c34 100644
--- a/maixpy/doc/zh/vision/find_blobs.html
+++ b/maixpy/doc/zh/vision/find_blobs.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -257,7 +280,7 @@ <h1>MaixPy 寻找色块</h1>
                     </div>
                     <div id="article_content">
                         
-                            <p>阅读本文前，确保已经知晓如何开发MaixPy，详情请阅读<a href="../basic/maixvision.html"  >MaixVision -- MaixPy 编程 + 图形化积木编程</a></p>
+                            <p>阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读<a href="../index.html"  >快速开始</a></p>
 <h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
 <p>本文将介绍如何使用MaixPy来寻找色块，以及如何使用MaixCam的默认应用程序寻找色块。</p>
 <p>在视觉应用中，寻找色块是一个非常常见的需求，比如机器人找色块，自动化生产线找色块等等，即需要识别画面中的特定的颜色区域，获取这个区域的位置和大小等信息。</p>
@@ -329,7 +352,7 @@ <h3 id="%E5%B8%B8%E7%94%A8%E5%8F%82%E6%95%B0%E8%AF%B4%E6%98%8E">常用参数说
 <tbody>
 <tr>
   <td>thresholds</td>
-  <td>基于lab颜色空间的阈值，threshold=[[l_min, l_max, a_min, a_max, b_min, b_max]]，分别表示：<br />亮度范围为[l_min, l_max]|<br />绿色到红色的分量范围为[l_min, l_max]<br />蓝色到黄色的分量范围为[b_min, b_max]<br />可同时设置多个阈值</td>
+  <td>基于lab颜色空间的阈值，threshold=[[l_min, l_max, a_min, a_max, b_min, b_max]]，分别表示：<br />亮度范围为[l_min, l_max]|<br />绿色到红色的分量范围为[a_min, a_max]<br />蓝色到黄色的分量范围为[b_min, b_max]<br />可同时设置多个阈值</td>
   <td>设置两个阈值来检测红色和绿色<br /><code>img.find_blobs(threshold=[[0, 80, 40, 80, 10, 80], [0, 80, -120, -10, 0, 30]])</code><br />红色阈值为[0, 80, 40, 80, 10, 80]<br />绿色阈值为[0, 80, -120, -10, 0, 30]</td>
 </tr>
 <tr>
@@ -432,8 +455,8 @@ <h2 id="%E5%85%B3%E4%BA%8ELAB%E9%A2%9C%E8%89%B2%E7%A9%BA%E9%97%B4">关于LAB颜
                     </div>
                     <div id="next">
                         
-                        <a href="/maixpy/doc/zh/vision/qrcode.html">
-                            <span class="label">二维码识别</span>
+                        <a href="/maixpy/doc/zh/vision/line_tracking.html">
+                            <span class="label">寻找直线</span>
                             <span class="icon"></span>
                         </a>
                         
diff --git a/maixpy/doc/zh/vision/image_ops.html b/maixpy/doc/zh/vision/image_ops.html
index 2e6edf50..c9782ec6 100644
--- a/maixpy/doc/zh/vision/image_ops.html
+++ b/maixpy/doc/zh/vision/image_ops.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
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+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
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 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/line_tracking.html b/maixpy/doc/zh/vision/line_tracking.html
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@@ -0,0 +1,541 @@
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+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
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+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
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+<li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
+</ul>
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+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
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+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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+</ul>
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+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
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+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
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+
+            </div>
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+                    <div id="article_head">
+                        <div id="article_title">
+                            
+                            <h1>MaixPy 寻找直线</h1>
+                            
+                        </div>
+                        <div id="article_tags">
+                            <ul>
+                            
+                            </ul>
+                        </div>
+                        <div id="article_info">
+                        <div id="article_info_left">
+                            <span class="article_author">
+                                
+                            </span>
+                            
+                                <span class="article_date" title="最后修改日期： 2024-05-09">
+                                    2024-05-09
+                                </span>
+                            
+                        </div>
+                        <div id="article_info_right">
+                            
+                            <div id="source_link">
+                                <a href="https://github.com/sipeed/MaixPy/blob/main/docs/doc/zh/vision/line_tracking.md" target="_blank">
+                                    Edit this page
+                                </a>
+                            </div>
+                            
+                        </div>
+                        </div>
+                    </div>
+                    <div id="article_tools">
+                        <span></span>
+                        <span id="toc_btn"></span>
+                    </div>
+                    <div id="update_history">
+                        
+                        
+                        <details open>
+                        
+                            <summary>更新历史</summary>
+                            <div>
+                                <table>
+                                        <thead>
+                                            <tr>
+                                                <th>日期</th>
+                                                <th>版本</th>
+                                                <th>作者</th>
+                                                <th>更新内容</th>
+                                            </tr>
+                                        </thead>
+                                        <tbody>
+                                            
+                                                <tr>
+                                                    <td>2024-05-09</td>
+                                                    <td>1.0.0</td>
+                                                    <td>lxowalle</td>
+                                                    <td>
+                                                    
+                                                        初版文档
+                                                    
+                                                    </td>
+                                                </tr>
+                                            
+                                        </tbody>
+                                </table>
+                            </div>
+                        </details>
+                        
+                    </div>
+                    <div id="article_content">
+                        
+                            <p>阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读<a href="../index.html"  >快速开始</a></p>
+<h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
+<p>在视觉应用中，在巡迹小车、巡线机器人等应用中经常需要寻找线条的功能。本文将介绍:</p>
+<ul>
+<li><p>如何使用MaixPy来实现巡线功能</p>
+</li>
+<li><p>如何使用MaixCam的默认应用程序巡线</p>
+</li>
+</ul>
+<h2 id="%E5%A6%82%E4%BD%95%E4%BD%BF%E7%94%A8MaixPy%E6%9D%A5%E5%AF%BB%E6%89%BE%E7%9B%B4%E7%BA%BF">如何使用MaixPy来寻找直线</h2>
+<p>MaixPy的 <code>maix.image.Image</code>中提供了<code>get_regression</code>方法来寻找直线</p>
+<h3 id="%E4%BB%A3%E7%A0%81%E7%A4%BA%E4%BE%8B">代码示例</h3>
+<p>一个简单的示例，实现寻找并画出直线</p>
+
+<pre class="language-python"><code class="language-python">from maix import camera, display, image
+
+cam = camera.Camera(320, 240)
+disp = display.Display()
+
+# thresholds = [[0, 80, 40, 80, 10, 80]]      # red
+thresholds = [[0, 80, -120, -10, 0, 30]]    # green
+# thresholds = [[0, 80, 30, 100, -120, -60]]  # blue
+
+while 1:
+    img = cam.read()
+
+    lines = img.get_regression(thresholds, area_threshold = 100)
+    for a in lines:
+        img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2)
+        theta = a.theta()
+        rho = a.rho()
+        if theta &gt; 90:
+            theta = 270 - theta
+        else:
+            theta = 90 - theta
+        img.draw_string(0, 0, &quot;theta: &quot; + str(theta) + &quot;, rho: &quot; + str(rho), image.COLOR_BLUE)
+
+    disp.show(img)
+</code></pre>
+<p>步骤：</p>
+<ol>
+<li><p>导入image、camera、display模块</p>
+
+<pre class="language-python"><code class="language-python">from maix import image, camera, display
+</code></pre>
+</li>
+<li><p>初始化摄像头和显示</p>
+
+<pre class="language-python"><code class="language-python">cam = camera.Camera(320, 240)	# 初始化摄像头，输出分辨率320x240 RGB格式
+disp = display.Display()
+</code></pre>
+</li>
+<li><p>从摄像头获取图片并显示</p>
+
+<pre class="language-python"><code class="language-python">while 1:
+    img = cam.read()
+    disp.show(img)
+</code></pre>
+</li>
+<li><p>调用<code>get_regression</code>方法寻找摄像头图片中的直线，并画到屏幕上</p>
+
+<pre class="language-python"><code class="language-python">lines = img.get_regression(thresholds, area_threshold = 100)
+for a in lines:
+   img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2)
+   theta = a.theta()
+   rho = a.rho()
+   if theta &gt; 90:
+      theta = 270 - theta
+   else:
+      theta = 90 - theta
+   img.draw_string(0, 0, &quot;theta: &quot; + str(theta) + &quot;, rho: &quot; + str(rho), image.COLOR_BLUE)
+</code></pre>
+<ul>
+<li><code>img</code>是通过<code>cam.read()</code>读取到的摄像头图像，当初始化的方式为<code>cam = camera.Camera(320, 240)</code>时，<code>img</code>对象是一张分辨率为320x240的RGB图。</li>
+<li><code>img.get_regression</code>用来寻找直线， <code>thresholds</code> 是一个颜色阈值列表，每个元素是一个颜色阈值，同时找到多个阈值就传入多个，每个颜色阈值的格式为 <code>[L_MIN, L_MAX, A_MIN, A_MAX, B_MIN, B_MAX]</code>，这里的 <code>L</code>、<code>A</code>、<code>B</code> 是<code>LAB</code>颜色空间的三个通道，<code>L</code> 通道是亮度，<code>A</code> 通道是红绿通道，<code>B</code> 通道是蓝黄通道。<code>pixels_threshold</code>是一个像素面积的阈值，用来过滤一些不需要直线。</li>
+<li><code>for a in lines</code>用来遍历返回的<code>Line</code>对象， 其中<code>a</code>就是当前的<code>Line</code>对象。通常<code>get_regression</code>函数只会返回一个<code>Line</code>对象，如果需要寻找多条直线，可以尝试使用<code>find_line</code>方法</li>
+<li>使用<code>img.draw_line</code>来画出找到的线条，<code>a.x1(), a.y1(), a.x2(), a.y2()</code>分别代表直线两端的坐标</li>
+<li>使用<code>img.draw_string</code>在左上角显示直线与x轴的夹角， <code>a.theta()</code>是直线与y轴的夹角， 这里为了方便理解转换成直线与x轴的夹角<code>theta</code>，<code>a.rho()</code>是原点与直线的垂线的长度.</li>
+</ul>
+</li>
+<li><p>通过maixvision运行代码，就可以寻线啦，看看效果吧</p>
+<p><img src="../../../static/image/line_tracking_demo.jpg" alt="image-20240509110204007" /></p>
+</li>
+</ol>
+<h3 id="%E5%B8%B8%E7%94%A8%E5%8F%82%E6%95%B0%E8%AF%B4%E6%98%8E">常用参数说明</h3>
+<p>列举常用参数说明，如果没有找到可以实现应用的参数，则需要考虑是否使用其他算法实现，或者基于目前算法的结果扩展所需的功能</p>
+<table>
+<thead>
+<tr>
+  <th>参数</th>
+  <th>说明</th>
+  <th>示例</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+  <td>thresholds</td>
+  <td>基于lab颜色空间的阈值，threshold=[[l_min, l_max, a_min, a_max, b_min, b_max]]，分别表示：<br />亮度范围为[l_min, l_max]|<br />绿色到红色的分量范围为[a_min, a_max]<br />蓝色到黄色的分量范围为[b_min, b_max]<br />可同时设置多个阈值</td>
+  <td>设置两个阈值来检测红色和绿色<br /><code>img.find_blobs(threshold=[[0, 80, 40, 80, 10, 80], [0, 80, -120, -10, 0, 30]])</code><br />红色阈值为[0, 80, 40, 80, 10, 80]<br />绿色阈值为[0, 80, -120, -10, 0, 30]</td>
+</tr>
+<tr>
+  <td>invert</td>
+  <td>使能阈值反转，使能后传入阈值与实际阈值相反，默认为False</td>
+  <td>使能阈值反转<br /><code>img.find_blobs(invert=True)</code></td>
+</tr>
+<tr>
+  <td>roi</td>
+  <td>设置算法计算的矩形区域，roi=[x, y, w, h]，x，y表示矩形区域左上角坐标，w，h表示矩形区域的宽度和高度，默认为整张图片</td>
+  <td>计算坐标为(50,50)，宽和高为100的区域<br /><code>img.find_blobs(roi=[50, 50, 100, 100])</code></td>
+</tr>
+<tr>
+  <td>area_threshold</td>
+  <td>过滤像素面积小于area_threshold的直线，单位为像素点，默认为10。该参数可用于过滤一些无用的小直线</td>
+  <td>过滤面积小于1000的直线<br /><code>img.find_blobs(area_threshold=1000)</code></td>
+</tr>
+<tr>
+  <td>pixels_threshold</td>
+  <td>过滤有效像素点小于pixels_threshold的直线，默认为10。该参数可用于过滤一些无用的小直线</td>
+  <td>过滤有效像素点小于1000的直线<br /><code>img.find_blobs(pixels_threshold=1000)</code></td>
+</tr>
+</tbody>
+</table>
+<p>本文介绍常用方法，更多 API 请看 API 文档的 <a href="../../../api/maix/image.html"  >image</a> 部分。</p>
+<h2 id="%E5%A6%82%E4%BD%95%E4%BD%BF%E7%94%A8MaixCam%E7%9A%84%E9%BB%98%E8%AE%A4%E5%BA%94%E7%94%A8%E7%A8%8B%E5%BA%8F%E5%AF%BB%E6%89%BE%E7%9B%B4%E7%BA%BF">如何使用MaixCam的默认应用程序寻找直线</h2>
+<p>为了快速验证寻找直线的功能，可以先使用MaixCam提供的<code>line_tracking</code>应用程序来体验寻找直线的效果。</p>
+<h3 id="%E4%BD%BF%E7%94%A8%E6%96%B9%E6%B3%95">使用方法</h3>
+<ol>
+<li>选择并打开<code>Line tracking</code>应用</li>
+<li>点击屏幕中需要识别的直线，左侧会显示该直线的颜色</li>
+<li>点击左侧（界面中<code>L A B</code>下方的颜色）需要检测的颜色</li>
+<li>此时就可以识别到对应的直线了，同时串口也会输出直线的坐标和角度信息。</li>
+</ol>
+<h3 id="%E6%BC%94%E7%A4%BA">演示</h3>
+<p><video src="/maixpy/static/video/line_tracking_app.mp4" controls="controls" width="100%" height="auto"></video></p>
+<h3 id="%E8%BF%9B%E9%98%B6%E6%93%8D%E4%BD%9C">进阶操作</h3>
+<h4 id="%E6%89%8B%E5%8A%A8%E8%AE%BE%E7%BD%AELAB%E9%98%88%E5%80%BC%E5%AF%BB%E6%89%BE%E7%9B%B4%E7%BA%BF">手动设置LAB阈值寻找直线</h4>
+<p>APP提供手动设置LAB阈值来精确的寻找直线</p>
+<p>操作方法：</p>
+<ol>
+<li><p><code>点击</code>左下角<code>选项图标</code>，进入配置模式</p>
+</li>
+<li><p>将<code>摄像头对准</code>需要<code>寻找的物体</code>，<code>点击</code>屏幕上的<code>目标直线</code>，此时界面中<code>L A B</code>下方会显示该物体对应颜色的<code>矩形框</code>，并显示该物体颜色的<code>LAB值</code>。</p>
+</li>
+<li><p>点击下方选项<code>L Min，L Max，A Min，A Max，B Min，B Max</code>，点击后右侧会出现滑动条来设置该选项值。这些值分别对应LAB颜色格式的L通道、A通道和B通道的最小值和最大值</p>
+</li>
+<li><p>参考步骤2计算的物体颜色的<code>LAB值</code>，将<code>L Min，L Max，A Min，A Max，B Min，B Max</code>调整到合适的值，即可识别到对应的直线。</p>
+<p>例如<code>LAB=(20, 50, 80)</code>，由于<code>L=20</code>，为了适配一定范围让<code>L Min=10</code>，<code>L Max=30</code>;同理，由于<code>A=50</code>，让<code>A Min=40</code>，<code>A Max=60</code>; 由于<code>B=80</code>，让<code>B Min=70</code>，<code>B Max=90</code>。</p>
+</li>
+</ol>
+<h4 id="%E9%80%9A%E8%BF%87%E4%B8%B2%E5%8F%A3%E5%8D%8F%E8%AE%AE%E8%8E%B7%E5%8F%96%E6%A3%80%E6%B5%8B%E6%95%B0%E6%8D%AE">通过串口协议获取检测数据</h4>
+<p>寻找直线应用支持通过串口（默认波特率为115200）上报检测到的直线信息。</p>
+<p>由于上报信息只有一条，这里直接用示例来说明上报信息的内容。</p>
+<p>例如上报信息为：</p>
+
+<pre class="language-shell"><code class="language-shell">AA CA AC BB 0E 00 00 00 E1 09 FC 01 01 00 E9 01 6F 01 57 00 C1 C6
+</code></pre>
+<ul>
+<li><p><code>AA CA AC BB</code>：协议头部，内容固定</p>
+</li>
+<li><p><code>0E 00 00 00</code>：数据长度，除了协议头部和数据长度外的总长度，这里表示长度为14</p>
+</li>
+<li><p><code>E1</code>：标志位，用来标识串口消息标志</p>
+</li>
+<li><p><code>09</code>：命令类型，对于寻找直线APP应用该值固定为0x09</p>
+</li>
+<li><p><code>FC 01 01 00 E9 01 6F 01 57 00</code>：直线的两端坐标和角度信息，每个值用小端格式的2字节表示。<code>FC 01</code>和<code>01 00</code>表示第一个端点坐标为(508, 1)，<code>E9 01</code>和<code>6F 01</code>表示第二个端点坐标为(489, 367)，<code>57 00</code>表示直线与x轴的角度为87度</p>
+</li>
+<li><p><code>C1 C6</code>：CRC 校验值，用以校验帧数据在传输过程中是否出错</p>
+</li>
+</ul>
+
+                        
+                    </div>
+                </div>
+                <div id="previous_next">
+                    <div id="previous">
+                        
+                        <a href="/maixpy/doc/zh/vision/find_blobs.html">
+                            <span class="icon"></span>
+                            <span class="label">寻找色块</span>
+                        </a>
+                        
+                    </div>
+                    <div id="next">
+                        
+                        <a href="/maixpy/doc/zh/vision/qrcode.html">
+                            <span class="label">二维码识别</span>
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+                        </a>
+                        
+                    </div>
+                </div>
+                <div id="comments-container"></div>
+            </div>
+            <div id="toc_wrapper">
+                <div id="toc">
+                    <div id="toc_content">
+                            
+                    </div>
+                </div>
+            </div>
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+    <a id="to_top" href="#"></a>
+    <div id="doc_footer">
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+<li><a target="_blank" href="https://www.sipeed.com">Sipeed 官网</a></li>
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diff --git a/maixpy/doc/zh/vision/maixhub_train.html b/maixpy/doc/zh/vision/maixhub_train.html
index 0da49d8c..45eb2f61 100644
--- a/maixpy/doc/zh/vision/maixhub_train.html
+++ b/maixpy/doc/zh/vision/maixhub_train.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/object_track.html b/maixpy/doc/zh/vision/object_track.html
index dd0aa02e..7a5694a7 100644
--- a/maixpy/doc/zh/vision/object_track.html
+++ b/maixpy/doc/zh/vision/object_track.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/qrcode.html b/maixpy/doc/zh/vision/qrcode.html
index 5e05fe10..e458965b 100644
--- a/maixpy/doc/zh/vision/qrcode.html
+++ b/maixpy/doc/zh/vision/qrcode.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -246,7 +269,7 @@ <h1>MaixPy 二维码识别</h1>
                     </div>
                     <div id="article_content">
                         
-                            <p>阅读本文前，确保已经知晓如何开发MaixPy，详情请阅读<a href="../basic/maixvision.html"  >MaixVision -- MaixPy 编程 + 图形化积木编程</a></p>
+                            <p>阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读<a href="../index.html"  >快速开始</a></p>
 <h2 id="%E7%AE%80%E4%BB%8B">简介</h2>
 <p>本文介绍如何使用MaixPy来识别二维码</p>
 <h2 id="%E4%BD%BF%E7%94%A8-MaixPy-%E8%AF%86%E5%88%AB%E4%BA%8C%E7%BB%B4%E7%A0%81">使用 MaixPy 识别二维码</h2>
@@ -339,9 +362,9 @@ <h3 id="%E5%B8%B8%E7%94%A8%E5%8F%82%E6%95%B0%E8%AF%B4%E6%98%8E">常用参数说
                 <div id="previous_next">
                     <div id="previous">
                         
-                        <a href="/maixpy/doc/zh/vision/find_blobs.html">
+                        <a href="/maixpy/doc/zh/vision/line_tracking.html">
                             <span class="icon"></span>
-                            <span class="label">寻找色块</span>
+                            <span class="label">寻找直线</span>
                         </a>
                         
                     </div>
diff --git a/maixpy/doc/zh/vision/self_learn_classifier.html b/maixpy/doc/zh/vision/self_learn_classifier.html
index dbcf5b3b..8d94ce8f 100644
--- a/maixpy/doc/zh/vision/self_learn_classifier.html
+++ b/maixpy/doc/zh/vision/self_learn_classifier.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/self_learn_detector.html b/maixpy/doc/zh/vision/self_learn_detector.html
index bef8aa86..4863a8f3 100644
--- a/maixpy/doc/zh/vision/self_learn_detector.html
+++ b/maixpy/doc/zh/vision/self_learn_detector.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
diff --git a/maixpy/doc/zh/vision/yolov5.html b/maixpy/doc/zh/vision/yolov5.html
index 7e2f91c1..42915ff7 100644
--- a/maixpy/doc/zh/vision/yolov5.html
+++ b/maixpy/doc/zh/vision/yolov5.html
@@ -102,7 +102,7 @@ <h2>MaixPy</h2>
                 <ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/index.html"><span class="label">快速开始</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/faq.html"><span class="label">FAQ 常见问题</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础</span></li>
+<li class="not_active no_link"><a><span class="label">基础</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/os.html"><span class="label">升级和烧录系统</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app_usage.html"><span class="label">应用使用说明</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/maixpy_upgrade.html"><span class="label">更新 MaixPy</span><span class=""></span></a></li>
@@ -111,17 +111,23 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/linux_basic.html"><span class="label">Linux 基础知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/python_pkgs.html"><span class="label">添加额外的 Python 包</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/basic/app.html"><span class="label">应用开发和商店</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">基础图像和算法</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">基础图像和算法</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/display.html"><span class="label">屏幕使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/camera.html"><span class="label">摄像头使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/image_ops.html"><span class="label">基本图像操作</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/find_blobs.html"><span class="label">寻找色块</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/line_tracking.html"><span class="label">寻找直线</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/qrcode.html"><span class="label">二维码识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/apriltag.html"><span class="label">AprilTag 识别</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 视觉</span></li>
+</ul>
+</li>
+<li class="active_parent no_link"><a><span class="label">AI 视觉</span><span class="sub_indicator"></span></a><ul class="show">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/ai.html"><span class="label">AI 视觉基本知识</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/classify.html"><span class="label">AI 物体分类</span><span class=""></span></a></li>
 <li class="active with_link"><a href="/maixpy/doc/zh/vision/yolov5.html"><span class="label">YOLOv5 物体检测</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_detection.html"><span class="label">人脸及关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/face_recognition.html"><span class="label">人脸识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/body_key_points.html"><span class="label">人体关键点检测</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/self_learn_classifier.html"><span class="label">自学习分类器</span><span class=""></span></a></li>
@@ -130,37 +136,54 @@ <h2>MaixPy</h2>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=vision/ocr.html&from=/doc/zh/vision/ocr.html"><span class="label">OCR 文字识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/maixhub_train.html"><span class="label">MaixHub 在线 AI 模型训练</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/vision/custmize_model.html"><span class="label">自定义（离线训练转换）模型</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">AI 听觉</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">AI 听觉</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/record.html&from=/doc/zh/audio/record.html"><span class="label">录音</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/play.html&from=/doc/zh/audio/play.html"><span class="label">播放音频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/classifier.html&from=/doc/zh/audio/classifier.html"><span class="label">AI 声音分类器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/keyword.html&from=/doc/zh/audio/keyword.html"><span class="label">关键词识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/audio/recognize.html"><span class="label">语音实时识别</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=audio/synthesis.html&from=/doc/zh/audio/synthesis.html"><span class="label">语音合成</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">视频</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">视频</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/record.html&from=/doc/zh/video/record.html"><span class="label">录像</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/play.html&from=/doc/zh/video/play.html"><span class="label">播放视频</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/video/jpeg_streaming.html"><span class="label">JPEG 串流</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=video/rtsp.html&from=/doc/zh/video/rtsp.html"><span class="label">RTSP 串流</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片上外设</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片上外设</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/gpio.html"><span class="label">GPIO 和 点灯</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/uart.html"><span class="label">UART 串口使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/i2c.html"><span class="label">I2C 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/pwm.html"><span class="label">PWM 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/spi.html"><span class="label">SPI 使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/peripheral/wdt.html"><span class="label">WDT 看门狗使用</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">片外模块</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">片外模块</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/acc.html"><span class="label">加速度计使用</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/no_translate.html?ref=modules/temp_hum.html&from=/doc/zh/modules/temp_hum.html"><span class="label">温湿度传感器</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/tof.html"><span class="label">TOF 测距</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/modules/thermal_cam.html"><span class="label">热成像摄像头</span><span class=""></span></a></li>
-<li class="not_active no_link sidebar_category"><span class="label">进阶</span></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">项目实战</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/index.html"><span class="label">介绍和汇总</span><span class=""></span></a></li>
+<li class="not_active with_link"><a href="/maixpy/doc/zh/projects/line_tracking_robot.html"><span class="label">小车巡线</span><span class=""></span></a></li>
+</ul>
+</li>
+<li class="not_active no_link"><a><span class="label">进阶</span><span class="sub_indicator sub_indicator_collapsed"></span></a><ul class="">
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/contribute.html"><span class="label">贡献文档和代码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/build.html"><span class="label">构建 MaixPy 源码</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/faq.html"><span class="label">MaixPy 源码 FAQ</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/add_c_module.html"><span class="label">使用 C/C++ 写一个模块</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/source_code/maixcdk.html"><span class="label">使用 MaixCDK 开发</span><span class=""></span></a></li>
 <li class="not_active with_link"><a href="/maixpy/doc/zh/pro/compile_os.html"><span class="label">编译系统</span><span class=""></span></a></li>
+</ul>
+</li>
 </ul>
 
             </div>
@@ -253,8 +276,8 @@ <h2 id="%E8%AE%AD%E7%BB%83%E8%87%AA%E5%B7%B1%E7%9A%84%E7%9B%AE%E6%A0%87%E6%A3%80
                     </div>
                     <div id="next">
                         
-                        <a href="/maixpy/doc/zh/vision/face_recognition.html">
-                            <span class="label">人脸识别</span>
+                        <a href="/maixpy/doc/zh/vision/face_detection.html">
+                            <span class="label">人脸及关键点检测</span>
                             <span class="icon"></span>
                         </a>
                         
diff --git a/maixpy/sitemap.xml b/maixpy/sitemap.xml
index 081c8527..e46c820e 100644
--- a/maixpy/sitemap.xml
+++ b/maixpy/sitemap.xml
@@ -1,200 +1,230 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.sitemaps.org/schemas/sitemap/0.9 http://www.sitemaps.org/schemas/sitemap/0.9/sitemap.xsd">
     <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/err.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/spi.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/util.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/timer.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/i2c.html</loc>
+            <lastmod>2024-05-16</lastmod>
+            <changefreq>weekly</changefreq>
+            <priority>1.0</priority>
+        </url>
+        <url>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/gpio.html</loc>
+            <lastmod>2024-05-16</lastmod>
+            <changefreq>weekly</changefreq>
+            <priority>1.0</priority>
+        </url>
+        <url>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/video.html</loc>
+            <lastmod>2024-05-16</lastmod>
+            <changefreq>weekly</changefreq>
+            <priority>1.0</priority>
+        </url>
+        <url>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/touchscreen.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
             <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/wdt.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/spi.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/pinmap.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/timer.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/protocol.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/index.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/tensor.html</loc>
+            <lastmod>2024-05-16</lastmod>
+            <changefreq>weekly</changefreq>
+            <priority>1.0</priority>
+        </url>
+        <url>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/network/wifi.html</loc>
+            <lastmod>2024-05-16</lastmod>
+            <changefreq>weekly</changefreq>
+            <priority>1.0</priority>
+        </url>
+        <url>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/nn/F.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
             <loc>https://wiki.sipeed.com/maixpy/api/maix/comm.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
             <loc>https://wiki.sipeed.com/maixpy/api/maix/rtsp.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
             <loc>https://wiki.sipeed.com/maixpy/api/maix/sys.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/app.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/display.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/i18n.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/util.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/protocol.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/key.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/app.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/adc.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/i18n.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/pwm.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/example.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/time.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/thread.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/fs.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/err.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/i2c.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/rtmp.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/gpio.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/index.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/uart.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/audio.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/display.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/time.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/video.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/fs.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/touchscreen.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/uart.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/camera.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/key.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/network.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/adc.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/nn.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/peripheral/pwm.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/tensor.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/camera.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/network/wifi.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/network.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
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         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/nn/F.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/api/maix/nn.html</loc>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
             <loc>https://wiki.sipeed.com/maixpy/api/maix/image.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <lastmod>2024-05-16</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/example.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/basic/maixvision.html</loc>
+            <lastmod>2024-05-12</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/api/maix/thread.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/basic/app.html</loc>
+            <lastmod>2024-04-08</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
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@@ -217,26 +247,32 @@
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/basic/maixpy_upgrade.html</loc>
-            <lastmod>2024-03-31</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/peripheral/spi.html</loc>
+            <lastmod>2024-05-14</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/pro/compile_os.html</loc>
-            <lastmod>2024-03-07</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/peripheral/i2c.html</loc>
+            <lastmod>2024-05-14</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
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         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/vision/ai.html</loc>
-            <lastmod>2024-04-03</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/peripheral/gpio.html</loc>
+            <lastmod>2024-05-14</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/vision/self_learn_detector.html</loc>
-            <lastmod>2024-04-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/peripheral/uart.html</loc>
+            <lastmod>2024-05-14</lastmod>
+            <changefreq>weekly</changefreq>
+            <priority>1.0</priority>
+        </url>
+        <url>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/peripheral/pwm.html</loc>
+            <lastmod>2024-05-14</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
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@@ -247,31 +283,31 @@
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/basic/python.html</loc>
-            <lastmod>2024-03-31</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/projects/line_tracking_robot.html</loc>
+            <lastmod>2024-05-09</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
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         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/basic/linux_basic.html</loc>
-            <lastmod>2024-03-12</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/projects/index.html</loc>
+            <lastmod>2024-05-09</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
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         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/basic/maixvision.html</loc>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/basic/python.html</loc>
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             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
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         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/basic/app.html</loc>
-            <lastmod>2024-04-08</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/basic/linux_basic.html</loc>
+            <lastmod>2024-03-12</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
         </url>
         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/vision/qrcode.html</loc>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/vision/yolov5.html</loc>
             <lastmod>2024-04-03</lastmod>
             <changefreq>weekly</changefreq>
             <priority>1.0</priority>
@@ -295,98 +331,98 @@
             <priority>1.0</priority>
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         <url>
-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/vision/image_ops.html</loc>
-            <lastmod>2024-04-03</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/source_code/build.html</loc>
+            <lastmod>2024-05-09</lastmod>
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-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/vision/maixhub_train.html</loc>
-            <lastmod>2024-04-03</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/source_code/maixcdk.html</loc>
+            <lastmod>2024-03-07</lastmod>
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-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/index.html</loc>
-            <lastmod>2024-04-29</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/source_code/add_c_module.html</loc>
+            <lastmod>2024-04-08</lastmod>
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-            <lastmod>2024-04-03</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/source_code/contribute.html</loc>
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-            <lastmod>2024-03-07</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/vision/face_detection.html</loc>
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-            <loc>https://wiki.sipeed.com/maixpy/doc/zh/vision/yolov5.html</loc>
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+            <loc>https://wiki.sipeed.com/maixpy/doc/zh/audio/recognize.html</loc>
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-            <lastmod>2024-04-26</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/en/projects/line_tracking_robot.html</loc>
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+            <loc>https://wiki.sipeed.com/maixpy/doc/en/projects/index.html</loc>
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+            <loc>https://wiki.sipeed.com/maixpy/doc/en/peripheral/gpio.html</loc>
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+            <loc>https://wiki.sipeed.com/maixpy/doc/en/peripheral/uart.html</loc>
+            <lastmod>2024-05-14</lastmod>
+            <changefreq>weekly</changefreq>
+            <priority>1.0</priority>
+        </url>
+        <url>
+            <loc>https://wiki.sipeed.com/maixpy/doc/en/peripheral/pwm.html</loc>
+            <lastmod>2024-05-14</lastmod>
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-            <loc>https://wiki.sipeed.com/maixpy/doc/en/vision/camera.html</loc>
+            <loc>https://wiki.sipeed.com/maixpy/doc/en/vision/qrcode.html</loc>
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-            <loc>https://wiki.sipeed.com/maixpy/doc/en/vision/find_blobs.html</loc>
+            <loc>https://wiki.sipeed.com/maixpy/doc/en/vision/image_ops.html</loc>
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-            <lastmod>2024-04-29</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/en/vision/line_tracking.html</loc>
+            <lastmod>2024-05-09</lastmod>
             <changefreq>weekly</changefreq>
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-            <loc>https://wiki.sipeed.com/maixpy/doc/en/vision/image_ops.html</loc>
-            <lastmod>2024-04-03</lastmod>
+            <loc>https://wiki.sipeed.com/maixpy/doc/en/vision/face_detection.html</loc>
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@@ -714,9 +774,15 @@
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             <priority>1.0</priority>
         </url>
+        <url>
+            <loc>https://wiki.sipeed.com/maixpy/doc/en/vision/ai.html</loc>
+            <lastmod>2024-04-03</lastmod>
+            <changefreq>weekly</changefreq>
+            <priority>1.0</priority>
+        </url>
         <url>
             <loc>https://wiki.sipeed.com/maixpy/doc/en/no_translate.html</loc>
-            <lastmod>2024-05-08</lastmod>
+            <lastmod>2024-05-16</lastmod>
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diff --git a/maixpy/static/image/line_tracking_demo.jpg b/maixpy/static/image/line_tracking_demo.jpg
new file mode 100644
index 00000000..3bd95870
Binary files /dev/null and b/maixpy/static/image/line_tracking_demo.jpg differ
diff --git a/maixpy/static/search_index/index_0.json b/maixpy/static/search_index/index_0.json
index e6dcfba9..b0f3d066 100644
--- a/maixpy/static/search_index/index_0.json
+++ b/maixpy/static/search_index/index_0.json
@@ -1 +1 @@
-{"/maixpy/api/maix/err.html":{"title":"maix.err","content":" title: maix.err maix.err module > You can use `maix.err` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Err item doc **brief** Maix Error code **values** **ERR_NONE**: No error<br>**ERR_ARGS**: Invalid arguments<br>**ERR_NO_MEM**: No memory<br>**ERR_NOT_IMPL**: Not implemented<br>**ERR_NOT_READY**: Not ready<br>**ERR_NOT_INIT**: Not initialized<br>**ERR_NOT_OPEN**: Not opened<br>**ERR_NOT_PERMIT**: Not permitted<br>**ERR_REOPEN**: Re open<br>**ERR_BUSY**: Busy<br>**ERR_READ**: Read error<br>**ERR_WRITE**: Write error<br>**ERR_TIMEOUT**: Timeout<br>**ERR_RUNTIME**: Runtime error<br>**ERR_IO**: IO error<br>**ERR_NOT_FOUND**: Not found<br>**ERR_ALREAY_EXIST**: Already exist<br>**ERR_BUFF_FULL**: Buffer full<br>**ERR_BUFF_EMPTY**: Buffer empty<br>**ERR_CANCEL**: Cancel<br>**ERR_OVERFLOW**: Overflow<br>**ERR_MAX**: <br> **C++ defination code**: ```cpp enum Err { // !!! fixed error code, DO NOT change number already defined, only append new error code ERR_NONE 0, // No error ERR_ARGS , // Invalid arguments ERR_NO_MEM , // No memory ERR_NOT_IMPL , // Not implemented ERR_NOT_READY , // Not ready ERR_NOT_INIT , // Not initialized ERR_NOT_OPEN , // Not opened ERR_NOT_PERMIT , // Not permitted ERR_REOPEN , // Re open ERR_BUSY , // Busy ERR_READ , // Read error ERR_WRITE , // Write error ERR_TIMEOUT , // Timeout ERR_RUNTIME , // Runtime error ERR_IO , // IO error ERR_NOT_FOUND , // Not found ERR_ALREAY_EXIST , // Already exist ERR_BUFF_FULL , // Buffer full ERR_BUFF_EMPTY , // Buffer empty ERR_CANCEL , // Cancel ERR_OVERFLOW , // Overflow ERR_MAX, } ``` ## Variable ## Function ### to\\_str ```python def to_str(e: Err) > str ``` item doc **brief** Error code to string **param** **e**: direction [in], error code, err::Err type<br> **return** error string **C++ defination code**: ```cpp std::string to_str(err::Err e) ``` ### get\\_error ```python def get_error() > str ``` item doc **brief** get last error string **return** error string **C++ defination code**: ```cpp std::string& get_error() ``` ### set\\_error ```python def set_error(str: str) > None ``` item doc **brief** set last error string **param** **str**: direction [in], error string<br> **C++ defination code**: ```cpp void set_error(const std::string &str) ``` ### check\\_raise ```python def check_raise(e: Err, msg: str '') > None ``` item doc **brief** Check error code, if not ERR_NONE, raise err.Exception **param** **e**: direction [in], error code, err::Err type<br>**msg**: direction [in], error message<br> **C++ defination code**: ```cpp void check_raise(err::Err e, const std::string &msg \"\") ``` ### check\\_bool\\_raise ```python def check_bool_raise(ok: bool, msg: str '') > None ``` item doc **brief** Check condition, if false, raise err.Exception **param** **ok**: direction [in], condition, if true, do nothing, if false, raise err.Exception<br>**msg**: direction [in], error message<br> **C++ defination code**: ```cpp void check_bool_raise(bool ok, const std::string &msg \"\") ``` ### check\\_null\\_raise ```python def check_null_raise(ptr: capsule, msg: str '') > None ``` item doc **brief** Check NULL pointer, if NULL, raise exception **param** **ptr**: direction [in], pointer<br>**msg**: direction [in], error message<br> **C++ defination code**: ```cpp void check_null_raise(void *ptr, const std::string &msg \"\") ``` ## Class ### Exception item doc **brief** Maix Exception **C++ defination code**: ```cpp class Exception : public std::exception ```"},"/maixpy/api/maix/util.html":{"title":"maix.util","content":" title: maix.util maix.util module > You can use `maix.util` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### disable\\_kernel\\_debug ```python def disable_kernel_debug() > None ``` item doc **brief** disable the kernel debug **C++ defination code**: ```cpp void disable_kernel_debug() ``` ### enable\\_kernel\\_debug ```python def enable_kernel_debug() > None ``` item doc **brief** disable the kernel debug **C++ defination code**: ```cpp void enable_kernel_debug() ``` ## Class"},"/maixpy/api/maix/peripheral.html":{"title":"maix.peripheral","content":" title: maix.peripheral Chip's peripheral driver > You can use `maix.peripheral` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module module brief [timer](./peripheral/timer.html) maix.peripheral.timer module [wdt](./peripheral/wdt.html) maix.peripheral.wdt module [pwm](./peripheral/pwm.html) maix.peripheral.pwm module [gpio](./peripheral/gpio.html) maix.peripheral.gpio module [spi](./peripheral/spi.html) maix.peripheral.spi module [uart](./peripheral/uart.html) maix uart peripheral driver [key](./peripheral/key.html) maix.peripheral.key module [i2c](./peripheral/i2c.html) maix.peripheral.i2c module [adc](./peripheral/adc.html) maix.peripheral.adc module ## Enum ## Variable ## Function ## Class"},"/maixpy/api/maix/peripheral/wdt.html":{"title":"maix.peripheral.wdt","content":" title: maix.peripheral.wdt maix.peripheral.wdt module > You can use `maix.peripheral.wdt` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### WDT item doc **brief** Peripheral wdt class **C++ defination code**: ```cpp class WDT ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** WDT constructor, after construct, the wdt will auto start. **param** **id**: direction [in], id of wdt, int type<br>**feed_ms**: direction [in], feed interval, int type, unit is ms, you must feed wdt in this interval, or system will restart.<br> **static** False **C++ defination code**: ```cpp WDT(int id, int feed_ms) ``` #### feed item doc **type** func **brief** feed wdt **return** error code, if feed success, return err::ERR_NONE **static** False **C++ defination code**: ```cpp int feed() ``` #### stop item doc **type** func **brief** stop wdt **static** False **C++ defination code**: ```cpp int stop() ``` #### restart item doc **type** func **brief** restart wdt, stop and start watchdog timer. **static** False **C++ defination code**: ```cpp int restart() ```"},"/maixpy/api/maix/peripheral/spi.html":{"title":"maix.peripheral.spi","content":" title: maix.peripheral.spi maix.peripheral.spi module > You can use `maix.peripheral.spi` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Mode item doc **brief** SPI mode enum **values** **MASTER**: spi master mode<br>**SLAVE**: spi slave mode<br> **C++ defination code**: ```cpp enum Mode { MASTER 0x0, // spi master mode SLAVE 0x1, // spi slave mode } ``` ## Variable ## Function ## Class ### SPI item doc **brief** Peripheral spi class **C++ defination code**: ```cpp class SPI ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** SPI constructor **param** **id**: direction [in], spi bus id, int type<br>**freq**: direction [in], freq of spi, int type<br>**soft_cs**: direction [in], not use hardware cs, bool type, if set true, you can operate cs pin use gpio manually.<br>**mode**: direction [in], mode of spi, spi.Mode type, spi.Mode.MASTER or spi.Mode.SLAVE.<br>**polarity**: direction [in], polarity of spi, 0 means idle level of clock is low, 1 means high, int type, default is 0.<br>**phase**: direction [in], phase of spi, 0 means data is captured on the first edge of the SPI clock cycle, 1 means second, int type, default is 0.<br>**bits**: direction [in], bits of spi, int type, default is 8.<br>**cs**: direction [in], cs pin number, int type, default is 0, if SPI support multi hardware cs, you can set it to other value.<br> **static** False **C++ defination code**: ```cpp SPI(int id, spi::Mode mode, int freq, bool soft_cs false, int polarity 0, int phase 0, int bits 8, int cs 0) ``` #### read item doc **type** func **brief** read data from spi **param** **length**: direction [in], read length, int type<br> **return** bytes data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++. **static** False **C++ defination code**: ```cpp Bytes *read(int length) ``` #### write\\_read item doc **type** func **brief** write data to spi and read data from spi at the same time. **param** **data**: direction [in], data to write, Bytes type in C++, bytes type in MaixPy<br>**read_len**: direction [in], read length, int type, should > 0.<br> **return** read data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++. **static** False **C++ defination code**: ```cpp Bytes *write_read(Bytes *data, int read_len) ``` #### is\\_busy item doc **type** func **brief** get busy status of spi **return** busy status, bool type **static** False **C++ defination code**: ```cpp bool is_busy() ```"},"/maixpy/api/maix/peripheral/timer.html":{"title":"maix.peripheral.timer","content":" title: maix.peripheral.timer maix.peripheral.timer module > You can use `maix.peripheral.timer` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### TIMER item doc **brief** Peripheral timer class **C++ defination code**: ```cpp class TIMER ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** TIMER constructor **static** False **C++ defination code**: ```cpp TIMER() ```"},"/maixpy/api/index.html":{"title":"MaixPy API -- Maix AI machine vision platform Python API","content":" title: MaixPy API Maix AI machine vision platform Python API **You can read API doc at [MaixPy API on Sipeed Wiki](https://wiki.sipeed.com/maixpy/api/index.html)** If you want to preview API doc offline, build MaixPy, and API doc will be generated in `MaixPy/docs/api/` directory. > For MaixPy developer: This API documentation is generated from the source code, DO NOT edit this file manually! MaixPy API documentation, modules: module brief [maix.err](./maix/err.html) maix.err module [maix.tensor](./maix/tensor.html) maix.tensor module [maix.image](./maix/image.html) maix.image module, image related definition and functions [maix.camera](./maix/camera.html) maix.camera module, access camera device and get image from it [maix.display](./maix/display.html) maix.display module, control display device and show image on it [maix.comm](./maix/comm.html) maix.comm module [maix.thread](./maix/thread.html) maix.thread module [maix.fs](./maix/fs.html) maix.fs module [maix.sys](./maix/sys.html) maix.sys module [maix.time](./maix/time.html) maix.time module [maix.i18n](./maix/i18n.html) maix.i18n module [maix.protocol](./maix/protocol.html) maix.protocol module [maix.example](./maix/example.html) example module, this will be maix.example module in MaixPy, maix::example namespace in MaixCDK [maix.app](./maix/app.html) maix.app module [maix.util](./maix/util.html) maix.util module [maix.network](./maix/network.html) maix.network module [maix.nn](./maix/nn.html) maix.nn module [maix.peripheral](./maix/peripheral.html) Chip's peripheral driver [maix.rtsp](./maix/rtsp.html) maix.rtsp module [maix.video](./maix/video.html) maix.video module [maix.touchscreen](./maix/touchscreen.html) maix.touchscreen module "},"/maixpy/api/maix/comm.html":{"title":"maix.comm","content":" title: maix.comm maix.comm module > You can use `maix.comm` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### CommProtocol item doc **brief** Class for communication protocol **C++ defination code**: ```cpp class CommProtocol ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new CommProtocol object **param** **buff_size**: buffer size, default to 1024 bytes<br> **static** False **C++ defination code**: ```cpp CommProtocol(int buff_size 1024) ``` #### get\\_msg item doc **type** func **brief** Read data to buffer, and try to decode it as maix.protocol.MSG object **return** decoded data, if nullptr, means no valid frame found.<br>Attentioin, delete it after use in C++. **static** False **C++ defination code**: ```cpp protocol::MSG *get_msg() ``` #### resp\\_ok item doc **type** func **brief** Send response ok(success) message **param** **cmd**: CMD value<br>**body**: response body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err.<br>Attentioin, delete it after use in C++. **static** False **C++ defination code**: ```cpp err::Err resp_ok(uint8_t cmd, Bytes *body nullptr) ``` #### report item doc **type** func **brief** Send report message **param** **cmd**: CMD value<br>**body**: report body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err.<br>Attentioin, delete it after use in C++. **static** False **C++ defination code**: ```cpp err::Err report(uint8_t cmd, Bytes *body nullptr) ``` #### resp\\_err item doc **type** func **brief** Encode response error message to buffer **param** **cmd**: CMD value<br>**code**: error code<br>**msg**: error message<br> **return** encoded data, if nullptr, means error, and the error code is err.Err.<br>Attentioin, delete it after use in C++. **static** False **C++ defination code**: ```cpp err::Err resp_err(uint8_t cmd, err::Err code, const std::string &msg) ```"},"/maixpy/api/maix/rtsp.html":{"title":"maix.rtsp","content":" title: maix.rtsp maix.rtsp module > You can use `maix.rtsp` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### RtspStreamType item doc **brief** The stream type of rtsp **values** **RTSP_STREAM_NONE**: format invalid<br>**RTSP_STREAM_H265**: <br> **C++ defination code**: ```cpp enum RtspStreamType { RTSP_STREAM_NONE 0, // format invalid RTSP_STREAM_H265, } ``` ## Variable ## Function ## Class ### Region item doc **brief** Region class **C++ defination code**: ```cpp class Region ``` #### \\_\\_init\\_\\_ ```python def __init__(self, x: int, y: int, width: int, height: int, format: maix.image.Format, camera: maix.camera.Camera) > None ``` item doc **type** func **brief** Construct a new Region object **param** **x**: region coordinate x<br>**y**: region coordinate y<br>**width**: region width<br>**height**: region height<br>**format**: region format<br>**camera**: bind region to camera<br> **static** False **C++ defination code**: ```cpp Region(int x, int y, int width, int height, image::Format format, camera::Camera *camera) ``` #### get\\_canvas ```python def get_canvas(self) > maix.image.Image ``` item doc **type** func **brief** Return an image object from region **return** image object **static** False **C++ defination code**: ```cpp image::Image *get_canvas() ``` #### update\\_canvas ```python def update_canvas(self) > maix.err.Err ``` item doc **type** func **brief** Update canvas **return** error code **static** False **C++ defination code**: ```cpp err::Err update_canvas() ``` ### Rtsp item doc **brief** Rtsp class **C++ defination code**: ```cpp class Rtsp ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new Video object **param** **ip**: rtsp ip<br>**port**: rtsp port<br>**fps**: rtsp fps<br>**stream_type**: rtsp stream type<br> **static** False **C++ defination code**: ```cpp Rtsp(std::string ip std::string(), int port 8554, int fps 30, rtsp::RtspStreamType stream_type rtsp::RtspStreamType::RTSP_STREAM_H265) ``` #### start item doc **type** func **brief** start rtsp **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err start() ``` #### start (overload 1) item doc **type** func **brief** stop rtsp **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err stop() ``` #### bind\\_camera item doc **type** func **brief** Bind camera **param** **camera**: camera object<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err bind_camera(camera::Camera *camera) ``` #### write item doc **type** func **brief** Write data to rtsp **param** **type**: rtsp stream type<br>**data**: rtsp stream data<br>**fps**: rtsp stream data size<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err write(video::Frame &stream) ``` #### get\\_url item doc **type** func **brief** Get url of rtsp **return** url of rtsp **static** False **C++ defination code**: ```cpp std::string get_url() ``` #### to\\_camera item doc **type** func **brief** Get camera object from rtsp **return** camera object **static** False **C++ defination code**: ```cpp camera::Camera *to_camera() ``` #### rtsp\\_is\\_start item doc **type** func **brief** return rtsp start status **return** true means rtsp is start, false means rtsp is stop. **static** False **C++ defination code**: ```cpp bool rtsp_is_start() ``` #### add\\_region item doc **type** func **brief** return a region object, you can draw image on the region. **param** **x**: region coordinate x<br>**y**: region coordinate y<br>**width**: region width<br>**height**: region height<br>**format**: region format, support Format::FMT_BGRA8888 only<br> **return** the reigon object **static** False **C++ defination code**: ```cpp rtsp::Region *add_region(int x, int y, int width, int height, image::Format format image::Format::FMT_BGRA8888) ``` #### update\\_region item doc **type** func **brief** update and show region **return** error code **static** False **C++ defination code**: ```cpp err::Err update_region(rtsp::Region &region) ```"},"/maixpy/api/maix/sys.html":{"title":"maix.sys","content":" title: maix.sys maix.sys module > You can use `maix.sys` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### os\\_version ```python def os_version() > str ``` item doc **brief** Get system version **return** version string, e.g. \"2024.4.1 13af4b\" **C++ defination code**: ```cpp std::string os_version() ``` ### device\\_name ```python def device_name() > str ``` item doc **brief** Get device name **return** device name, e.g. \"MaixCAM\" **C++ defination code**: ```cpp std::string device_name() ``` ### host\\_name ```python def host_name() > str ``` item doc **brief** Get host name **return** host name, e.g. \"maixcam 2f9f\" **C++ defination code**: ```cpp std::string host_name() ``` ### host\\_domain ```python def host_domain() > str ``` item doc **brief** Get host domain **return** host domain, e.g. \"maixcam 2f9f.local\" **C++ defination code**: ```cpp std::string host_domain() ``` ### ip\\_address ```python def ip_address() > dict[str, str] ``` item doc **brief** Get ip address **return** ip address, dict type, e.g. {\"eth0\": \"192.168.0.195\", \"wlan0\": \"192.168.0.123\", \"usb0\": \"10.47.159.1\"} **C++ defination code**: ```cpp std::map<std::string, std::string> ip_address() ``` ### mac\\_address ```python def mac_address() > dict[str, str] ``` item doc **brief** Get mac address **return** mac address, dict type, e.g. {\"eth0\": \"00:0c:29:2f:9f:00\", \"wlan0\": \"00:0c:29:2f:9f:01\", \"usb0\": \"00:0c:29:2f:9f:02\"} **C++ defination code**: ```cpp std::map<std::string, std::string> mac_address() ``` ### device\\_key ```python def device_key() > str ``` item doc **brief** Get device key, can be unique id of device **return** device key, 32 bytes hex string, e.g. \"1234567890abcdef1234567890abcdef\" **C++ defination code**: ```cpp std::string device_key() ``` ### memory\\_info ```python def memory_info() > dict[str, int] ``` item doc **brief** Get memory info **return** memory info, dict type, e.g. {\"total\": 1024, \"used\": 512, \"hw_total\": 256*1024*1024}<br>total: total memory size in Byte.<br>used: used memory size in Byte.<br>hw_total: total memory size in Byte of hardware, the total < hw_total，<br>OS kernel may reserve some memory for some hardware like camera, npu, display etc. **C++ defination code**: ```cpp std::map<std::string, int> memory_info() ``` ### bytes\\_to\\_human ```python def bytes_to_human(bytes: int, precision: int 2, base: int 1024, unit: str 'B', sep: str ' ') > str ``` item doc **brief** Bytes to human readable string **param** **bytes:**: bytes size，e.g. 1234B 1234/1024 1.205 KB<br>**precision:**: decimal precision, default 2<br>**base:**: base number, default 1024<br>**unit:**: unit string, e.g. \"B\"<br>**sep:**: separator string, e.g. \" \"<br> **return** human readable string, e.g. \"1.21 KB\" **C++ defination code**: ```cpp std::string bytes_to_human(unsigned long long bytes, int precision 2, int base 1024, const std::string &unit \"B\", const std::string &sep \" \") ``` ### cpu\\_freq ```python def cpu_freq() > dict[str, int] ``` item doc **brief** Get CPU frequency **return** CPU frequency, dict type, e.g. {\"cpu0\": 1000000000, \"cpu1\": 1000000000} **C++ defination code**: ```cpp std::map<std::string, unsigned long> cpu_freq() ``` ### cpu\\_temp ```python def cpu_temp() > dict[str, float] ``` item doc **brief** Get CPU temperature **return** CPU temperature, unit dgree, dict type, e.g. {\"cpu\": 50.0, \"cpu0\": 50, \"cpu1\": 50} **C++ defination code**: ```cpp std::map<std::string, float> cpu_temp() ``` ### cpu\\_usage ```python def cpu_usage() > dict[str, float] ``` item doc **brief** Get CPU usage **return** CPU usage, dict type, e.g. {\"cpu\": 50.0, \"cpu0\": 50, \"cpu1\": 50} **C++ defination code**: ```cpp std::map<std::string, float> cpu_usage() ``` ### npu\\_freq ```python def npu_freq() > dict[str, int] ``` item doc **brief** Get NPU frequency **return** NPU frequency, dict type, e.g. {\"npu0\": 500000000} **C++ defination code**: ```cpp std::map<std::string, unsigned long> npu_freq() ``` ### disk\\_usage ```python def disk_usage(path: str '/') > dict[str, int] ``` item doc **brief** Get disk usage **param** **path:**: disk path, default \"/\"<br> **return** disk usage, dict type, e.g. {\"total\": 1024, \"used\": 512} **C++ defination code**: ```cpp std::map<std::string, unsigned long long> disk_usage(const std::string &path \"/\") ``` ### disk\\_partitions ```python def disk_partitions(only_disk: bool True) > list[dict[str, str]] ``` item doc **brief** Get disk partition and mount point info **param** **only_disk**: only return real disk, tempfs sysfs etc. not return, default true.<br> **return** disk partition and mount point info, list type, e.g. [{\"device\": \"/dev/mmcblk0p1\", \"mountpoint\": \"/mnt/sdcard\", \"fstype\": \"vfat\"}] **C++ defination code**: ```cpp std::vector<std::map<std::string, std::string>> disk_partitions(bool only_disk true) ``` ### poweroff ```python def poweroff() > None ``` item doc **brief** Power off device **C++ defination code**: ```cpp void poweroff() ``` ### reboot ```python def reboot() > None ``` item doc **brief** Power off device and power on **C++ defination code**: ```cpp void reboot() ``` ## Class"},"/maixpy/api/maix/app.html":{"title":"maix.app","content":" title: maix.app maix.app module > You can use `maix.app` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### app\\_id ```python def app_id() > str ``` item doc **brief** Get current APP ID. **return** APP ID. **C++ defination code**: ```cpp string app_id() ``` ### set\\_app\\_id ```python def set_app_id(app_id: str) > str ``` item doc **brief** Set current APP ID. **param** **app_id**: APP ID.<br> **C++ defination code**: ```cpp string set_app_id(const string &app_id) ``` ### get\\_apps\\_info\\_path ```python def get_apps_info_path() > str ``` item doc **brief** Get APP info file path. **C++ defination code**: ```cpp string get_apps_info_path() ``` ### get\\_apps\\_info ```python def get_apps_info(ignore_launcher: bool False, ignore_app_store: bool False) > list[APP_Info] ``` item doc **brief** Get APP info list. **param** **ignore_launcher**: if true, ignore launcher APP. default false.<br>**ignore_app_store**: if true, ignore app store APP. default false.<br> **return** APP info list. APP_Info object list. **C++ defination code**: ```cpp vector<app::APP_Info> &get_apps_info(bool ignore_launcher false, bool ignore_app_store false) ``` ### get\\_app\\_data\\_path ```python def get_app_data_path() > str ``` item doc **brief** Get APP info, APP can store private data in this directory. **return** APP data path \"./data\", just return the data folder in current path because APP executed in app install path or project path.<br>So, you must execute your program in you project path to use the project/data folder when you debug your APP. **C++ defination code**: ```cpp string get_app_data_path() ``` ### get\\_app\\_path ```python def get_app_path(app_id: str '') > str ``` item doc **brief** Get APP path. **param** **app_id**: APP ID, if empty, return current APP path, else return the APP path by app_id.<br> **return** APP path, just return the current path because APP executed in app install path or project path.<br>So, you must execute your program in you project path to use the project/data folder when you debug your APP. **C++ defination code**: ```cpp string get_app_path(const string &app_id \"\") ``` ### get\\_tmp\\_path ```python def get_tmp_path() > str ``` item doc **brief** Get global temporary data path, APPs can use this path as temporary data directory. **return** temporary data path. **C++ defination code**: ```cpp string get_tmp_path() ``` ### get\\_share\\_path ```python def get_share_path() > str ``` item doc **brief** Get data path of share, shared data like picture and video will put in this directory **return** share data path. **C++ defination code**: ```cpp string get_share_path() ``` ### get\\_picture\\_path ```python def get_picture_path() > str ``` item doc **brief** Get picture path of share, shared picture will put in this directory **return** share picture path. **C++ defination code**: ```cpp string get_picture_path() ``` ### get\\_video\\_path ```python def get_video_path() > str ``` item doc **brief** Get video path of share, shared video will put in this directory **return** share video path. **C++ defination code**: ```cpp string get_video_path() ``` ### get\\_font\\_path ```python def get_font_path() > str ``` item doc **brief** Get font path of share, shared font will put in this directory **return** share font path. **C++ defination code**: ```cpp string get_font_path() ``` ### get\\_icon\\_path ```python def get_icon_path() > str ``` item doc **brief** Get icon path of share, shared icon will put in this directory **return** share icon path. **C++ defination code**: ```cpp string get_icon_path() ``` ### get\\_sys\\_config\\_kv ```python def get_sys_config_kv(item: str, key: str, value: str '', from_cache: bool True) > str ``` item doc **brief** Get system config item value. **param** **item**: name of setting item, e.g. wifi, language. more see settings APP.<br>**key**: config key, e.g. for wifi, key can be ssid, for language, key can be locale.<br>**value**: default value, if not found, return this value.<br>**from_cache**: if true, read from cache, if false, read from file.<br> **return** config value, always string type, if not found, return empty string. **C++ defination code**: ```cpp string get_sys_config_kv(const string &item, const string &key, const string &value \"\", bool from_cache true) ``` ### get\\_app\\_config\\_kv ```python def get_app_config_kv(item: str, key: str, value: str '', from_cache: bool True) > str ``` item doc **brief** Get APP config item value. **param** **item**: name of setting item, e.g. user_info<br>**key**: config key, e.g. for user_info, key can be name, age etc.<br>**value**: default value, if not found, return this value.<br>**from_cache**: if true, read from cache, if false, read from file.<br> **return** config value, always string type, if not found, return empty string. **C++ defination code**: ```cpp string get_app_config_kv(const string &item, const string &key, const string &value \"\", bool from_cache true) ``` ### set\\_app\\_config\\_kv ```python def set_app_config_kv(item: str, key: str, value: str, write_file: bool True) > maix.err.Err ``` item doc **brief** Set APP config item value. **param** **item**: name of setting item, e.g. user_info<br>**key**: config key, e.g. for user_info, key can be name, age etc.<br>**value**: config value, always string type.<br>**write_file**: if true, write to file, if false, just write to cache.<br> **return** err::Err **C++ defination code**: ```cpp err::Err set_app_config_kv(const string &item, const string &key, const string &value, bool write_file true) ``` ### get\\_app\\_config\\_path ```python def get_app_config_path() > str ``` item doc **brief** Get APP config path, ini format, so you can use your own ini parser to parse it like `configparser` in Python.\\nAll APP config info is recommended to store in this file. **return** APP config path(ini format). **C++ defination code**: ```cpp string get_app_config_path() ``` ### set\\_exit\\_msg ```python def set_exit_msg(code: maix.err.Err, msg: str) > maix.err.Err ``` item doc **brief** Set APP exit code and exit message.\\nIf code ! 0, the launcher will show a dialog to user, and display the msg. **param** **code**: exit code, 0 means success, other means error, if code is 0, do nothing.<br>**msg**: exit message, if code is 0, msg is not used.<br> **return** exit code, the same as arg @code. **C++ defination code**: ```cpp err::Err set_exit_msg(err::Err code, const string &msg) ``` ### get\\_exit\\_msg ```python def get_exit_msg(cache: bool False) > tuple[str, maix.err.Err, str] ``` item doc **brief** Get APP exit code and exit message. **param** **cache**: if true, read from cache, if false, read from file. default false.<br> **return** exit return app_id, exit code and exit message. **C++ defination code**: ```cpp tuple<string, err::Err, string> get_exit_msg(bool cache false) ``` ### have\\_exit\\_msg ```python def have_exit_msg(cache: bool False) > bool ``` item doc **brief** Check if have exit msg **param** **cache**: if true, just check from cache, if false, check from file. default false.<br> **return** true if have exit msg, false if not. **C++ defination code**: ```cpp bool have_exit_msg(bool cache false) ``` ### switch\\_app ```python def switch_app(app_id: str, idx: int 1) > None ``` item doc **brief** Exit this APP and start another APP(by launcher).\\nCall this API will call set_exit_flag(true), you should check app::need_exit() in your code.\\nAnd exit this APP if app::need_exit() return true. **param** **app_id**: APP ID which will be started. app_id and idx must have one is valid.<br>**idx**: APP index. app_id and idx must have one is valid.<br> **C++ defination code**: ```cpp void switch_app(const string &app_id, int idx 1) ``` ### need\\_exit ```python def need_exit() > bool ``` item doc **brief** Shoule this APP exit? **return** true if this APP should exit, false if not. **attention** This API is a function, not a variable. **C++ defination code**: ```cpp bool need_exit() ``` ### running ```python def running() > bool ``` item doc **brief** App should running? The same as !app::need_exit() (not app::need_exit() in MaixPy). **return** true if this APP should running, false if not. **attention** This API is a function, not a variable. **C++ defination code**: ```cpp bool running() ``` ### set\\_exit\\_flag ```python def set_exit_flag(exit: bool) > None ``` item doc **brief** Set exit flag. You can get exit flag by app.need_exit(). **param** **exit**: true if this APP should exit, false if not.<br> **C++ defination code**: ```cpp void set_exit_flag(bool exit) ``` ## Class ### Version item doc **brief** APP version **C++ defination code**: ```cpp class Version ``` #### \\_\\_str\\_\\_ item doc **type** func **brief** Convert to string, e.g. 1.0.0 **static** False **C++ defination code**: ```cpp std::string __str__() ``` #### from\\_str item doc **type** func **brief** Convert from string, e.g. \\\"1.0.0\\\" **static** True **C++ defination code**: ```cpp static app::Version from_str(const string &version_str) ``` ### APP\\_Info item doc **brief** APP info **C++ defination code**: ```cpp class APP_Info ``` #### id item doc **type** var **brief** APP id **static** False **readonly** False **C++ defination code**: ```cpp string id ``` #### name item doc **type** var **brief** APP name **static** False **readonly** False **C++ defination code**: ```cpp string name ``` #### icon item doc **type** var **brief** APP icon **static** False **readonly** False **C++ defination code**: ```cpp string icon ``` #### version item doc **type** var **brief** APP version **static** False **readonly** False **C++ defination code**: ```cpp Version version ``` #### exec item doc **type** var **brief** APP exec **static** False **readonly** False **C++ defination code**: ```cpp string exec ``` #### author item doc **type** var **brief** APP author **static** False **readonly** False **C++ defination code**: ```cpp string author ``` #### desc item doc **type** var **brief** APP desc **static** False **readonly** False **C++ defination code**: ```cpp string desc ``` #### names item doc **type** var **brief** APP names **static** False **readonly** False **C++ defination code**: ```cpp map<string, string> names ``` #### descs item doc **type** var **brief** APP descs **static** False **readonly** False **C++ defination code**: ```cpp map<string, string> descs ```"},"/maixpy/api/maix/i18n.html":{"title":"maix.i18n","content":" title: maix.i18n maix.i18n module > You can use `maix.i18n` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ### locales item doc **brief** i18n locales list **value** **{<br> \"en\",<br> \"zh\",<br> \"zh tw\",<br> \"ja\"<br> }** **readonly** False **C++ defination code**: ```cpp static std::vector<std::string> locales { \"en\", \"zh\", \"zh tw\", \"ja\" } ``` ### names item doc **brief** i18n language names list **value** **{<br> \"English\",<br> \"简体中文\",<br> \"繁體中文\",<br> \"日本語\"<br> }** **readonly** True **C++ defination code**: ```cpp const static std::vector<std::string> names { \"English\", \"简体中文\", \"繁體中文\", \"日本語\" } ``` ## Function ### get\\_locale ```python def get_locale(self) > str ``` item doc **brief** Get system config of locale. **return** language locale, e.g. en, zh, zh_CN, zh_TW, etc. **C++ defination code**: ```cpp string get_locale() ``` ### get\\_language\\_name item doc **brief** Get system config of language name. **return** language name, e.g. English, 简体中文, 繁體中文, etc. **C++ defination code**: ```cpp string get_language_name() ``` ## Class ### Trans item doc **brief** Translate helper class. **C++ defination code**: ```cpp class Trans ``` #### \\_\\_init\\_\\_ ```python def __init__(self, locales_dict: dict[str, dict[str, str]]) > None ``` item doc **type** func **brief** Translate helper class constructor.\\nBy default locale is get by `i18n.get_locale()` function which set by system settings.\\nBut you can also manually set by `set_locale` function temporarily. **param** **locales_dict**: locales dict, e.g. {\"zh\": {\"Confirm\": \"确认\", \"OK\": \"好的\"}, \"en\": {\"Confirm\": \"Confirm\", \"OK\": \"OK\"}}<br> **static** False **C++ defination code**: ```cpp Trans(const std::map<string, const std::map<string, string>> &locales_dict) ``` #### tr ```python def tr(self, key: str, locale: str '') > str ``` item doc **type** func **brief** Translate string by key. **param** **key**: string key, e.g. \"Confirm\"<br>**locale**: locale name, if not assign, use default locale set by system settings or set_locale function.<br> **return** translated string, if find translation, return it, or return key, e.g. \"确认\", \"Confirm\", etc. **static** False **C++ defination code**: ```cpp string tr(const string &key, const string locale \"\") ``` #### set\\_locale ```python def set_locale(self, locale: str) > None ``` item doc **type** func **brief** Set locale temporarily, will not affect system settings. **param** **locale**: locale name, e.g. \"zh\", \"en\", etc. @see maix.i18n.locales<br> **static** False **C++ defination code**: ```cpp void set_locale(const string &locale) ``` #### get\\_locale ```python def get_locale(self) > str ``` item doc **type** func **brief** Get current locale. **return** locale name, e.g. \"zh\", \"en\", etc. @see maix.i18n.locales **static** False **C++ defination code**: ```cpp string get_locale() ```"},"/maixpy/api/maix/protocol.html":{"title":"maix.protocol","content":" title: maix.protocol maix.protocol module > You can use `maix.protocol` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### CMD item doc **brief** protocol cmd, more doc see MaixCDK document's convention doc **note** max app custom CMD value should < CMD_APP_MAX **values** **CMD_APP_MAX**: 200, max app custom CMD value should < CMD_APP_MAX<br>**CMD_SET_UPLOAD**: set auto upload data mode<br>**CMD_APP_LIST**: <br>**CMD_START_APP**: <br>**CMD_EXIT_APP**: <br>**CMD_CUR_APP_INFO**: <br>**CMD_APP_INFO**: <br>**CMD_KEY**: <br>**CMD_TOUCH**: <br> **C++ defination code**: ```cpp enum CMD { CMD_APP_MAX 0xC8, // 200, max app custom CMD value should < CMD_APP_MAX CMD_SET_UPLOAD 0xF8, // set auto upload data mode CMD_APP_LIST 0xF9, CMD_START_APP 0xFA, CMD_EXIT_APP 0xFB, CMD_CUR_APP_INFO 0xFC, CMD_APP_INFO 0xFD, CMD_KEY 0xFE, CMD_TOUCH 0xFF, } ``` ### FLAGS item doc **brief** protocol flags, more doc see MaixCDK document's convention doc **values** **FLAG_REQ**: <br>**FLAG_RESP**: <br>**FLAG_IS_RESP_MASK**: <br>**FLAG_RESP_OK**: <br>**FLAG_RESP_ERR**: <br>**FLAG_RESP_OK_MASK**: <br>**FLAG_REPORT**: <br>**FLAG_REPORT_MASK**: <br>**FLAG_VERSION_MASK**: <br> **C++ defination code**: ```cpp enum FLAGS { FLAG_REQ 0x00, FLAG_RESP 0x80, FLAG_IS_RESP_MASK 0x80, FLAG_RESP_OK 0x40, FLAG_RESP_ERR 0x00, FLAG_RESP_OK_MASK 0x40, FLAG_REPORT 0x20, FLAG_REPORT_MASK 0x20, FLAG_VERSION_MASK 0x03 } ``` ## Variable ### VERSION item doc **brief** protocol version **value** **1** **readonly** True **C++ defination code**: ```cpp const uint8_t VERSION 1 ``` ### HEADER item doc **brief** protocol header **value** **0xBBACCAAA** **readonly** True **C++ defination code**: ```cpp const uint32_t HEADER 0xBBACCAAA ``` ## Function ### crc16\\_IBM ```python def crc16_IBM(data: maix.Bytes(bytes)) > int ``` item doc **brief** CRC16 IBM **param** **data**: data, bytes type.<br> **return** CRC16 IBM value, uint16_t type. **C++ defination code**: ```cpp uint16_t crc16_IBM(const Bytes *data) ``` ## Class ### MSG item doc **brief** protocol msg **C++ defination code**: ```cpp class MSG ``` #### version item doc **type** var **brief** protocol version **static** False **readonly** False **C++ defination code**: ```cpp uint8_t version ``` #### resp\\_ok item doc **type** var **brief** Is success response or not, (only for response msg) **static** False **readonly** False **C++ defination code**: ```cpp uint8_t resp_ok ``` #### cmd item doc **type** var **brief** CMD value **static** False **readonly** False **C++ defination code**: ```cpp uint8_t cmd ``` #### is\\_resp item doc **type** var **brief** message is response or not, contrast with is_req **static** False **readonly** False **C++ defination code**: ```cpp bool is_resp ``` #### body\\_len item doc **type** var **brief** Message body length, read only, use set_body() to update **attention** DO NOT manually change this value **static** False **readonly** False **C++ defination code**: ```cpp int body_len ``` #### encode\\_resp\\_ok ```python def encode_resp_ok(*args, **kwargs) ``` item doc **type** func **brief** Encode response ok(success) message **param** **body**: response body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_resp_ok(Bytes *body nullptr) ``` #### encode\\_report ```python def encode_report(*args, **kwargs) ``` item doc **type** func **brief** Encode proactively report message **param** **body**: report body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_report(Bytes *body nullptr) ``` #### encode\\_resp\\_err ```python def encode_resp_err(*args, **kwargs) ``` item doc **type** func **brief** Encode response error message **param** **code**: error code<br>**msg**: error message<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_resp_err(err::Err code, const std::string &msg) ``` #### set\\_body ```python def set_body(self, body_new: maix.Bytes(bytes)) > None ``` item doc **type** func **brief** Update message body **param** **body_new**: new body data<br> **static** False **C++ defination code**: ```cpp void set_body(Bytes *body_new) ``` #### get\\_body ```python def get_body(*args, **kwargs) ``` item doc **type** func **brief** Get message body **return** message body, bytes type **static** False **C++ defination code**: ```cpp Bytes *get_body() ``` ### Protocol item doc **brief** Communicate protocol **C++ defination code**: ```cpp class Protocol ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new Protocol object **param** **buff_size**: Data queue buffer size<br> **static** False **C++ defination code**: ```cpp Protocol(int buff_size 1024) ``` #### buff\\_size item doc **type** func **brief** Data queue buffer size **static** False **C++ defination code**: ```cpp int buff_size() ``` #### push\\_data item doc **type** func **brief** Add data to data queue **param** **new_data**: new data<br> **return** error code, maybe err.Err.ERR_BUFF_FULL **static** False **C++ defination code**: ```cpp err::Err push_data(const Bytes *new_data) ``` #### decode item doc **type** func **brief** Decode data in data queue and return a message **param** **new_data**: new data add to data queue, if null, only decode.<br> **return** decoded message, if nullptr, means no message decoded. **static** False **C++ defination code**: ```cpp protocol::MSG *decode(const Bytes *new_data nullptr) ``` #### encode\\_resp\\_ok item doc **type** func **brief** Encode response ok(success) message to buffer **param** **cmd**: CMD value<br>**body**: response body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_resp_ok(uint8_t cmd, Bytes *body nullptr) ``` #### encode\\_report item doc **type** func **brief** Encode proactively report message to buffer **param** **cmd**: CMD value<br>**body**: report body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_report(uint8_t cmd, Bytes *body nullptr) ``` #### encode\\_resp\\_err item doc **type** func **brief** Encode response error message to buffer **param** **cmd**: CMD value<br>**code**: error code<br>**msg**: error message<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_resp_err(uint8_t cmd, err::Err code, const std::string &msg) ```"},"/maixpy/api/maix/peripheral/key.html":{"title":"maix.peripheral.key","content":" title: maix.peripheral.key maix.peripheral.key module > You can use `maix.peripheral.key` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Keys item doc **brief** Keys enum, id the same as linux input.h(input event codes.h) **values** **KEY_NONE**: <br>**KEY_ESC**: <br>**KEY_OK**: <br>**KEY_OPTION**: <br>**KEY_NEXT**: <br>**KEY_PREV**: <br> **C++ defination code**: ```cpp enum Keys{ KEY_NONE 0x000, KEY_ESC 0x001, KEY_OK 0x160, KEY_OPTION 0x165, KEY_NEXT 0x197, KEY_PREV 0x19c } ``` ### State item doc **brief** Key state enum **values** **KEY_RELEASED**: <br>**KEY_PRESSED**: <br> **C++ defination code**: ```cpp enum State{ KEY_RELEASED 0, KEY_PRESSED 1, } ``` ## Variable ## Function ### add\\_default\\_listener item doc **brief** Add default listener, if you want to exit app when press ok button, you can just call this function.\\nThis function is auto called in MaixPy' startup code, so you don't need to call it in MaixPy.\\nCreate Key object will auto call rm_default_listener() to cancel the default ok button function.\\nWhen ok button pressed, a SIGINT signal will be raise and call app.set_exit_flag(True). **C++ defination code**: ```cpp void add_default_listener() ``` ### rm\\_default\\_listener item doc **brief** Remove default listener, if you want to cancel the default ok button function(exit app), you can just call this function. **C++ defination code**: ```cpp void rm_default_listener() ``` ## Class ### Key item doc **brief** Key input class **C++ defination code**: ```cpp class Key ``` #### \\_\\_init\\_\\_ ```python def __init__(self, callback: typing.Callable[[int, int], None] None, open: bool True) > None ``` item doc **type** func **brief** Key Device constructor **param** **callback**: When key triggered and callback is not empty(empty In MaixPy is None, in C++ is nullptr),<br>callback will be called with args key(key.Keys) and value(key.State).<br>If set to null, you can get key value by read() function.<br>This callback called in a standalone thread, so you can block a while in callback, and you should be carefully when operate shared data.<br>**open**: auto open device in constructor, if false, you need call open() to open device<br> **static** False **C++ defination code**: ```cpp Key(std::function<void(int, int)> callback nullptr, bool open true) ``` #### open ```python def open(self) > maix.err.Err ``` item doc **type** func **brief** Open(Initialize) key device, if already opened, will close first and then open. **return** err::Err type, err.Err.ERR_NONE means success **static** False **C++ defination code**: ```cpp err::Err open() ``` #### close ```python def close(self) > maix.err.Err ``` item doc **type** func **brief** Close key device **return** err::Err type, err.Err.ERR_NONE means success **static** False **C++ defination code**: ```cpp err::Err close() ``` #### is\\_opened ```python def is_opened(self) > bool ``` item doc **type** func **brief** Check key device is opened **return** bool type, true means opened, false means closed **static** False **C++ defination code**: ```cpp bool is_opened() ``` #### read ```python def read(self) > tuple[int, int] ``` item doc **type** func **brief** Read key input, and return key and value, if callback is set, DO NOT call this function manually. **return** list type, first is key(maix.key.Keys), second is value(maix.key.State), if no key input, return [0, 0] **throw** If read failed, will throw maix.err.Exception. **static** False **C++ defination code**: ```cpp std::pair<int, int> read() ```"},"/maixpy/api/maix/peripheral/adc.html":{"title":"maix.peripheral.adc","content":" title: maix.peripheral.adc maix.peripheral.adc module > You can use `maix.peripheral.adc` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ### RES\\_BIT\\_8 item doc **brief** 8 bit resolution, supported by the actual hardware **value** **8** **readonly** True **C++ defination code**: ```cpp const int RES_BIT_8 8 ``` ### RES\\_BIT\\_10 item doc **brief** 10 bit resolution, supported by the actual hardware **value** **10** **readonly** True **C++ defination code**: ```cpp const int RES_BIT_10 10 ``` ### RES\\_BIT\\_12 item doc **brief** 12 bit resolution, supported by the actual hardware **value** **12** **readonly** True **C++ defination code**: ```cpp const int RES_BIT_12 12 ``` ### RES\\_BIT\\_16 item doc **brief** 16 bit resolution, supported by the actual hardware **value** **16** **readonly** True **C++ defination code**: ```cpp const int RES_BIT_16 16 ``` ## Function ## Class ### ADC item doc **brief** Peripheral adc class **C++ defination code**: ```cpp class ADC ``` #### \\_\\_init\\_\\_ ```python def __init__(self, pin: int, resolution: int, vref: float 1) > None ``` item doc **type** func **brief** ADC constructor **param** **pin**: direction [in], adc pin, int type<br>**resolution**: direction [in], adc resolution. default is 1, means use default resolution<br>option:<br>resolution adc.RES_BIT_8, means 8 bit resolution<br>resolution adc.RES_BIT_10, means 10 bit resolution<br>resolution adc.RES_BIT_12, means 12 bit resolution<br>resolution adc.RES_BIT_16, means 16 bit resolution<br>the default resolution is determined by actual hardware.<br>**vref**: direction [in], adc refer voltage. default is 1, means use default refer voltage.<br>the default vref is determined by actual hardware. range: [0.0, 10.0]<br> **static** False **C++ defination code**: ```cpp ADC(int pin, int resolution, float vref 1) ``` #### read ```python def read(self) > int ``` item doc **type** func **brief** read adc value **return** adc data, int type<br>if resolution is 8 bit, return value range is [0, 255]<br>if resolution is 10 bit, return value range is [0, 1023]<br>if resolution is 12 bit, return value range is [0, 4095]<br>if resolution is 16 bit, return value range is [0, 65535] **static** False **C++ defination code**: ```cpp int read() ``` #### read\\_vol ```python def read_vol(self) > float ``` item doc **type** func **brief** read adc voltage **return** adc voltage, float type。the range is [0.0, vref] **static** False **C++ defination code**: ```cpp float read_vol() ```"},"/maixpy/api/maix/peripheral/pwm.html":{"title":"maix.peripheral.pwm","content":" title: maix.peripheral.pwm maix.peripheral.pwm module > You can use `maix.peripheral.pwm` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### PWM item doc **brief** Peripheral pwm class **C++ defination code**: ```cpp class PWM ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** PWM constructor **param** **pin**: direction [in], pwm id, int type, like 0, 1, 2 etc.<br>**freq**: direction [in], pwm frequency, unit: Hz. int type. default is 1000<br>**duty**: direction [in], pwm duty. double type. range is [0, 100], default is 0.<br>**enable**: direction [in], enable pwm output right now. bool type. default is true, if false, you need to call enable() to enable pwm output.<br>**duty_val**: direction [in], pwm duty value, int type. default 1 means not set and auto calculate by freq and duty.<br>This arg directly set pwm duty value, if set, will ignore duty arg.<br>duty_val duty / 100 * T_ns, T_ns 1 / freq * 1000000000.<br> **throw** If args error or init pwm failed, will throw err::Exception **static** False **C++ defination code**: ```cpp PWM(int id, int freq 1000, double duty 0, bool enable true, int duty_val 1) ``` #### duty item doc **type** func **brief** get or set pwm duty **param** **duty**: direction [in], pwm duty, double type, value in [0, 100], default 1 means only read.<br> **return** current duty, float type, if set and set failed will return err::Err **static** False **C++ defination code**: ```cpp double duty(double duty 1) ``` #### duty\\_val item doc **type** func **brief** set pwm duty value **param** **duty_val**: direction [in], pwm duty value. int type. default is 1<br>duty_val > 0 means set duty_val<br>duty_val 1 or not set, return current duty_val<br> **return** int type<br>when get duty_val, return current duty_val, else return err::Err code. **static** False **C++ defination code**: ```cpp int duty_val(int duty_val 1) ``` #### freq item doc **type** func **brief** get or set pwm frequency **param** **freq**: direction [in], pwm frequency. int type. default is 1<br>freq > 0, set freq<br>freq 1 or not set, return current freq<br> **return** int type, current freq, if set and set failed will return err::Err **static** False **C++ defination code**: ```cpp int freq(int freq 1) ``` #### enable item doc **type** func **brief** set pwm enable **return** err::Err type, err.Err.ERR_NONE means success **static** False **C++ defination code**: ```cpp err::Err enable() ``` #### disable item doc **type** func **brief** set pwm disable **return** err::Err type, err.Err.ERR_NONE means success **static** False **C++ defination code**: ```cpp err::Err disable() ``` #### is\\_enabled item doc **type** func **brief** get pwm enable status **return** bool type, true means enable, false means disable **static** False **C++ defination code**: ```cpp bool is_enabled() ```"},"/maixpy/api/maix/time.html":{"title":"maix.time","content":" title: maix.time maix.time module > You can use `maix.time` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### time ```python def time() > float ``` item doc **brief** Get current time in s **return** current time in s, double type **C++ defination code**: ```cpp double time() ``` ### time\\_ms ```python def time_ms() > int ``` item doc **brief** Get current time in ms **return** current time in ms, uint64_t type **C++ defination code**: ```cpp uint64_t time_ms() ``` ### time\\_s ```python def time_s() > int ``` item doc **brief** Get current time in s **return** current time in s, uint64_t type **C++ defination code**: ```cpp uint64_t time_s() ``` ### time\\_us ```python def time_us() > int ``` item doc **brief** Get current time in us **return** current time in us, uint64_t type **C++ defination code**: ```cpp uint64_t time_us() ``` ### time\\_diff ```python def time_diff(last: float, now: float 1) > float ``` item doc **brief** Calculate time difference **param** **last**: last time<br>**now**: current time<br> **return** time difference **C++ defination code**: ```cpp double time_diff(double last, double now 1) ``` ### sleep ```python def sleep(s: float) > None ``` item doc **brief** Sleep seconds **param** **s**: seconds, double type<br> **C++ defination code**: ```cpp void sleep(double s) ``` ### sleep\\_ms ```python def sleep_ms(ms: int) > None ``` item doc **brief** Sleep milliseconds **param** **ms**: milliseconds, uint64_t type<br> **C++ defination code**: ```cpp void sleep_ms(uint64_t ms) ``` ### sleep\\_us ```python def sleep_us(us: int) > None ``` item doc **brief** Sleep microseconds **param** **us**: microseconds, uint64_t type<br> **C++ defination code**: ```cpp void sleep_us(uint64_t us) ``` ### now ```python def now() > DateTime ``` item doc **brief** Get current UTC date and time **return** current date and time, DateTime type **C++ defination code**: ```cpp time::DateTime *now() ``` ### localtime ```python def localtime() > DateTime ``` item doc **brief** Get local time **return** local time, DateTime type **C++ defination code**: ```cpp time::DateTime *localtime() ``` ### strptime ```python def strptime(str: str, format: str) > DateTime ``` item doc **brief** DateTime from string **param** **str**: date time string<br>**format**: date time format<br> **return** DateTime **C++ defination code**: ```cpp time::DateTime *strptime(const std::string &str, const std::string &format) ``` ### gmtime item doc **brief** timestamp to DateTime(time zone is UTC (value 0)) **param** **timestamp**: double timestamp<br> **return** DateTime **C++ defination code**: ```cpp time::DateTime *gmtime(double timestamp) ``` ## Class ### DateTime item doc **brief** Date and time class **C++ defination code**: ```cpp class DateTime ``` #### year item doc **type** var **brief** Year **static** False **readonly** False **C++ defination code**: ```cpp int year ``` #### month item doc **type** var **brief** Month, 1~12 **static** False **readonly** False **C++ defination code**: ```cpp int month ``` #### day item doc **type** var **brief** Day **static** False **readonly** False **C++ defination code**: ```cpp int day ``` #### hour item doc **type** var **brief** Hour **static** False **readonly** False **C++ defination code**: ```cpp int hour ``` #### minute item doc **type** var **brief** Minute **static** False **readonly** False **C++ defination code**: ```cpp int minute ``` #### second item doc **type** var **brief** Second **static** False **readonly** False **C++ defination code**: ```cpp int second ``` #### microsecond item doc **type** var **brief** Microsecond **static** False **readonly** False **C++ defination code**: ```cpp int microsecond ``` #### yearday item doc **type** var **brief** Year day **static** False **readonly** False **C++ defination code**: ```cpp int yearday ``` #### weekday item doc **type** var **brief** Weekday, 0 is Monday, 6 is Sunday **static** False **readonly** False **C++ defination code**: ```cpp int weekday ``` #### zone item doc **type** var **brief** Time zone **static** False **readonly** False **C++ defination code**: ```cpp float zone ``` #### zone\\_name item doc **type** var **brief** Time zone name **static** False **readonly** False **C++ defination code**: ```cpp std::string zone_name ``` #### \\_\\_init\\_\\_ ```python def __init__(self, year: int 0, month: int 0, day: int 0, hour: int 0, minute: int 0, second: int 0, microsecond: int 0, yearday: int 0, weekday: int 0, zone: int 0) > None ``` item doc **type** func **brief** Constructor **param** **year**: year<br>**month**: month<br>**day**: day<br>**hour**: hour<br>**minute**: minute<br>**second**: second<br>**microsecond**: microsecond<br>**yearday**: year day<br>**weekday**: weekday<br>**zone**: time zone<br> **static** False **C++ defination code**: ```cpp DateTime(int year 0, int month 0, int day 0, int hour 0, int minute 0, int second 0, int microsecond 0, int yearday 0, int weekday 0, int zone 0) ``` #### strftime ```python def strftime(self, format: str) > str ``` item doc **type** func **brief** Convert to string **return** date time string **static** False **C++ defination code**: ```cpp std::string strftime(const std::string &format) ``` #### timestamp ```python def timestamp(self) > float ``` item doc **type** func **brief** Convert to float timestamp **return** float timestamp **static** False **C++ defination code**: ```cpp double timestamp() ```"},"/maixpy/api/maix/fs.html":{"title":"maix.fs","content":" title: maix.fs maix.fs module > You can use `maix.fs` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### SEEK item doc **brief** SEEK enums **values** **SEEK_SET**: Seek from beginning of file.<br>**SEEK_CUR**: Seek from current position.<br>**SEEK_END**: Seek from end of file.<br> **C++ defination code**: ```cpp enum SEEK { SEEK_SET 0, // Seek from beginning of file. SEEK_CUR 1, // Seek from current position. SEEK_END 2, // Seek from end of file. } ``` ## Variable ## Function ### isabs ```python def isabs(path: str) > bool ``` item doc **brief** Check if the path is absolute path **param** **path**: path to check<br> **return** true if path is absolute path **C++ defination code**: ```cpp bool isabs(const std::string &path) ``` ### isdir ```python def isdir(path: str) > bool ``` item doc **brief** Check if the path is a directory, if not exist, throw exception **param** **path**: path to check<br> **return** true if path is a directory **C++ defination code**: ```cpp bool isdir(const std::string &path) ``` ### isfile ```python def isfile(path: str) > bool ``` item doc **brief** Check if the path is a file, if not exist, throw exception **param** **path**: path to check<br> **return** true if path is a file **C++ defination code**: ```cpp bool isfile(const std::string &path) ``` ### islink ```python def islink(path: str) > bool ``` item doc **brief** Check if the path is a link, if not exist, throw exception **param** **path**: path to check<br> **return** true if path is a link **C++ defination code**: ```cpp bool islink(const std::string &path) ``` ### symlink ```python def symlink(src: str, link: str, force: bool False) > maix.err.Err ``` item doc **brief** Create soft link **param** **src**: real file path<br>**link**: link file path<br>**force**: force link, if already have link file, will delet it first then create.<br> **C++ defination code**: ```cpp err::Err symlink(const std::string &src, const std::string &link, bool force false) ``` ### exists ```python def exists(path: str) > bool ``` item doc **brief** Check if the path exists **param** **path**: path to check<br> **return** true if path exists **C++ defination code**: ```cpp bool exists(const std::string &path) ``` ### mkdir ```python def mkdir(path: str, exist_ok: bool True, recursive: bool True) > maix.err.Err ``` item doc **brief** Create a directory recursively **param** **path**: path to create<br>**exist_ok**: if true, also return true if directory already exists<br>**recursive**: if true, create directory recursively, otherwise, only create one directory, default is true<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **C++ defination code**: ```cpp err::Err mkdir(const std::string &path, bool exist_ok true, bool recursive true) ``` ### rmdir ```python def rmdir(path: str, recursive: bool False) > maix.err.Err ``` item doc **brief** Remove a directory **param** **path**: path to remove<br>**recursive**: if true, remove directory recursively, otherwise, only remove empty directory, default is false<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **C++ defination code**: ```cpp err::Err rmdir(const std::string &path, bool recursive false) ``` ### remove ```python def remove(path: str) > maix.err.Err ``` item doc **brief** Remove a file **param** **path**: path to remove<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **C++ defination code**: ```cpp err::Err remove(const std::string &path) ``` ### rename ```python def rename(src: str, dst: str) > maix.err.Err ``` item doc **brief** Rename a file or directory **param** **src**: source path<br>**dst**: destination path, if destination dirs not exist, will auto create<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **C++ defination code**: ```cpp err::Err rename(const std::string &src, const std::string &dst) ``` ### sync ```python def sync() > None ``` item doc **brief** Sync files, ensure they're wrriten to disk from RAM **C++ defination code**: ```cpp void sync() ``` ### getsize ```python def getsize(path: str) > int ``` item doc **brief** Get file size **param** **path**: path to get size<br> **return** file size if success, err::Err code if failed **C++ defination code**: ```cpp int getsize(const std::string &path) ``` ### dirname ```python def dirname(path: str) > str ``` item doc **brief** Get directory name of path **param** **path**: path to get dirname<br> **return** dirname if success, empty string if failed **C++ defination code**: ```cpp std::string dirname(const std::string &path) ``` ### basename ```python def basename(path: str) > str ``` item doc **brief** Get base name of path **param** **path**: path to get basename<br> **return** basename if success, empty string if failed **C++ defination code**: ```cpp std::string basename(const std::string &path) ``` ### abspath ```python def abspath(path: str) > str ``` item doc **brief** Get absolute path **param** **path**: path to get absolute path<br> **return** absolute path if success, empty string if failed **C++ defination code**: ```cpp std::string abspath(const std::string &path) ``` ### getcwd ```python def getcwd() > str ``` item doc **brief** Get current working directory **return** current working directory absolute path **C++ defination code**: ```cpp std::string getcwd() ``` ### realpath ```python def realpath(path: str) > str ``` item doc **brief** Get realpath of path **param** **path**: path to get realpath<br> **return** realpath if success, empty string if failed **C++ defination code**: ```cpp std::string realpath(const std::string &path) ``` ### splitext ```python def splitext(path: str) > str ``` item doc **brief** Get file extension **param** **path**: path to get extension<br> **return** extension if success, empty string if failed **C++ defination code**: ```cpp std::string splitext(const std::string &path) ``` ### listdir ```python def listdir(path: str, recursive: bool False, full_path: bool False) > list[str] ``` item doc **brief** List files in directory **param** **path**: path to list<br>**recursive**: if true, list recursively, otherwise, only list current directory, default is false<br>**full_path**: if true, return full path, otherwise, only return basename, default is false<br> **return** files list if success, nullptr if failed, you should manually delete it in C++. **C++ defination code**: ```cpp std::vector<std::string> *listdir(const std::string &path, bool recursive false, bool full_path false) ``` ### open ```python def open(self, path: str, mode: str) > maix.err.Err ``` item doc **brief** Open a file, and return a File object **param** **path**: path to open<br>**mode**: open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"<br> **return** File object if success(need to delete object manually in C/C++), nullptr if failed **C++ defination code**: ```cpp fs::File *open(const std::string &path, const std::string &mode) ``` ### tempdir ```python def tempdir() > str ``` item doc **brief** Get temp files directory **return** temp files directory **C++ defination code**: ```cpp std::string tempdir() ``` ## Class ### File item doc **brief** File read write ops **C++ defination code**: ```cpp class File ``` #### \\_\\_init\\_\\_ ```python def __init__(self) > None ``` item doc **type** func **brief** Construct File object **static** False **C++ defination code**: ```cpp File() ``` #### open ```python def open(self, path: str, mode: str) > maix.err.Err ``` item doc **type** func **brief** Open a file **param** **path**: path to open<br>**mode**: open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **static** False **C++ defination code**: ```cpp err::Err open(const std::string &path, const std::string &mode) ``` #### close ```python def close(self) > None ``` item doc **type** func **brief** Close a file **static** False **C++ defination code**: ```cpp void close() ``` #### read ```python def read(self, size: int) > list[int] ``` item doc **type** func **brief** Read data from file API2 **param** **size**: max read size<br> **return** bytes data if success(need delete manually in C/C++), nullptr if failed **static** False **C++ defination code**: ```cpp std::vector<uint8_t> *read(int size) ``` #### readline ```python def readline(self) > str ``` item doc **type** func **brief** Read line from file **return** line if success, empty string if failed. You need to delete the returned object manually in C/C++. **static** False **C++ defination code**: ```cpp std::string *readline() ``` #### write ```python def write(self, buf: list[int]) > int ``` item doc **type** func **brief** Write data to file API2 **param** **buf**: buffer to write<br> **return** write size if success, err::Err code if failed **static** False **C++ defination code**: ```cpp int write(const std::vector<uint8_t> &buf) ``` #### seek ```python def seek(self, offset: int, whence: int) > int ``` item doc **type** func **brief** Seek file position **param** **offset**: offset to seek<br>**whence**: @see maix.fs.SEEK<br> **return** new position if success, err::Err code if failed **static** False **C++ defination code**: ```cpp int seek(int offset, int whence) ``` #### tell ```python def tell(self) > int ``` item doc **type** func **brief** Get file position **return** file position if success, err::Err code if failed **static** False **C++ defination code**: ```cpp int tell() ``` #### flush ```python def flush(self) > maix.err.Err ``` item doc **type** func **brief** Flush file **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **static** False **C++ defination code**: ```cpp err::Err flush() ```"},"/maixpy/api/maix/peripheral/i2c.html":{"title":"maix.peripheral.i2c","content":" title: maix.peripheral.i2c maix.peripheral.i2c module > You can use `maix.peripheral.i2c` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### AddrSize item doc **brief** Address size enum **values** **SEVEN_BIT**: 7 bit address mode<br>**TEN_BIT**: 10 bit address mode<br> **C++ defination code**: ```cpp enum AddrSize { SEVEN_BIT 7, // 7 bit address mode TEN_BIT 10 // 10 bit address mode } ``` ### Mode item doc **brief** I2C mode enum **values** **MASTER**: master mode<br>**SLAVE**: slave mode<br> **C++ defination code**: ```cpp enum Mode { MASTER 0x00, // master mode SLAVE 0x01 // slave mode } ``` ## Variable ## Function ### list\\_devices item doc **brief** Get supported i2c bus devices. **return** i2c bus devices list, int type, is the i2c bus id. **C++ defination code**: ```cpp std::vector<int> list_devices() ``` ## Class ### I2C item doc **brief** Peripheral i2c class **C++ defination code**: ```cpp class I2C ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** I2C Device constructor\\nthis constructor will be export to MaixPy as _maix.example.Example.__init__ **param** **id**: direction [in], i2c bus id, int type, e.g. 0, 1, 2<br>**freq**: direction [in], i2c clock, int type, default is 100000(100kbit/s), will auto set fast mode if freq > 100000.<br>**mode**: direction [in], mode of i2c, i2c.Mode.SLAVE or i2c.Mode.MASTER.<br>**addr_size**: direction [in], address length of i2c, i2c.AddrSize.SEVEN_BIT or i2c.AddrSize.TEN_BIT.<br> **throw** err::Exception if open i2c device failed. **static** False **C++ defination code**: ```cpp I2C(int id, i2c::Mode mode, int freq 100000, i2c::AddrSize addr_size i2c::AddrSize::SEVEN_BIT) ``` #### scan item doc **type** func **brief** scan all i2c salve address on the bus **return** the list of i2c slave address, int list type. **static** False **C++ defination code**: ```cpp std::vector<int> scan() ``` #### writeto item doc **type** func **brief** write data to i2c slave **param** **addr**: direction [in], i2c slave address, int type<br>**data**: direction [in], data to write, bytes type.<br>Note: The range of value should be in [0,255].<br> **return** if success, return the length of written data, error occurred will return err::Err. **static** False **C++ defination code**: ```cpp int writeto(int addr, const Bytes &data) ``` #### readfrom item doc **type** func **brief** read data from i2c slave **param** **addr**: direction [in], i2c slave address, int type<br>**len**: direction [in], data length to read, int type<br> **return** the list of data read from i2c slave, bytes type, you should delete it after use in C++.<br>If read failed, return nullptr in C++, None in MaixPy. **static** False **C++ defination code**: ```cpp Bytes* readfrom(int addr, int len) ``` #### writeto\\_mem item doc **type** func **brief** write data to i2c slave's memory address **param** **addr**: direction [in], i2c slave address, int type<br>**mem_addr**: direction [in], memory address want to write, int type.<br>**data**: direction [in], data to write, bytes type.<br>**mem_addr_size**: direction [in], memory address size, default is 8.<br>**mem_addr_le**: direction [in], memory address little endian, default is false, that is send high byte first.<br> **return** data length written if success, error occurred will return err::Err. **static** False **C++ defination code**: ```cpp int writeto_mem(int addr, int mem_addr, const Bytes &data, int mem_addr_size 8, bool mem_addr_le false) ``` #### readfrom\\_mem item doc **type** func **brief** read data from i2c slave **param** **addr**: direction [in], i2c slave address, int type<br>**mem_addr**: direction [in], memory address want to read, int type.<br>**len**: direction [in], data length to read, int type<br>**mem_addr_size**: direction [in], memory address size, default is 8.<br>**mem_addr_le**: direction [in], memory address little endian, default is false, that is send high byte first.<br> **return** the list of data read from i2c slave, bytes type, you should delete it after use in C++.<br>If read failed, return nullptr in C++, None in MaixPy. **static** False **C++ defination code**: ```cpp Bytes* readfrom_mem(int addr, int mem_addr, int len, int mem_addr_size 8, bool mem_addr_le false) ```"},"/maixpy/api/maix/peripheral/gpio.html":{"title":"maix.peripheral.gpio","content":" title: maix.peripheral.gpio maix.peripheral.gpio module > You can use `maix.peripheral.gpio` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Mode item doc **brief** GPIO mode **values** **IN**: input mode<br>**OUT**: output mode<br>**OUT_OD**: output open drain mode<br>**MODE_MAX**: <br> **C++ defination code**: ```cpp enum Mode { IN 0x01, // input mode OUT 0x02, // output mode OUT_OD 0x03, // output open drain mode MODE_MAX } ``` ### Pull item doc **brief** GPIO pull mode **values** **PULL_NONE**: pull none mode<br>**PULL_UP**: pull up mode<br>**PULL_DOWN**: pull down mode<br>**PULL_MAX**: <br> **C++ defination code**: ```cpp enum Pull { PULL_NONE 0x00, // pull none mode PULL_UP 0x01, // pull up mode PULL_DOWN 0x02, // pull down mode PULL_MAX } ``` ## Variable ## Function ## Class ### GPIO item doc **brief** Peripheral gpio class **C++ defination code**: ```cpp class GPIO ``` #### \\_\\_init\\_\\_ ```python def __init__(self, pin: str, mode: Mode ..., pull: Pull ...) > None ``` item doc **type** func **brief** GPIO constructor **param** **pin**: direction [in], gpio pin name, string type the same as board's pin name, e.g. \"B14\" or \"GPIOB14\", or number string like \"10\" if board no gpiochipe name.<br>**mode**: direction [in], gpio mode. gpio.Mode type, default is gpio.Mode.IN (input) mode.<br>**pull**: direction [in], gpio pull. gpio.Pull type, default is gpio.Pull.PULL_NONE (pull none) mode.<br>For input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.<br>For output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0.<br> **throw** err::Exception if open gpio device failed. **static** False **C++ defination code**: ```cpp GPIO(std::string pin, gpio::Mode mode gpio::Mode::IN, gpio::Pull pull gpio::Pull::PULL_NONE) ``` #### value ```python def value(self, value: int 1) > int ``` item doc **type** func **brief** set and get gpio value **param** **value**: direction [in], gpio value. int type.<br>0, means write gpio to low level<br>1, means write gpio to high level<br> 1, means read gpio value, not set<br> **return** int type, return gpio value, can be 0 or 1 **static** False **C++ defination code**: ```cpp int value(int value 1) ``` #### high ```python def high(self) > None ``` item doc **type** func **brief** set gpio high (value to 1) **static** False **C++ defination code**: ```cpp void high() ``` #### low ```python def low(self) > None ``` item doc **type** func **brief** set gpio low (value to 0) **static** False **C++ defination code**: ```cpp void low() ``` #### toggle ```python def toggle(self) > None ``` item doc **type** func **brief** gpio toggle **static** False **C++ defination code**: ```cpp void toggle() ```"},"/maixpy/api/maix/peripheral/uart.html":{"title":"maix.peripheral.uart","content":" title: maix.peripheral.uart maix uart peripheral driver > You can use `maix.peripheral.uart` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### PARITY item doc **brief** uart parity enum **values** **PARITY_NONE**: no parity<br>**PARITY_ODD**: odd parity<br>**PARITY_EVEN**: even parity<br>**PARITY_MAX**: <br> **C++ defination code**: ```cpp enum PARITY { PARITY_NONE 0x00, // no parity PARITY_ODD 0x01, // odd parity PARITY_EVEN 0x02, // even parity PARITY_MAX } ``` ### STOP item doc **brief** uart stop bits **values** **STOP_1**: 1 stop bit<br>**STOP_2**: 2 stop bits<br>**STOP_1_5**: 1.5 stop bits<br>**STOP_MAX**: <br> **C++ defination code**: ```cpp enum STOP { STOP_1 0x01, // 1 stop bit STOP_2 0x02, // 2 stop bits STOP_1_5 0x03, // 1.5 stop bits STOP_MAX } ``` ### BITS item doc **brief** uart stop bits **values** **BITS_5**: 5 data bits<br>**BITS_6**: 6 data bits<br>**BITS_7**: 7 data bits<br>**BITS_8**: 8 data bits<br>**BITS_MAX**: <br> **C++ defination code**: ```cpp enum BITS { BITS_5 5, // 5 data bits BITS_6 6, // 6 data bits BITS_7 7, // 7 data bits BITS_8 8, // 8 data bits BITS_MAX } ``` ### FLOW\\_CTRL item doc **brief** uart flow control **values** **FLOW_CTRL_NONE**: no flow control<br>**FLOW_CTRL_HW**: hardware flow control<br>**FLOW_CTRL_MAX**: <br> **C++ defination code**: ```cpp enum FLOW_CTRL { FLOW_CTRL_NONE 0, // no flow control FLOW_CTRL_HW 1, // hardware flow control FLOW_CTRL_MAX } ``` ## Variable ## Function ### list\\_devices item doc **brief** Get supported uart ports. **return** uart ports list, string type. **C++ defination code**: ```cpp std::vector<std::string> list_devices() ``` ## Class ### UART item doc **brief** maix uart peripheral driver **C++ defination code**: ```cpp class UART : public comm::CommBase ``` #### \\_\\_init\\_\\_ ```python def __init__(self, port: str '', baudrate: int 115200, databits: BITS ..., parity: PARITY ..., stopbits: STOP ..., flow_ctrl: FLOW_CTRL ...) > None ``` item doc **type** func **brief** UART constructor. You need to call open() to open the device. **param** **port**: uart port. string type, can get it by uart.list_devices().<br>If empty, will not open device in constructor, default empty.<br>if not empty, will auto open device in constructor, open fail will throw err.Exception.<br>**baudrate**: baudrate of uart. int type, default 115200.<br>**databits**: databits, values @see uart.DATA_BITS<br>**parity**: parity, values @see uart.PARITY<br>**stopbits**: stopbits, values @see uart.STOP_BITS<br>**flow_control**: flow_control, values @see uart.FLOW_CTRL<br> **static** False **C++ defination code**: ```cpp UART(const std::string &port \"\", int baudrate 115200, uart::BITS databits uart::BITS_8, uart::PARITY parity uart::PARITY_NONE, uart::STOP stopbits uart::STOP_1, uart::FLOW_CTRL flow_ctrl uart::FLOW_CTRL_NONE) ``` #### set\\_port ```python def set_port(self, port: str) > maix.err.Err ``` item doc **type** func **brief** Set port **param** **port**: uart port. string type, can get it by uart.list_devices().<br> **return** set port error code, err.Err type. **static** False **C++ defination code**: ```cpp err::Err set_port(const std::string &port) ``` #### get\\_port ```python def get_port(self) > str ``` item doc **type** func **brief** Get port **return** uart port, string type. **static** False **C++ defination code**: ```cpp std::string get_port() ``` #### set\\_baudrate ```python def set_baudrate(self, baudrate: int) > maix.err.Err ``` item doc **type** func **brief** Set baud rate **param** **baudrate**: baudrate of uart. int type, default 115200.<br> **return** set baud rate error code, err.Err type. **static** False **C++ defination code**: ```cpp err::Err set_baudrate(int baudrate) ``` #### get\\_baudrate ```python def get_baudrate(self) > int ``` item doc **type** func **brief** Get baud rate **return** baud rate, int type. **static** False **C++ defination code**: ```cpp int get_baudrate() ``` #### open ```python def open(self) > maix.err.Err ``` item doc **type** func **brief** Open uart device, before open, port must be set in constructor or by set_port().\\nIf already opened, do nothing and return err.ERR_NONE. **return** open device error code, err.Err type. **static** False **C++ defination code**: ```cpp err::Err open() ``` #### is\\_open ```python def is_open(self) > bool ``` item doc **type** func **brief** Check if device is opened. **return** true if opened, false if not opened. **static** False **C++ defination code**: ```cpp bool is_open() ``` #### close ```python def close(self) > maix.err.Err ``` item doc **type** func **brief** Close uart device, if already closed, do nothing and return err.ERR_NONE. **return** close device error code, err.Err type. **static** False **C++ defination code**: ```cpp err::Err close() ``` #### write\\_str ```python def write_str(self, str: str) > int ``` item doc **type** func **brief** Send string data **param** **str**: string data<br> **return** sent data length, < 0 means error, value is err.Err. **static** False **C++ defination code**: ```cpp int write_str(const std::string &str) ``` #### write ```python def write(self, data: maix.Bytes(bytes)) > int ``` item doc **type** func **brief** Send data to uart **param** **data**: direction [in], data to send, bytes type. If you want to send str type, use str.encode() to convert.<br> **return** sent length, int type, if < 0 means error, value is err.Err. **static** False **C++ defination code**: ```cpp int write(Bytes &data) ``` #### available ```python def available(self, timeout: int 0) > int ``` item doc **type** func **brief** Check if data available or wait data available. **param** **timeout**: unit ms, timeout to wait data, default 0.<br>0 means check data available and return immediately,<br>> 0 means wait until data available or timeout.<br> 1 means wait until data available.<br> **return** available data number, 0 if timeout or no data, <0 if error, value is err.Err, can be err::ERR_IO， err::ERR_CANCEL, err::ERR_NOT_OPEN. **throw** err.Exception if fatal error. **static** False **C++ defination code**: ```cpp int available(int timeout 0) ``` #### read ```python def read(*args, **kwargs) ``` item doc **type** func **brief** Recv data from uart **param** **len**: max data length want to receive, default 1.<br> 1 means read data in uart receive buffer.<br>>0 means read len data want to receive.<br>other values is invalid.<br>**timeout**: unit ms, timeout to receive data, default 0.<br>0 means read data in uart receive buffer and return immediately,<br> 1 means block until read len data,<br>>0 means block until read len data or timeout.<br> **return** received data, bytes type.<br>Attention, you need to delete the returned object yourself in C++. **static** False **C++ defination code**: ```cpp Bytes *read(int len 1, int timeout 0) ``` #### readline ```python def readline(*args, **kwargs) ``` item doc **type** func **brief** Read line from uart, that is read until '\\n' or '\\r\\n'. **param** **timeout**: unit ms, timeout to receive data, default 1 means block until read '\\n' or '\\r\\n'.<br>> 0 means block until read '\\n' or '\\r\\n' or timeout.<br> **return** received data, bytes type. If timeout will return the current received data despite not read '\\n' or '\\r\\n'.<br>e.g. If we want to read b'123\\n', but when we only read b'12', timeout, then return b'12'. **static** False **C++ defination code**: ```cpp Bytes *readline(int timeout 1) ```"},"/maixpy/api/maix/display.html":{"title":"maix.display","content":" title: maix.display maix.display module, control display device and show image on it > You can use `maix.display` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### send\\_to\\_maixvision item doc **brief** Send image to MaixVision work station if connected.\\nIf you want to debug your program an don't want to initialize display, use this method. **param** **img**: image to send, image.Image object<br> **C++ defination code**: ```cpp void send_to_maixvision(image::Image &img) ``` ## Class ### Display item doc **brief** Display class **C++ defination code**: ```cpp class Display ``` #### \\_\\_init\\_\\_ ```python def __init__(self, width: int 1, height: int 1, format: maix.image.Format ..., device: str None, open: bool True) > None ``` item doc **type** func **brief** Construct a new Display object **param** **width**: display width, by default(value is 1) means auto detect,<br>if width > max device supported width, will auto set to max device supported width<br>**height**: display height, by default(value is 1) means auto detect,<br>if height > max device supported height, will auto set to max device supported height<br>**device**: display device name, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device<br>**open**: If true, display will automatically call open() after creation. default is true.<br> **static** False **C++ defination code**: ```cpp Display(int width 1, int height 1, image::Format format image::FMT_RGB888, const char *device nullptr, bool open true) ``` #### width ```python def width(self) > int ``` item doc **type** func **brief** Get display width **return** width **static** False **C++ defination code**: ```cpp int width() ``` #### height ```python def height(self) > int ``` item doc **type** func **brief** Get display height **param** **ch**: channel to get, by default(value is 0) means the first channel<br> **return** height **static** False **C++ defination code**: ```cpp int height() ``` #### size ```python def size(self) > list[int] ``` item doc **type** func **brief** Get display size **param** **ch**: channel to get, by default(value is 0) means the first channel<br> **return** size A list type in MaixPy, [width, height] **static** False **C++ defination code**: ```cpp std::vector<int> size() ``` #### format ```python def format(self) > maix.image.Format ``` item doc **type** func **brief** Get display format **return** format **static** False **C++ defination code**: ```cpp image::Format format() ``` #### open ```python def open(self, width: int 1, height: int 1, format: maix.image.Format ...) > maix.err.Err ``` item doc **type** func **brief** open display device, if already opened, will return err.ERR_NONE. **param** **width**: display width, default is 1, means auto, mostly means max width of display support<br>**height**: display height, default is 1, means auto, mostly means max height of display support<br>**format**: display output format, default is RGB888<br> **return** error code **static** False **C++ defination code**: ```cpp err::Err open(int width 1, int height 1, image::Format format image::FMT_INVALID) ``` #### close ```python def close(self) > maix.err.Err ``` item doc **type** func **brief** close display device **return** error code **static** False **C++ defination code**: ```cpp err::Err close() ``` #### add\\_channel ```python def add_channel(self, width: int 1, height: int 1, format: maix.image.Format ..., open: bool True) > Display ``` item doc **type** func **brief** Add a new channel and return a new Display object, you can use close() to close this channel. **param** **width**: display width, default is 1, means auto, mostly means max width of display support<br>**height**: display height, default is 1, means auto, mostly means max height of display support<br>**format**: display output format, default is RGB888<br>**open**: If true, display will automatically call open() after creation. default is true.<br> **return** new Display object **static** False **C++ defination code**: ```cpp display::Display *add_channel(int width 1, int height 1, image::Format format image::FMT_RGB888, bool open true) ``` #### is\\_opened ```python def is_opened(self) > bool ``` item doc **type** func **brief** check display device is opened or not **return** opened or not, bool type **static** False **C++ defination code**: ```cpp bool is_opened() ``` #### is\\_closed ```python def is_closed(self) > bool ``` item doc **type** func **brief** check display device is closed or not **return** closed or not, bool type **static** False **C++ defination code**: ```cpp bool is_closed() ``` #### show ```python def show(self, img: maix.image.Image, fit: maix.image.Fit ...) > maix.err.Err ``` item doc **type** func **brief** show image on display device, and will also send to MaixVision work station if connected. **param** **img**: image to show, image.Image object,<br>if the size of image smaller than display size, will show in the center of display;<br>if the size of image bigger than display size, will auto resize to display size and keep ratio, fill blank with black color.<br>**fit**: image in screen fit mode, by default(value is image.FIT_CONTAIN), @see image.Fit for more details<br>e.g. image.FIT_CONTAIN means resize image to fit display size and keep ratio, fill blank with black color.<br> **return** error code **static** False **C++ defination code**: ```cpp err::Err show(image::Image &img, image::Fit fit image::FIT_CONTAIN) ``` #### device ```python def device(self) > str ``` item doc **type** func **brief** Get display device path **return** display device path **static** False **C++ defination code**: ```cpp std::string device() ``` #### set\\_backlight ```python def set_backlight(self, value: float) > None ``` item doc **type** func **brief** Set display backlight **param** **value**: backlight value, float type, range is [0, 100]<br> **static** False **C++ defination code**: ```cpp void set_backlight(float value) ``` #### get\\_backlight ```python def get_backlight(self) > float ``` item doc **type** func **brief** Get display backlight **return** value backlight value, float type, range is [0, 100] **static** False **C++ defination code**: ```cpp float get_backlight() ``` #### set\\_hmirror ```python def set_hmirror(self, en: bool) > maix.err.Err ``` item doc **type** func **brief** Set display mirror **param** **en**: enable/disable mirror<br> **static** False **C++ defination code**: ```cpp err::Err set_hmirror(bool en) ``` #### set\\_vflip ```python def set_vflip(self, en: bool) > maix.err.Err ``` item doc **type** func **brief** Set display flip **param** **en**: enable/disable flip<br> **static** False **C++ defination code**: ```cpp err::Err set_vflip(bool en) ```"},"/maixpy/api/maix/video.html":{"title":"maix.video","content":" title: maix.video maix.video module > You can use `maix.video` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### VideoType item doc **brief** Video type **values** **VIDEO_NONE**: format invalid<br>**VIDEO_ENC_H265_CBR**: <br>**VIDEO_ENC_MP4_CBR**: <br>**VIDEO_DEC_H265_CBR**: <br>**VIDEO_DEC_MP4_CBR**: <br> **C++ defination code**: ```cpp enum VideoType { VIDEO_NONE 0, // format invalid VIDEO_ENC_H265_CBR, VIDEO_ENC_MP4_CBR, VIDEO_DEC_H265_CBR, VIDEO_DEC_MP4_CBR, } ``` ## Variable ## Function ## Class ### Frame item doc **brief** Frame class **C++ defination code**: ```cpp class Frame ``` ### Packet item doc **brief** Packet class **C++ defination code**: ```cpp class Packet ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Packet number (pair of numerator and denominator). **param** **data**: src data pointer, use pointers directly without copying.<br>Note: this object will try to free this memory<br>**len**: data len<br>**pts**: presentation time stamp. unit: time_base<br>**dts**: decoding time stamp. unit: time_base<br>**duration**: packet display time. unit: time_base<br> **static** False **C++ defination code**: ```cpp Packet(uint8_t *data, int len, uint64_t pts 1, uint64_t dts 1, int64_t duration 0) ``` #### get item doc **type** func **brief** Get raw data of packet **return** raw data **static** False **C++ defination code**: ```cpp std::vector<uint8_t> get() ``` #### data item doc **type** func **brief** Get raw data of packet **return** raw data **static** False **C++ defination code**: ```cpp uint8_t *data() ``` #### data\\_size item doc **type** func **brief** Get raw data size of packet **return** size of raw data **static** False **C++ defination code**: ```cpp size_t data_size() ``` #### is\\_valid item doc **type** func **brief** Check packet is valid **return** true, packet is valid; false, packet is invalid **static** False **C++ defination code**: ```cpp bool is_valid() ``` #### set\\_pts item doc **type** func **brief** Set pts **param** **pts**: presentation time stamp. unit: time_base<br> **return** true, packet is valid; false, packet is invalid **static** False **C++ defination code**: ```cpp void set_pts(uint64_t pts) ``` #### set\\_dts item doc **type** func **brief** Set dts **param** **dts**: decoding time stamp. unit: time_base<br> **return** true, packet is valid; false, packet is invalid **static** False **C++ defination code**: ```cpp void set_dts(uint64_t dts) ``` #### set\\_duration item doc **type** func **brief** Set duration **param** **duration**: packet display time. unit: time_base<br> **return** true, packet is valid; false, packet is invalid **static** False **C++ defination code**: ```cpp void set_duration(uint64_t duration) ``` ### Video item doc **brief** Video class **C++ defination code**: ```cpp class Video ``` #### \\_\\_init\\_\\_ ```python def __init__(self, path: str '', width: int 2560, height: int 1440, format: maix.image.Format ..., time_base: int 30, framerate: int 30, open: bool True) > None ``` item doc **type** func **brief** Construct a new Video object **param** **path**: video path. the path determines the location where you load or save the file, if path is none, the video module will not save or load file.<br>xxx.h265 means video format is H265, xxx.mp4 means video format is MP4<br>**width**: picture width. this value may be set automatically. default is 2560.<br>**height**: picture height. this value may be set automatically. default is 1440.<br>**format**: picture pixel format. this value may be set automatically. default is FMT_YVU420SP.<br>**time_base**: frame time base. time_base default is 30, means 1/30 ms<br>**framerate**: frame rate. framerate default is 30, means 30 frames per second<br>for video. 1/time_base is not the average frame rate if the frame rate is not constant.<br>**open**: If true, vido will automatically call open() after creation. default is true.<br> **static** False **C++ defination code**: ```cpp Video(std::string path std::string(), int width 2560, int height 1440, image::Format format image::Format::FMT_YVU420SP, int time_base 30, int framerate 30, bool open true) ``` #### open ```python def open(self, path: str '', fps: float 30.0) > maix.err.Err ``` item doc **type** func **brief** Open video and run **param** **path**: video path. the path determines the location where you load or save the file, if path is none, the video module will not save or load file.<br>xxx.h265 means video format is H265, xxx.mp4 means video format is MP4<br>**fps**: video fps<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err open(std::string path std::string(), double fps 30.0) ``` #### close ```python def close(self) > None ``` item doc **type** func **brief** Close video **static** False **C++ defination code**: ```cpp void close() ``` #### bind\\_camera ```python def bind_camera(self, camera: maix.camera.Camera) > maix.err.Err ``` item doc **type** func **brief** Bind camera **param** **camera**: camera object<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err bind_camera(camera::Camera *camera) ``` #### encode ```python def encode(self, img: maix.image.Image 0) > Packet ``` item doc **type** func **brief** Encode image. **param** **img**: the image will be encode.<br>if the img is NULL, this function will try to get image from camera, you must use bind_camera to bind camera.<br> **return** encode result **static** False **C++ defination code**: ```cpp video::Packet encode(image::Image *img NULL) ``` #### decode ```python def decode(self, frame: Frame 0) > maix.image.Image ``` item doc **type** func **brief** Decode frame **param** **frame**: the frame will be decode<br> **return** decode result **static** False **C++ defination code**: ```cpp image::Image *decode(video::Frame *frame NULL) ``` #### finish ```python def finish(self) > maix.err.Err ``` item doc **type** func **brief** Encode or decode finish **return** error code **static** False **C++ defination code**: ```cpp err::Err finish() ``` #### is\\_recording ```python def is_recording(self) > bool ``` item doc **type** func **brief** Check if video is recording **return** true if video is recording, false if not **static** False **C++ defination code**: ```cpp bool is_recording() ``` #### is\\_opened ```python def is_opened(self) > bool ``` item doc **type** func **brief** Check if video is opened **return** true if video is opened, false if not **static** False **C++ defination code**: ```cpp bool is_opened() ``` #### is\\_closed ```python def is_closed(self) > bool ``` item doc **type** func **brief** check video device is closed or not **return** closed or not, bool type **static** False **C++ defination code**: ```cpp bool is_closed() ``` #### width ```python def width(self) > int ``` item doc **type** func **brief** Get video width **return** video width **static** False **C++ defination code**: ```cpp int width() ``` #### height ```python def height(self) > int ``` item doc **type** func **brief** Get video height **return** video height **static** False **C++ defination code**: ```cpp int height() ```"},"/maixpy/api/maix/touchscreen.html":{"title":"maix.touchscreen","content":" title: maix.touchscreen maix.touchscreen module > You can use `maix.touchscreen` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### TouchScreen item doc **brief** TouchScreen class **C++ defination code**: ```cpp class TouchScreen ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new TouchScreen object **param** **device**: touchscreen device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device<br>**open**: If true, touchscreen will automatically call open() after creation. default is true.<br> **static** False **C++ defination code**: ```cpp TouchScreen(const std::string &device \"\", bool open true) ``` #### open item doc **type** func **brief** open touchscreen device **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err open() ``` #### close item doc **type** func **brief** close touchscreen device **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err close() ``` #### read item doc **type** func **brief** read touchscreen device **attention** This method will discard same event in buffer, that is:<br>if too many move event in buffer when call this method, it will only return the last one,<br>and if read pressed or released event, it will return immediately. **return** Returns a list include x, y, pressed state **static** False **C++ defination code**: ```cpp std::vector<int> read() ``` #### read (overload 1) item doc **type** func **brief** read touchscreen device **attention** This method will return immediately if have event, so it's better to use available() to check if have more event in buffer,<br>or too much event in buffer when your program call this read() interval is too long will make your program slow. **return** Returns a list include x, y, pressed state **static** False **C++ defination code**: ```cpp std::vector<int> read0() ``` #### available item doc **type** func **brief** If we need to read from touchscreen, for event driven touchscreen means have event or not **param** **timeout**: 1 means block, 0 means no block, >0 means timeout, default is 0, unit is ms.<br> **return** true if need to read(have event), false if not **static** False **C++ defination code**: ```cpp bool available(int timeout 0) ``` #### is\\_opened item doc **type** func **brief** Check if touchscreen is opened **return** true if touchscreen is opened, false if not **static** False **C++ defination code**: ```cpp bool is_opened() ```"},"/maixpy/api/maix/camera.html":{"title":"maix.camera","content":" title: maix.camera maix.camera module, access camera device and get image from it > You can use `maix.camera` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### list\\_devices item doc **brief** List all supported camera devices. **return** Returns the path to the camera device. **C++ defination code**: ```cpp std::vector<std::string> list_devices() ``` ### set\\_regs\\_enable ```python def set_regs_enable(enable: bool True) > None ``` item doc **brief** Enable set camera registers, default is false, if set to true, will not set camera registers, you can manually set registers by write_reg API. **param** **enable**: enable/disable set camera registers<br> **C++ defination code**: ```cpp void set_regs_enable(bool enable true) ``` ## Class ### Camera item doc **brief** Camera class **C++ defination code**: ```cpp class Camera ``` #### \\_\\_init\\_\\_ ```python def __init__(self, width: int 1, height: int 1, format: maix.image.Format ..., device: str None, fps: int 1, buff_num: int 3, open: bool True) > None ``` item doc **type** func **brief** Construct a new Camera object **param** **width**: camera width, default is 1, means auto, mostly means max width of camera support<br>**height**: camera height, default is 1, means auto, mostly means max height of camera support<br>**format**: camera output format, default is image.Format.FMT_RGB888<br>**device**: camera device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device<br>**fps**: camera fps, default is 1, means auto, mostly means max fps of camera support<br>**buff_num**: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,<br>more than one buffer will accelerate image read speed, but will cost more memory.<br>**open**: If true, camera will automatically call open() after creation. default is true.<br> **static** False **C++ defination code**: ```cpp Camera(int width 1, int height 1, image::Format format image::FMT_RGB888, const char *device nullptr, int fps 1, int buff_num 3, bool open true) ``` #### get\\_ch\\_nums ```python def get_ch_nums(self) > int ``` item doc **type** func **brief** Get the number of channels supported by the camera. **return** Returns the maximum number of channels. **static** False **C++ defination code**: ```cpp int get_ch_nums() ``` #### open ```python def open(self, width: int 1, height: int 1, format: maix.image.Format ..., fps: int 1, buff_num: int 1) > maix.err.Err ``` item doc **type** func **brief** Open camera and run **param** **width**: camera width, default is 1, means auto, mostly means max width of camera support<br>**height**: camera height, default is 1, means auto, mostly means max height of camera support<br>**format**: camera output format, default same as the constructor's format argument<br>**fps**: camera fps, default is 1, means auto, mostly means max fps of camera support<br>**buff_num**: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,<br>more than one buffer will accelerate image read speed, but will cost more memory.<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err open(int width 1, int height 1, image::Format format image::FMT_INVALID, int fps 1, int buff_num 1) ``` #### read ```python def read(self, buff: capsule None, buff_size: int 0, block: bool True) > maix.image.Image ``` item doc **type** func **brief** Get one frame image from camera buffer, must call open method before read.\\nIf open method not called, will call it automatically, if open failed, will throw exception!\\nSo call open method before read is recommended. **param** **buff**: buffer to store image data, if buff is nullptr, will alloc memory automatically.<br>In MaixPy, default to None, you can create a image.Image object, then pass img.data() to buff.<br>**block**: block read, default is true, means block util read image successfully,<br>if set to false, will return nullptr if no image in buffer<br> **return** image::Image object, if failed, return nullptr, you should delete if manually in C++ **static** False **C++ defination code**: ```cpp image::Image *read(void *buff nullptr, size_t buff_size 0, bool block true) ``` #### clear\\_buff ```python def clear_buff(self) > None ``` item doc **type** func **brief** Clear buff to ensure the next read image is the latest image **static** False **C++ defination code**: ```cpp void clear_buff() ``` #### skip\\_frames ```python def skip_frames(self, num: int) > None ``` item doc **type** func **brief** Read some frames and drop, this is usually used avoid read not stable image when camera just opened. **param** **num**: number of frames to read and drop<br> **static** False **C++ defination code**: ```cpp void skip_frames(int num) ``` #### close ```python def close(self) > None ``` item doc **type** func **brief** Close camera **static** False **C++ defination code**: ```cpp void close() ``` #### add\\_channel ```python def add_channel(self, width: int 1, height: int 1, format: maix.image.Format ..., fps: int 1, buff_num: int 3, open: bool True) > Camera ``` item doc **type** func **brief** Add a new channel and return a new Camera object, you can use close() to close this channel. **param** **width**: camera width, default is 1, means auto, mostly means max width of camera support<br>**height**: camera height, default is 1, means auto, mostly means max height of camera support<br>**format**: camera output format, default is RGB888<br>**fps**: camera fps, default is 1, means auto, mostly means max fps of camera support<br>**buff_num**: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,<br>more than one buffer will accelerate image read speed, but will cost more memory.<br>**open**: If true, camera will automatically call open() after creation. default is true.<br> **return** new Camera object **static** False **C++ defination code**: ```cpp camera::Camera *add_channel(int width 1, int height 1, image::Format format image::FMT_RGB888, int fps 1, int buff_num 3, bool open true) ``` #### is\\_opened ```python def is_opened(self) > bool ``` item doc **type** func **brief** Check if camera is opened **return** true if camera is opened, false if not **static** False **C++ defination code**: ```cpp bool is_opened() ``` #### is\\_closed ```python def is_closed(self) > bool ``` item doc **type** func **brief** check camera device is closed or not **return** closed or not, bool type **static** False **C++ defination code**: ```cpp bool is_closed() ``` #### width ```python def width(self) > int ``` item doc **type** func **brief** Get camera width **return** camera width **static** False **C++ defination code**: ```cpp int width() ``` #### height ```python def height(self) > int ``` item doc **type** func **brief** Get camera height **return** camera height **static** False **C++ defination code**: ```cpp int height() ``` #### fps ```python def fps(self) > int ``` item doc **type** func **brief** Get camera fps **return** camera fps **static** False **C++ defination code**: ```cpp int fps() ``` #### format ```python def format(self) > maix.image.Format ``` item doc **type** func **brief** Get camera output format **return** camera output format, image::Format object **static** False **C++ defination code**: ```cpp image::Format format() ``` #### buff\\_num ```python def buff_num(self) > int ``` item doc **type** func **brief** Get camera buffer number **return** camera buffer number **static** False **C++ defination code**: ```cpp int buff_num() ``` #### hmirror ```python def hmirror(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera horizontal mirror **return** camera horizontal mirror **static** False **C++ defination code**: ```cpp int hmirror(int value 1) ``` #### vflip ```python def vflip(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera vertical flip **return** camera vertical flip **static** False **C++ defination code**: ```cpp int vflip(int value 1) ``` #### device ```python def device(self) > str ``` item doc **type** func **brief** Get camera device path **return** camera device path **static** False **C++ defination code**: ```cpp std::string device() ``` #### write\\_reg ```python def write_reg(self, addr: int, data: int, bit_width: int 8) > maix.err.Err ``` item doc **type** func **brief** Write camera register **param** **addr**: register address<br>**data**: register data<br>**bit_width**: register data bit width, default is 8<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err write_reg(int addr, int data, int bit_width 8) ``` #### read\\_reg ```python def read_reg(self, addr: int, bit_width: int 8) > int ``` item doc **type** func **brief** Read camera register **param** **addr**: register address<br>**bit_width**: register data bit width, default is 8<br> **return** register data, 1 means failed **static** False **C++ defination code**: ```cpp int read_reg(int addr, int bit_width 8) ``` #### show\\_colorbar ```python def show_colorbar(self, enable: bool) > maix.err.Err ``` item doc **type** func **brief** Camera output color bar image for test **param** **enable**: enable/disable color bar<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err show_colorbar(bool enable) ``` #### get\\_channel ```python def get_channel(self) > int ``` item doc **type** func **brief** Get channel of camera **return** channel number **static** False **C++ defination code**: ```cpp int get_channel() ``` #### set\\_resolution ```python def set_resolution(self, width: int, height: int) > maix.err.Err ``` item doc **type** func **brief** Set camera resolution **param** **width**: new width<br>**height**: new height<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err set_resolution(int width, int height) ``` #### exposure ```python def exposure(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera exposure **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: exposure time. unit: us<br>If value 1, return exposure time.<br>If value ! 0, set and return exposure time.<br> **return** camera exposure time **static** False **C++ defination code**: ```cpp uint64_t exposure(uint64_t value 1) ``` #### gain ```python def gain(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera gain **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: camera gain.<br>If value 1, returns camera gain.<br>If value ! 0, set and return camera gain.<br> **return** camera gain **static** False **C++ defination code**: ```cpp uint32_t gain(uint32_t value 1) ``` #### luma ```python def luma(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera luma **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: luma value, range is [0, 100]<br>If value 1, returns luma value.<br>If value ! 0, set and return luma value.<br> **return** returns luma value **static** False **C++ defination code**: ```cpp uint32_t luma(uint32_t value 1) ``` #### constrast ```python def constrast(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera constrast **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: constrast value, range is [0, 100]<br>If value 1, returns constrast value.<br>If value ! 0, set and return constrast value.<br> **return** returns constrast value **static** False **C++ defination code**: ```cpp uint32_t constrast(uint32_t value 1) ``` #### saturation ```python def saturation(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera saturation **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: saturation value, range is [0, 100]<br>If value 1, returns saturation value.<br>If value ! 0, set and return saturation value.<br> **return** returns saturation value **static** False **C++ defination code**: ```cpp uint32_t saturation(uint32_t value 1) ```"},"/maixpy/api/maix/network.html":{"title":"maix.network","content":" title: maix.network maix.network module > You can use `maix.network` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module module brief [wifi](./network/wifi.html) maix.network.wifi module ## Enum ## Variable ## Function ### have\\_network ```python def have_network() > bool ``` item doc **brief** Return if device have network(WiFi/Eth etc.) **return** True if have network, else False. **C++ defination code**: ```cpp bool have_network() ``` ## Class"},"/maixpy/api/maix/nn.html":{"title":"maix.nn","content":" title: maix.nn maix.nn module > You can use `maix.nn` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module module brief [F](./nn/F.html) maix.nn.F module ## Enum ## Variable ## Function ## Class ### YOLOv5 item doc **brief** YOLOv5 class **C++ defination code**: ```cpp class YOLOv5 ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor of YOLOv5 class **param** **model**: model path, default empty, you can load model later by load function.<br> **throw** If model arg is not empty and load failed, will throw err::Exception. **static** False **C++ defination code**: ```cpp YOLOv5(const string &model \"\") ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file **param** **model**: Model path want to load<br> **return** err::Err **static** False **C++ defination code**: ```cpp err::Err load(const string &model) ``` #### detect item doc **type** func **brief** Detect objects from image **param** **img**: Image want to detect, if image's size not match model input's, will auto resize with fit method.<br>**conf_th**: Confidence threshold, default 0.5.<br>**iou_th**: IoU threshold, default 0.45.<br>**fit**: Resize method, default image.Fit.FIT_CONTAIN.<br> **throw** If image format not match model input format, will throw err::Exception. **return** Object list. In C++, you should delete it after use. **static** False **C++ defination code**: ```cpp std::vector<nn::Object> *detect(image::Image &img, float conf_th 0.5, float iou_th 0.45, maix::image::Fit fit maix::image::FIT_CONTAIN) ``` #### input\\_size ```python def input_size(self) > maix.image.Size ``` item doc **type** func **brief** Get model input size **return** model input size **static** False **C++ defination code**: ```cpp image::Size input_size() ``` #### input\\_width ```python def input_width(self) > int ``` item doc **type** func **brief** Get model input width **return** model input size of width **static** False **C++ defination code**: ```cpp int input_width() ``` #### input\\_height ```python def input_height(self) > int ``` item doc **type** func **brief** Get model input height **return** model input size of height **static** False **C++ defination code**: ```cpp int input_height() ``` #### input\\_format ```python def input_format(self) > maix.image.Format ``` item doc **type** func **brief** Get input image format **return** input image format, image::Format type. **static** False **C++ defination code**: ```cpp image::Format input_format() ``` #### labels item doc **type** var **brief** Labels list **static** False **readonly** False **C++ defination code**: ```cpp std::vector<string> labels ``` #### label\\_path item doc **type** var **brief** Label file path **static** False **readonly** False **C++ defination code**: ```cpp std::string label_path ``` #### mean item doc **type** var **brief** Get mean value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> scale ``` #### anchors item doc **type** var **brief** Get anchors **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> anchors ``` ### Classifier item doc **brief** Classifier **C++ defination code**: ```cpp class Classifier ``` #### \\_\\_init\\_\\_ ```python def __init__(self, model: str '') > None ``` item doc **type** func **brief** Construct a new Classifier object **param** **model**: MUD model path, if empty, will not load model, you can call load() later.<br>if not empty, will load model and will raise err::Exception if load failed.<br> **static** False **C++ defination code**: ```cpp Classifier(const string &model \"\") ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file, model format is .mud,\\nMUD file should contain [extra] section, have key values:\\n model_type: classifier\\n input_type: rgb or bgr\\n mean: 123.675, 116.28, 103.53\\n scale: 0.017124753831663668, 0.01750700280112045, 0.017429193899782137\\n labels: imagenet_classes.txt **param** **model**: MUD model path<br> **return** error code, if load failed, return error code **static** False **C++ defination code**: ```cpp err::Err load(const string &model) ``` #### classify ```python def classify(self, img: maix.image.Image, softmax: bool True) > list[tuple[int, float]] ``` item doc **type** func **brief** Forward image to model, get result. Only for image input, use classify_raw for tensor input. **param** **img**: image, format should match model input_type， or will raise err.Exception<br>**softmax**: if true, will do softmax to result, or will return raw value<br> **throw** If error occurred, will raise err::Exception, you can find reason in log, mostly caused by args error or hardware error. **return** result, a list of (label, score). In C++, you need to delete it after use. **static** False **C++ defination code**: ```cpp std::vector<std::pair<int, float>> *classify(image::Image &img, bool softmax true) ``` #### classify\\_raw ```python def classify_raw(self, data: maix.tensor.Tensor, softmax: bool True) > list[tuple[int, float]] ``` item doc **type** func **brief** Forward tensor data to model, get result **param** **data**: tensor data, format should match model input_type， or will raise err.Excetion<br>**softmax**: if true, will do softmax to result, or will return raw value<br> **throw** If error occurred, will raise err::Exception, you can find reason in log, mostly caused by args error or hardware error. **return** result, a list of (label, score). In C++, you need to delete it after use. **static** False **C++ defination code**: ```cpp std::vector<std::pair<int, float>> *classify_raw(tensor::Tensor &data, bool softmax true) ``` #### input\\_size ```python def input_size(self) > maix.image.Size ``` item doc **type** func **brief** Get model input size, only for image input **return** model input size **static** False **C++ defination code**: ```cpp image::Size input_size() ``` #### input\\_width ```python def input_width(self) > int ``` item doc **type** func **brief** Get model input width, only for image input **return** model input size of width **static** False **C++ defination code**: ```cpp int input_width() ``` #### input\\_height ```python def input_height(self) > int ``` item doc **type** func **brief** Get model input height, only for image input **return** model input size of height **static** False **C++ defination code**: ```cpp int input_height() ``` #### input\\_format ```python def input_format(self) > maix.image.Format ``` item doc **type** func **brief** Get input image format, only for image input **return** input image format, image::Format type. **static** False **C++ defination code**: ```cpp image::Format input_format() ``` #### input\\_shape ```python def input_shape(self) > list[int] ``` item doc **type** func **brief** Get input shape, if have multiple input, only return first input shape **return** input shape, list type **static** False **C++ defination code**: ```cpp std::vector<int> input_shape() ``` #### labels item doc **type** var **brief** Labels list **static** False **readonly** False **C++ defination code**: ```cpp std::vector<string> labels ``` #### label\\_path item doc **type** var **brief** Label file path **static** False **readonly** False **C++ defination code**: ```cpp std::string label_path ``` #### mean item doc **type** var **brief** Get mean value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> scale ``` ### MUD item doc **brief** MUD(model universal describe file) class **C++ defination code**: ```cpp class MUD ``` #### \\_\\_init\\_\\_ ```python def __init__(self, model_path: str None) > None ``` item doc **type** func **brief** MUD constructor **param** **model_path**: direction [in], model file path, model format can be MUD(model universal describe file) file.<br>If model_path set, will load model from file, load failed will raise err.Exception.<br>If model_path not set, you can load model later by load function.<br> **static** False **C++ defination code**: ```cpp MUD(const char *model_path nullptr) ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file **param** **model_path**: direction [in], model file path, model format can be MUD(model universal describe file) file.<br> **return** error code, if load success, return err::ERR_NONE **static** False **C++ defination code**: ```cpp err::Err load(const std::string &model_path) ``` #### type item doc **type** var **brief** Model type, string type **static** False **readonly** False **C++ defination code**: ```cpp std::string type ``` #### items item doc **type** var **brief** Model config items, different model type has different config items **static** False **readonly** False **C++ defination code**: ```cpp std::map<std::string, std::map<std::string, std::string>> items ``` ### LayerInfo item doc **brief** NN model layer info **C++ defination code**: ```cpp class LayerInfo ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** LayerInfo constructor **param** **name**: direction [in], layer name<br>**dtype**: direction [in], layer data type<br>**shape**: direction [in], layer shape<br> **static** False **C++ defination code**: ```cpp LayerInfo(const std::string &name \"\", tensor::DType dtype tensor::DType::FLOAT32, std::vector<int> shape std::vector<int>()) ``` #### name item doc **type** var **brief** Layer name **static** False **readonly** False **C++ defination code**: ```cpp std::string name ``` #### dtype item doc **type** var **brief** Layer data type **attention** If model is quantized, this is the real quantized data type like int8 float16,<br>in most scene, inputs and outputs we actually use float32 in API like forward. **static** False **readonly** False **C++ defination code**: ```cpp tensor::DType dtype ``` #### shape item doc **type** var **brief** Layer shape **static** False **readonly** False **C++ defination code**: ```cpp std::vector<int> shape ``` #### to\\_str item doc **type** func **brief** To string **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### \\_\\_str\\_\\_ ```python def __str__(self) > str ``` item doc **type** func **brief** To string **static** False **C++ defination code**: ```cpp std::string __str__() ``` ### NN item doc **brief** Neural network class **C++ defination code**: ```cpp class NN ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Neural network constructor **param** **model**: direction [in], model file path, model format can be MUD(model universal describe file) file.<br>If model_path set, will load model from file, load failed will raise err.Exception.<br>If model_path not set, you can load model later by load function.<br> **static** False **C++ defination code**: ```cpp NN(const std::string &model \"\") ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file **param** **model**: direction [in], model file path, model format can be MUD(model universal describe file) file.<br> **return** error code, if load success, return err::ERR_NONE **static** False **C++ defination code**: ```cpp err::Err load(const std::string &model) ``` #### loaded item doc **type** func **brief** Is model loaded **return** true if model loaded, else false **static** False **C++ defination code**: ```cpp bool loaded() ``` #### inputs\\_info item doc **type** func **brief** Get model input layer info **return** input layer info **static** False **C++ defination code**: ```cpp std::vector<nn::LayerInfo> inputs_info() ``` #### outputs\\_info item doc **type** func **brief** Get model output layer info **return** output layer info **static** False **C++ defination code**: ```cpp std::vector<nn::LayerInfo> outputs_info() ``` #### extra\\_info item doc **type** func **brief** Get model extra info define in MUD file **return** extra info, dict type, key value object, attention: key and value are all string type. **static** False **C++ defination code**: ```cpp std::map<std::string, std::string> extra_info() ``` #### forward item doc **type** func **brief** forward run model, get output of model,\\nthis is specially for MaixPy, not efficient, but easy to use in MaixPy **param** **input**: direction [in], input tensor<br> **return** output tensor. In C++, you should manually delete tensors in return value and return value. **static** False **C++ defination code**: ```cpp tensor::Tensors *forward(tensor::Tensors &inputs) ``` #### forward\\_image item doc **type** func **brief** forward model, param is image **param** **img**: input image<br>**mean**: mean value, a list type, e.g. [0.485, 0.456, 0.406], default is empty list means not normalize.<br>**scale**: scale value, a list type, e.g. [1/0.229, 1/0.224, 1/0.225], default is empty list means not normalize.<br>**fit**: fit mode, if the image size of input not equal to model's input, it will auto resize use this fit method,<br>default is image.Fit.FIT_FILL for easy coordinate calculation, but for more accurate result, use image.Fit.FIT_CONTAIN is better.<br>**copy_result**: If set true, will copy result to a new variable; else will use a internal memory, you can only use it until to the next forward.<br>Default true to avoid problems, you can set it to false manually to make speed faster.<br> **return** output tensor. In C++, you should manually delete tensors in return value and return value. **static** False **C++ defination code**: ```cpp tensor::Tensors *forward_image(image::Image &img, std::vector<float> mean std::vector<float>(), std::vector<float> scale std::vector<float>(), image::Fit fit image::Fit::FIT_FILL, bool copy_result true) ``` ### Object item doc **brief** Object for detect result **C++ defination code**: ```cpp class Object ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor of Object for detect result **param** **x**: left top x<br>**y**: left top y<br>**w**: width<br>**h**: height<br>**class_id**: class id<br>**score**: score<br> **static** False **C++ defination code**: ```cpp Object(int x 0, int y 0, int w 0, int h 0, int class_id 0, float score 0) ``` #### \\_\\_str\\_\\_ item doc **type** func **brief** Object info to string **return** Object info string **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### x item doc **type** var **brief** Object left top coordinate x **static** False **readonly** False **C++ defination code**: ```cpp int x ``` #### y item doc **type** var **brief** Object left top coordinate y **static** False **readonly** False **C++ defination code**: ```cpp int y ``` #### w item doc **type** var **brief** Object width **static** False **readonly** False **C++ defination code**: ```cpp int w ``` #### h item doc **type** var **brief** Object height **static** False **readonly** False **C++ defination code**: ```cpp int h ``` #### class\\_id item doc **type** var **brief** Object class id **static** False **readonly** False **C++ defination code**: ```cpp int class_id ``` #### score item doc **type** var **brief** Object score **static** False **readonly** False **C++ defination code**: ```cpp float score ```"},"/maixpy/api/maix/tensor.html":{"title":"maix.tensor","content":" title: maix.tensor maix.tensor module > You can use `maix.tensor` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### DType item doc **brief** Tensor data types **values** **UINT8**: <br>**INT8**: <br>**UINT16**: <br>**INT16**: <br>**UINT32**: <br>**INT32**: <br>**FLOAT16**: <br>**FLOAT32**: <br>**FLOAT64**: <br>**BOOL**: <br>**DTYPE_MAX**: <br> **C++ defination code**: ```cpp enum DType { UINT8 0, INT8, UINT16, INT16, UINT32, INT32, FLOAT16, FLOAT32, FLOAT64, BOOL, // STRING, // OBJECT, DTYPE_MAX } ``` ## Variable ### dtype\\_size item doc **brief** Tensor data type size in bytes **attention** It's a copy of this variable in MaixPy,<br>so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.<br>So we add const for this var to avoid this mistake. **value** **{<br> 1, // UINT8<br> 1, // INT8<br> 2, // UINT16<br> 2, // INT16<br> 4, // UINT32<br> 4, // INT32<br> 2, // FLOAT16<br> 4, // FLOAT32<br> 8, // FLOAT64<br> 1, // BOOL<br> // 1, // STRING<br> // 1, // OBJECT<br> 0<br> }** **readonly** True **C++ defination code**: ```cpp const std::vector<int> dtype_size { 1, // UINT8 1, // INT8 2, // UINT16 2, // INT16 4, // UINT32 4, // INT32 2, // FLOAT16 4, // FLOAT32 8, // FLOAT64 1, // BOOL // 1, // STRING // 1, // OBJECT 0 } ``` ### dtype\\_name item doc **brief** Tensor data type name **value** **{<br> \"uint8\",<br> \"int8\",<br> \"uint16\",<br> \"int16\",<br> \"uint32\",<br> \"int32\",<br> \"float16\",<br> \"float32\",<br> \"float64\",<br> \"bool\",<br> // \"string\",<br> // \"object\",<br> \"invalid\"<br> }** **readonly** True **C++ defination code**: ```cpp const std::vector<std::string> dtype_name { \"uint8\", \"int8\", \"uint16\", \"int16\", \"uint32\", \"int32\", \"float16\", \"float32\", \"float64\", \"bool\", // \"string\", // \"object\", \"invalid\" } ``` ## Function ## Class ### Tensor item doc **brief** Tensor class **C++ defination code**: ```cpp class Tensor ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Tensor constructor **param** **shape**: tensor shape, a int list<br>**dtype**: tensor element data type, see DType of this module<br>**data**: pointer to data content, can be nullptr, it will automatically alloc memory<br>and detroy it when this object is destroyed<br> **static** False **C++ defination code**: ```cpp Tensor(std::vector<int> shape, tensor::DType dtype, void *data nullptr) ``` #### to\\_str item doc **type** func **brief** To string **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### \\_\\_str\\_\\_ item doc **type** func **brief** To string **static** False **C++ defination code**: ```cpp std::string __str__() ``` #### shape item doc **type** func **brief** get tensor shape **return** tensor shape, a int list **static** False **C++ defination code**: ```cpp std::vector<int> shape() ``` #### expand\\_dims item doc **type** func **brief** expand tensor shape **param** **axis**: axis to expand<br> **static** False **C++ defination code**: ```cpp void expand_dims(int axis) ``` #### reshape item doc **type** func **brief** reshape tensor shape, if size not match, it will throw an err::Exception **param** **shape**: new shape<br> **static** False **C++ defination code**: ```cpp void reshape(std::vector<int> shape) ``` #### flatten item doc **type** func **brief** Flatten tensor shape to 1D **static** False **C++ defination code**: ```cpp void flatten() ``` #### dtype item doc **type** func **brief** get tensor data type **return** tensor data type, see DType of this module **static** False **C++ defination code**: ```cpp tensor::DType dtype() ``` #### argmax item doc **type** func **brief** argmax of tensor **param** **axis**: By default, the index is into the flattened array, otherwise along the specified axis., wrong axis will throw an err::Exception<br> **return** argmax result, you need to delete it after use in C++. **static** False **C++ defination code**: ```cpp tensor::Tensor *argmax(int axis 0xffff) ``` #### argmax1 item doc **type** func **brief** argmax1, flattened data max index **return** argmax result, int type **static** False **C++ defination code**: ```cpp int argmax1() ``` ### Tensors item doc **brief** Tensors **C++ defination code**: ```cpp class Tensors ``` #### \\_\\_init\\_\\_ ```python def __init__(self) > None ``` item doc **type** func **brief** Constructor of Tensors **static** False **C++ defination code**: ```cpp Tensors() ``` #### add\\_tensor ```python def add_tensor(self, key: str, tensor: Tensor, copy: bool, auto_delete: bool) > None ``` item doc **type** func **brief** Add tensor **static** False **C++ defination code**: ```cpp void add_tensor(const std::string &key, tensor::Tensor *tensor, bool copy, bool auto_delete) ``` #### rm\\_tensor ```python def rm_tensor(self, key: str) > None ``` item doc **type** func **brief** Remove tensor **static** False **C++ defination code**: ```cpp void rm_tensor(const std::string &key) ``` #### get\\_tensor ```python def get_tensor(self, key: str) > Tensor ``` item doc **type** func **brief** Get tensor by key **static** False **C++ defination code**: ```cpp tensor::Tensor *get_tensor(const std::string &key) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, key: str) > Tensor ``` item doc **type** func **brief** Operator [] **static** False **C++ defination code**: ```cpp tensor::Tensor *operator[](const std::string &key) ``` #### \\_\\_len\\_\\_ ```python def __len__(self) > int ``` item doc **type** func **brief** Size **static** False **C++ defination code**: ```cpp size_t size() ``` #### get\\_names ```python def get_names(self) > list[str] ``` item doc **type** func **brief** Get names **static** False **C++ defination code**: ```cpp std::vector<std::string> get_names() ``` #### tensors item doc **type** var **brief** Tensors data, dict type **static** False **readonly** False **C++ defination code**: ```cpp std::map<std::string, tensor::Tensor*> tensors ```"},"/maixpy/api/maix/network/wifi.html":{"title":"maix.network.wifi","content":" title: maix.network.wifi maix.network.wifi module > You can use `maix.network.wifi` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### list\\_devices ```python def list_devices() > list[str] ``` item doc **brief** List WiFi interfaces **return** WiFi interface list, string type **C++ defination code**: ```cpp std::vector<std::string> list_devices() ``` ## Class ### AP\\_Info item doc **brief** WiFi AP info **C++ defination code**: ```cpp class AP_Info ``` #### ssid item doc **type** var **brief** WiFi AP info SSID **static** False **readonly** False **C++ defination code**: ```cpp std::vector<uint8_t> ssid ``` #### bssid item doc **type** var **brief** WiFi AP info BSSID **static** False **readonly** False **C++ defination code**: ```cpp std::string bssid ``` #### security item doc **type** var **brief** WiFi AP info security **static** False **readonly** False **C++ defination code**: ```cpp std::string security ``` #### channel item doc **type** var **brief** WiFi AP info channel **static** False **readonly** False **C++ defination code**: ```cpp int channel ``` #### frequency item doc **type** var **brief** WiFi AP info frequency **static** False **readonly** False **C++ defination code**: ```cpp int frequency ``` #### rssi item doc **type** var **brief** WiFi AP info rssi **static** False **readonly** False **C++ defination code**: ```cpp int rssi ``` #### ssid\\_str ```python def ssid_str(self) > str ``` item doc **type** func **brief** WiFi AP info ssid_str **static** False **C++ defination code**: ```cpp std::string ssid_str() ``` ### Wifi item doc **brief** Wifi class **C++ defination code**: ```cpp class Wifi ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Wifi class **param** **iface**: wifi interface name, default is wlan0<br> **static** False **C++ defination code**: ```cpp Wifi(std::string iface \"wlan0\") ``` #### get\\_ip item doc **type** func **brief** Get current WiFi ip **return** ip, string type, if network not connected, will return empty string. **static** False **C++ defination code**: ```cpp std::string get_ip() ``` #### get\\_mac item doc **type** func **brief** Get current WiFi MAC address **return** ip, string type. **static** False **C++ defination code**: ```cpp std::string get_mac() ``` #### get\\_gateway item doc **type** func **brief** Get current WiFi ip **return** ip, string type, if network not connected, will return empty string. **static** False **C++ defination code**: ```cpp std::string get_gateway() ``` #### start\\_scan item doc **type** func **brief** WiFi start scan AP info around in background. **return** If success, return err.Err.ERR_NONE, else means failed. **static** False **C++ defination code**: ```cpp err::Err start_scan() ``` #### get\\_scan\\_result item doc **type** func **brief** Get WiFi scan AP info. **return** wifi.AP_Info list. **static** False **C++ defination code**: ```cpp std::vector<network::wifi::AP_Info> get_scan_result() ``` #### stop\\_scan item doc **type** func **brief** Stop WiFi scan AP info. **static** False **C++ defination code**: ```cpp void stop_scan() ``` #### connect item doc **type** func **brief** Connect to WiFi AP. **param** **ssid**: SSID of AP<br>**password**: password of AP, if no password, leave it empty.<br>**wait**: wait for got IP or failed or timeout.<br>**timeout**: connect timeout internal, unit second.<br> **return** If success, return err.Err.ERR_NONE, else means failed. **static** False **C++ defination code**: ```cpp err::Err connect(const std::string &ssid, const std::string &password, bool wait true, int timeout 60) ``` #### disconnect item doc **type** func **brief** Disconnect from WiFi AP. **return** If success, return err.Err.ERR_NONE, else means failed. **static** False **C++ defination code**: ```cpp err::Err disconnect() ``` #### is\\_connected item doc **type** func **brief** See if WiFi is connected to AP. **return** If connected return true, else false. **static** False **C++ defination code**: ```cpp bool is_connected() ```"},"/maixpy/api/maix/nn/F.html":{"title":"maix.nn.F","content":" title: maix.nn.F maix.nn.F module > You can use `maix.nn.F` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### softmax ```python def softmax(tensor: maix.tensor.Tensor, replace: bool) > maix.tensor.Tensor ``` item doc **brief** Softmax, only support 1D tensor, multi dimension tensor will be treated as 1D tensor **param** **tensor**: input tensor<br>**replace**: change input tensor data directly, if not, will create a new tensor<br> **throw** If arg error, will raise err.Exception error **return** output tensor, if arg replace is true, return the arg tensor's address.<br>If not replace, return a new object, so In C++, you should delete it manually in this case! **C++ defination code**: ```cpp tensor::Tensor *softmax(tensor::Tensor *tensor, bool replace) ``` ## Class"},"/maixpy/api/maix/image.html":{"title":"maix.image","content":" title: maix.image maix.image module, image related definition and functions > You can use `maix.image` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Format item doc **brief** Image formats **attention** for developers, update this enum will also need to update the fmt_size in maix_image.cpp **values** **FMT_RGB888**: RGBRGB...RGB, R at the lowest address<br>**FMT_BGR888**: BGRBGR...BGR, B at the lowest address<br>**FMT_RGBA8888**: RGBARGBA...RGBA, R at the lowest address<br>**FMT_BGRA8888**: BGRABGRA...BGRA, B at the lowest address<br>**FMT_RGB565**: <br>**FMT_BGR565**: <br>**FMT_YUV422SP**: YYY...UVUVUV...UVUV<br>**FMT_YUV422P**: YYY...UUU...VVV<br>**FMT_YVU420SP**: YYY...VUVUVU...VUVU, NV21<br>**FMT_YUV420SP**: YYY...UVUVUV...UVUV, NV12<br>**FMT_YVU420P**: YYY...VVV...UUU<br>**FMT_YUV420P**: YYY...UUU...VVV<br>**FMT_GRAYSCALE**: <br>**FMT_UNCOMPRESSED_MAX**: <br>**FMT_COMPRESSED_MIN**: <br>**FMT_JPEG**: <br>**FMT_PNG**: <br>**FMT_COMPRESSED_MAX**: <br>**FMT_INVALID**: format not valid<br> **C++ defination code**: ```cpp enum Format { FMT_RGB888 0, // RGBRGB...RGB, R at the lowest address FMT_BGR888, // BGRBGR...BGR, B at the lowest address FMT_RGBA8888, // RGBARGBA...RGBA, R at the lowest address FMT_BGRA8888, // BGRABGRA...BGRA, B at the lowest address FMT_RGB565, FMT_BGR565, FMT_YUV422SP, // YYY...UVUVUV...UVUV FMT_YUV422P, // YYY...UUU...VVV FMT_YVU420SP, // YYY...VUVUVU...VUVU, NV21 FMT_YUV420SP, // YYY...UVUVUV...UVUV, NV12 FMT_YVU420P, // YYY...VVV...UUU FMT_YUV420P, // YYY...UUU...VVV FMT_GRAYSCALE, FMT_UNCOMPRESSED_MAX, // compressed format below, not compressed should define upper FMT_COMPRESSED_MIN, FMT_JPEG, FMT_PNG, FMT_COMPRESSED_MAX, FMT_INVALID 0xFF // format not valid } ``` ### Fit item doc **brief** Object fit method **values** **FIT_NONE**: no object fit, keep original<br>**FIT_FILL**: width to new width, height to new height, may be stretch<br>**FIT_CONTAIN**: keep aspect ratio, fill blank area with black color<br>**FIT_COVER**: keep aspect ratio, crop image to fit new size<br>**FIT_MAX**: <br> **C++ defination code**: ```cpp enum Fit { FIT_NONE 1, // no object fit, keep original FIT_FILL 0, // width to new width, height to new height, may be stretch FIT_CONTAIN, // keep aspect ratio, fill blank area with black color FIT_COVER, // keep aspect ratio, crop image to fit new size FIT_MAX } ``` ### ResizeMethod item doc **brief** Resize method **values** **NEAREST**: <br>**BILINEAR**: <br>**BICUBIC**: <br>**AREA**: <br>**LANCZOS**: <br>**HAMMING**: <br>**RESIZE_METHOD_MAX**: <br> **C++ defination code**: ```cpp enum ResizeMethod { NEAREST 0, BILINEAR, BICUBIC, AREA, LANCZOS, HAMMING, RESIZE_METHOD_MAX } ``` ### ApriltagFamilies item doc **brief** Family of apriltag **values** **TAG16H5**: <br>**TAG25H7**: <br>**TAG25H9**: <br>**TAG36H10**: <br>**TAG36H11**: <br>**ARTOOLKIT**: <br> **C++ defination code**: ```cpp enum ApriltagFamilies { TAG16H5 1, TAG25H7 2, TAG25H9 4, TAG36H10 8, TAG36H11 16, ARTOOLKIT 32 } ``` ### TemplateMatch item doc **brief** Template match method **values** **SEARCH_EX**: Exhaustive search<br>**SEARCH_DS**: Diamond search<br> **C++ defination code**: ```cpp enum TemplateMatch { SEARCH_EX, // Exhaustive search SEARCH_DS, // Diamond search } ``` ### CornerDetector item doc **brief** CornerDetector class **values** **CORNER_FAST**: <br>**CORNER_AGAST**: <br> **C++ defination code**: ```cpp enum CornerDetector { CORNER_FAST, CORNER_AGAST } ``` ### EdgeDetector item doc **brief** EdgeDetector class **values** **EDGE_CANNY**: <br>**EDGE_SIMPLE**: <br> **C++ defination code**: ```cpp enum EdgeDetector { EDGE_CANNY, EDGE_SIMPLE, } ``` ## Variable ### fmt\\_size item doc **brief** Image format size in bytes **attention** It's a copy of this variable in MaixPy,<br>so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.<br>So we add const for this var to avoid this mistake. **value** **{<br> 3,<br> 3,<br> 4,<br> 4,<br> 2,<br> 2,<br> 2,<br> 2,<br> 1.5,<br> 1.5,<br> 1.5,<br> 1.5,<br> 1,<br> 0,<br> 0,<br> 0,<br> 0,<br> 0<br> }** **readonly** True **C++ defination code**: ```cpp const std::vector<float> fmt_size { 3, 3, 4, 4, 2, 2, 2, 2, 1.5, 1.5, 1.5, 1.5, 1, 0, 0, 0, 0, 0 } ``` ### fmt\\_names item doc **brief** Image format string **value** **{<br> \"RGB888\",<br> \"BGR888\",<br> \"RGBA8888\",<br> \"BGRA8888\",<br> \"RGB565\",<br> \"BGR565\",<br> \"YUV422SP\",<br> \"YUV422P\",<br> \"YVU420SP\",<br> \"YUV420SP\",<br> \"YVU420P\"<br> \"YUV420P\",<br> \"GRAYSCALE\",<br> \"MAX\"}** **readonly** True **C++ defination code**: ```cpp const std::vector<std::string> fmt_names { \"RGB888\", \"BGR888\", \"RGBA8888\", \"BGRA8888\", \"RGB565\", \"BGR565\", \"YUV422SP\", \"YUV422P\", \"YVU420SP\", \"YUV420SP\", \"YVU420P\" \"YUV420P\", \"GRAYSCALE\", \"MAX\"} ``` ### COLOR\\_WHITE item doc **brief** Predefined color white **value** **image::Color::from_rgb(255, 255, 255)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_WHITE image::Color::from_rgb(255, 255, 255) ``` ### COLOR\\_BLACK item doc **brief** Predefined color black **value** **image::Color::from_rgb(0, 0, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_BLACK image::Color::from_rgb(0, 0, 0) ``` ### COLOR\\_RED item doc **brief** Predefined color red **value** **image::Color::from_rgb(255, 0, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_RED image::Color::from_rgb(255, 0, 0) ``` ### COLOR\\_GREEN item doc **brief** Predefined color green **value** **image::Color::from_rgb(0, 255, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_GREEN image::Color::from_rgb(0, 255, 0) ``` ### COLOR\\_BLUE item doc **brief** Predefined color blue **value** **image::Color::from_rgb(0, 0, 255)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_BLUE image::Color::from_rgb(0, 0, 255) ``` ### COLOR\\_YELLOW item doc **brief** Predefined color yellow **value** **image::Color::from_rgb(255, 255, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_YELLOW image::Color::from_rgb(255, 255, 0) ``` ### COLOR\\_PURPLE item doc **brief** Predefined color purple **value** **image::Color::from_rgb(143, 0, 255)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_PURPLE image::Color::from_rgb(143, 0, 255) ``` ### COLOR\\_ORANGE item doc **brief** Predefined color orange **value** **image::Color::from_rgb(255, 127, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_ORANGE image::Color::from_rgb(255, 127, 0) ``` ### COLOR\\_GRAY item doc **brief** Predefined color gray **value** **image::Color::from_rgb(127, 127, 127)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_GRAY image::Color::from_rgb(127, 127, 127) ``` ## Function ### load ```python def load(path: str, format: Format ...) > Image ``` item doc **brief** Load image from file, and convert to Image object **param** **path**: image file path<br>**format**: read as this format, if not match, will convert to this format, by default is RGB888<br> **return** Image object **C++ defination code**: ```cpp image::Image *load(const char *path, image::Format format image::Format::FMT_RGB888) ``` ### from\\_bytes ```python def from_bytes(width: int, height: int, format: Format, data: maix.Bytes(bytes), copy: bool True) > Image ``` item doc **brief** Create image from bytes **param** **width**: image width<br>**height**: image height<br>**format**: image format<br>**data**: image data, if data is None, will malloc memory for image data<br>If the image is in jpeg format, data must be filled in.<br>**copy**: if true and data is not None, will copy data to new buffer, else will use data directly. default is true to avoid memory leak.<br>Use it carefully!!!<br> **return** Image object **C++ defination code**: ```cpp image::Image *from_bytes(int width, int height, image::Format format, Bytes *data, bool copy true) ``` ### load\\_font ```python def load_font(name: str, path: str, size: int 16) > maix.err.Err ``` item doc **brief** Load font from file **param** **name**: font name, used to identify font<br>**path**: font file path, support ttf, ttc, otf<br>**size**: font size, font height, by default is 16<br> **return** error code, err::ERR_NONE is ok, other is error **C++ defination code**: ```cpp err::Err load_font(const std::string &name, const char *path, int size 16) ``` ### set\\_default\\_font item doc **brief** Set default font, if not call this method, default is hershey_plain **param** **name**: font name, supported names can be get by fonts()<br> **return** error code, err::ERR_NONE is ok, other is error **C++ defination code**: ```cpp err::Err set_default_font(const std::string &name) ``` ### fonts ```python def fonts() > list[str] ``` item doc **brief** Get all loaded fonts **return** all loaded fonts, string list type **C++ defination code**: ```cpp std::vector<std::string> *fonts() ``` ### string\\_size ```python def string_size(string: str, scale: float 1, thickness: int 1, font: str '') > Size ``` item doc **brief** Get text rendered width and height **param** **string**: text content<br>**scale**: font scale, by default(value is 1)<br>**thickness**: text thickness(line width), by default(value is 1)<br> **return** text rendered width and height, [width, height] **C++ defination code**: ```cpp image::Size string_size(std::string string, float scale 1, int thickness 1, const std::string &font \"\") ``` ### cv2image item doc **brief** OpenCV Mat(numpy array object) to Image object **param** **array**: numpy array object, must be a 3 dim or 2 dim continuous array with shape hwc or hw<br> **return** Image object **C++ defination code**: ```cpp image::Image *cv2image(py::array_t<uint8_t, py::array::c_style> array, bool bgr true, bool copy true) ``` ### image2cv ```python def image2cv(img: Image, bgr: bool True, copy: bool True) > numpy.ndarray[numpy.uint8] ``` item doc **brief** Image object to OpenCV Mat(numpy array object) **param** **img**: Image object<br> **return** numpy array object **C++ defination code**: ```cpp py::array_t<uint8_t, py::array::c_style> image2cv(image::Image *img, bool bgr true, bool copy true) ``` ## Class ### Size item doc **brief** Image size type **C++ defination code**: ```cpp class Size ``` #### \\_\\_init\\_\\_ ```python def __init__(self, width: int 0, height: int 0) > None ``` item doc **type** func **brief** Construct a new Size object **param** **width**: image width<br>**height**: image height<br> **static** False **C++ defination code**: ```cpp Size(int width 0, int height 0) ``` #### width ```python def width(self, width: int 1) > int ``` item doc **type** func **brief** width of size **param** **width**: set new width, if not set, only return current width<br> **static** False **C++ defination code**: ```cpp int width(int width 1) ``` #### height ```python def height(self, height: int 1) > int ``` item doc **type** func **brief** height of size **param** **height**: set new height, if not set, only return current height<br> **static** False **C++ defination code**: ```cpp int height(int height 1) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index**: 0 for width, 1 for height<br> **return** int& width or height **static** False **C++ defination code**: ```cpp int &operator[](int index) ``` #### \\_\\_str\\_\\_ ```python def __str__(self) > str ``` item doc **type** func **brief** to string **static** False **C++ defination code**: ```cpp std::string __str__() ``` ### Line item doc **brief** Line class **C++ defination code**: ```cpp class Line ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Line constructor **param** **x1**: coordinate x1 of the straight line<br>**y1**: coordinate y1 of the straight line<br>**x2**: coordinate x2 of the straight line<br>**y2**: coordinate y2 of the straight line<br>**magnitude**: magnitude of the straight line after Hough transformation<br>**theta**: angle of the straight line after Hough transformation<br>**rho**: p value of the straight line after Hough transformation<br> **static** False **C++ defination code**: ```cpp Line(int x1, int y1, int x2, int y2, int magnitude 0, int theta 0, int rho 0) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index [0]**: get x1 of line<br>[1] get y1 of line<br>[2] get x2 of line<br>[3] get y2 of line<br>[4] get length of line<br>[5] get magnitude of the straight line after Hough transformation<br>[6] get angle of the straight line after Hough transformation (0 179 degrees)<br>[7] get p value of the straight line after Hough transformation<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### x1 item doc **type** func **brief** get x1 of line **return** return x1 of the line, type is int **static** False **C++ defination code**: ```cpp int x1() ``` #### y1 item doc **type** func **brief** get y1 of line **return** return y1 of the line, type is int **static** False **C++ defination code**: ```cpp int y1() ``` #### x2 item doc **type** func **brief** get x2 of line **return** return x2 of the line, type is int **static** False **C++ defination code**: ```cpp int x2() ``` #### y2 item doc **type** func **brief** get y2 of line **return** return y2 of the line, type is int **static** False **C++ defination code**: ```cpp int y2() ``` #### length item doc **type** func **brief** get length of line **return** return length of the line, type is int **static** False **C++ defination code**: ```cpp int length() ``` #### magnitude item doc **type** func **brief** get magnitude of the straight line after Hough transformation **return** return magnitude, type is int **static** False **C++ defination code**: ```cpp int magnitude() ``` #### theta item doc **type** func **brief** get angle of the straight line after Hough transformation (0 179 degrees) **return** return angle, type is int **static** False **C++ defination code**: ```cpp int theta() ``` #### rho item doc **type** func **brief** get p value of the straight line after Hough transformation **return** return p value, type is int **static** False **C++ defination code**: ```cpp int rho() ``` ### Rect item doc **brief** Rect class **C++ defination code**: ```cpp class Rect ``` #### \\_\\_init\\_\\_ ```python def __init__(self, corners: list[list[int]], x: int, y: int, w: int, h: int, magnitude: int 0) > None ``` item doc **type** func **brief** Rect constructor **param** **corners**: corners of rect<br>**x**: coordinate x of the straight line<br>**y**: coordinate y of the straight line<br>**w**: coordinate w of the straight line<br>**h**: coordinate h of the straight line<br>**magnitude**: magnitude of the straight line after Hough transformation<br> **static** False **C++ defination code**: ```cpp Rect(std::vector<std::vector<int>> &corners, int x, int y, int w, int h, int magnitude 0) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index [0]**: get x of rect<br>[1] get y of rect<br>[2] get w of rect<br>[3] get h of rect<br>[4] get magnitude of the straight line after Hough transformation<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners ```python def corners(self) > list[list[int]] ``` item doc **type** func **brief** get corners of rect **return** return the coordinate of the rect. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect ```python def rect(self) > list[int] ``` item doc **type** func **brief** get rectangle of rect **return** return the rectangle of the rect. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x ```python def x(self) > int ``` item doc **type** func **brief** get x of rect **return** return x of the rect, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y ```python def y(self) > int ``` item doc **type** func **brief** get y of rect **return** return y of the rect, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w ```python def w(self) > int ``` item doc **type** func **brief** get w of rect **return** return w of the rect, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h ```python def h(self) > int ``` item doc **type** func **brief** get h of rect **return** return h of the rect, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### magnitude ```python def magnitude(self) > int ``` item doc **type** func **brief** get magnitude of the straight line after Hough transformation **return** return magnitude, type is int **static** False **C++ defination code**: ```cpp int magnitude() ``` ### Circle item doc **brief** circle class **C++ defination code**: ```cpp class Circle ``` #### \\_\\_init\\_\\_ ```python def __init__(self, x: int, y: int, r: int, magnitude: int) > None ``` item doc **type** func **brief** Circle constructor **param** **x**: coordinate x of the circle<br>**y**: coordinate y of the circle<br>**r**: coordinate r of the circle<br>**magnitude**: coordinate y2 of the straight line<br> **static** False **C++ defination code**: ```cpp Circle(int x, int y, int r, int magnitude) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index [0]**: get x of circle<br>[1] get y of circle<br>[2] get r of circle<br>[3] get magnitude of the circle after Hough transformation<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### x ```python def x(self) > int ``` item doc **type** func **brief** get x of circle **return** return x of the circle, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y ```python def y(self) > int ``` item doc **type** func **brief** get y of circle **return** return y of the circle, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### r ```python def r(self) > int ``` item doc **type** func **brief** get r of circle **return** return r of the circle, type is int **static** False **C++ defination code**: ```cpp int r() ``` #### magnitude ```python def magnitude(self) > int ``` item doc **type** func **brief** get magnitude of the circle after Hough transformation **return** return magnitude, type is int **static** False **C++ defination code**: ```cpp int magnitude() ``` ### Blob item doc **brief** Blob class **C++ defination code**: ```cpp class Blob ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Blob constructor **param** **rect**: blob rect, type is std::vector<int><br>**corners**: blob corners, type is std::vector<std::vector<int>><br>**mini_corners**: blob mini_corners, type is std::vector<std::vector<int>><br>**cx**: blob center x, type is float<br>**cy**: blob center y, type is float<br>**pixels**: blob pixels, type is int<br>**rotation**: blob rotation, type is float<br>**code**: blob code, type is int<br>**count**: blob count, type is int<br>**perimeter**: blob perimeter, type is int<br>**roundness**: blob roundness, type is float<br>**x_hist_bins**: blob x_hist_bins, type is std::vector<int><br>**y_hist_bins**: blob y_hist_bins, type is std::vector<int><br> **static** False **C++ defination code**: ```cpp Blob(std::vector<int> &rect, std::vector<std::vector<int>> &corners, std::vector<std::vector<int>> &mini_corners,float cx, float cy, int pixels, float rotation, int code, int count, int perimeter, float roundness, std::vector<int> &x_hist_bins, std::vector<int> &y_hist_bins) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index [0]**: Returns the blob’s bounding box x coordinate<br>[1] Returns the blob’s bounding box y coordinate<br>[2] Returns the blob’s bounding box w coordinate<br>[3] Returns the blob’s bounding box h coordinate<br>[4] Returns the number of pixels that are part of this blob<br>[5] Returns the centroid x position of the blob<br>[6] Returns the centroid y position of the blob<br> **return** int& width or height **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners item doc **type** func **brief** get blob corners **return** Returns a list of 4 (x,y) tuples of the 4 corners of the object.<br>(x0, y0)___________(x1, y1)<br> <br> <br> <br>___________<br>(x3, y3) (x2, y2)<br>note: the order of corners may change **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### mini\\_corners item doc **type** func **brief** get blob mini corners **return** Returns a list of 4 (x,y) tuples of the 4 corners than bound the min area rectangle of the blob.<br>(x0, y0)___________(x1, y1)<br> <br> <br> <br>___________<br>(x3, y3) (x2, y2)<br>note: the order of corners may change **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> mini_corners() ``` #### rect item doc **type** func **brief** get blob rect **return** Returns the center coordinates and width and height of the rectangle. format is (x, y, w, h)<br>w<br>(x, y) ___________<br> <br> h<br> <br>___________ **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x item doc **type** func **brief** get blob x of the upper left coordinate **return** Returns the x coordinate of the upper left corner of the rectangle. **static** False **C++ defination code**: ```cpp int x() ``` #### y item doc **type** func **brief** get blob y of the upper left coordinate **return** Returns the y coordinate of the upper left corner of the rectangle. **static** False **C++ defination code**: ```cpp int y() ``` #### w item doc **type** func **brief** get blob width **return** Returns the blob’s bounding box w coordinate **static** False **C++ defination code**: ```cpp int w() ``` #### h item doc **type** func **brief** get blob height **return** Returns the blob’s bounding box h coordinate **static** False **C++ defination code**: ```cpp int h() ``` #### pixels item doc **type** func **brief** get blob pixels **return** Returns the number of pixels that are part of this blob. **static** False **C++ defination code**: ```cpp int pixels() ``` #### cx item doc **type** func **brief** get blob center x **return** Returns the centroid x position of the blob **static** False **C++ defination code**: ```cpp int cx() ``` #### cy item doc **type** func **brief** get blob center y **return** Returns the centroid y position of the blob **static** False **C++ defination code**: ```cpp int cy() ``` #### cxf item doc **type** func **brief** get blob center x **return** Returns the centroid x position of the blob **static** False **C++ defination code**: ```cpp float cxf() ``` #### cyf item doc **type** func **brief** get blob center y **return** Returns the centroid y position of the blob **static** False **C++ defination code**: ```cpp float cyf() ``` #### rotation item doc **type** func **brief** get blob rotation **return** Returns the rotation of the blob in radians (float). If the blob is like a pencil or pen this value will be unique for 0 180 degrees. **static** False **C++ defination code**: ```cpp float rotation() ``` #### rotation\\_rad item doc **type** func **brief** get blob rotation_rad **return** Returns the rotation of the blob in radians **static** False **C++ defination code**: ```cpp float rotation_rad() ``` #### rotation\\_deg item doc **type** func **brief** get blob rotation_deg **return** Returns the rotation of the blob in degrees. **static** False **C++ defination code**: ```cpp int rotation_deg() ``` #### code item doc **type** func **brief** get blob code **return** Returns a 32 bit binary number with a bit set in it for each color threshold that’s part of this blob **static** False **C++ defination code**: ```cpp int code() ``` #### count item doc **type** func **brief** get blob count **return** Returns the number of blobs merged into this blob. **static** False **C++ defination code**: ```cpp int count() ``` #### perimeter item doc **type** func **brief** get blob merge_cnt **return** Returns the number of pixels on this blob’s perimeter. **static** False **C++ defination code**: ```cpp int perimeter() ``` #### roundness item doc **type** func **brief** get blob roundness **return** Returns a value between 0 and 1 representing how round the object is **static** False **C++ defination code**: ```cpp float roundness() ``` #### elongation item doc **type** func **brief** get blob elongation **returnReturns** a value between 0 and 1 representing how long (not round) the object is **static** False **C++ defination code**: ```cpp float elongation() ``` #### area item doc **type** func **brief** get blob area **return** Returns the area of the bounding box around the blob **static** False **C++ defination code**: ```cpp int area() ``` #### density item doc **type** func **brief** get blob density **return** Returns the density ratio of the blob **static** False **C++ defination code**: ```cpp float density() ``` #### extent item doc **type** func **brief** Alias for blob.density() **return** Returns the density ratio of the blob **static** False **C++ defination code**: ```cpp float extent() ``` #### compactness item doc **type** func **brief** get blob compactness **return** Returns the compactness ratio of the blob **static** False **C++ defination code**: ```cpp float compactness() ``` #### solidity item doc **type** func **brief** get blob solidity **return** Returns the solidity ratio of the blob **static** False **C++ defination code**: ```cpp float solidity() ``` #### convexity item doc **type** func **brief** get blob convexity **return** Returns a value between 0 and 1 representing how convex the object is **static** False **C++ defination code**: ```cpp float convexity() ``` #### x\\_hist\\_bins item doc **type** func **brief** get blob x_hist_bins **return** Returns the x_hist_bins of the blob **static** False **C++ defination code**: ```cpp std::vector<int> x_hist_bins() ``` #### y\\_hist\\_bins item doc **type** func **brief** get blob y_hist_bins **return** Returns the y_hist_bins of the blob **static** False **C++ defination code**: ```cpp std::vector<int> y_hist_bins() ``` #### major\\_axis\\_line item doc **type** func **brief** get blob major_axis_line **return** Returns a line tuple (x1, y1, x2, y2) of the minor axis of the blob. **static** False **C++ defination code**: ```cpp std::vector<int> major_axis_line() ``` #### minor\\_axis\\_line item doc **type** func **brief** get blob minor_axis_line **return** Returns a line tuple (x1, y1, x2, y2) of the minor axis of the blob. **static** False **C++ defination code**: ```cpp std::vector<int> minor_axis_line() ``` #### enclosing\\_circle item doc **type** func **brief** get blob enclosing_circle **return** Returns a circle tuple (x, y, r) of the circle that encloses the min area rectangle of a blob. **static** False **C++ defination code**: ```cpp std::vector<int> enclosing_circle() ``` #### enclosed\\_ellipse item doc **type** func **brief** get blob enclosed_ellipse **return** Returns an ellipse tuple (x, y, rx, ry, rotation) of the ellipse that fits inside of the min area rectangle of a blob. **static** False **C++ defination code**: ```cpp std::vector<int> enclosed_ellipse() ``` ### QRCode item doc **brief** QRCode class **C++ defination code**: ```cpp class QRCode ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** QRCode constructor **param** **rect**: rect of corners, type is std::vector<int><br>**corners**: corners of QRCode<br>**payload**: payload of the QRCode<br>**version**: version of the QRCode<br>**ecc_level**: ecc_level of the QRCode<br>**mask**: mask of the QRCode<br>**data_type**: data_type of the QRCode<br>**eci**: eci of the QRCode<br> **static** False **C++ defination code**: ```cpp QRCode(std::vector<int> &rect, std::vector<std::vector<int>> &corners, std::string &payload, int version, int ecc_level, int mask, int data_type, int eci) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index [0]**: Returns the qrcode’s bounding box x coordinate<br>[1] Returns the qrcode’s bounding box y coordinate<br>[2] Returns the qrcode’s bounding box w coordinate<br>[3] Returns the qrcode’s bounding box h coordinate<br>[4] Not support this index, try to use payload() method<br>[5] Returns the version of qrcode<br>[6] Returns the error correction level of qrcode<br>[7] Returns the mask of qrcode<br>[8] Returns the datatype of qrcode<br>[9] Returns the eci of qrcode<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners item doc **type** func **brief** get coordinate of QRCode **return** return the coordinate of the QRCode. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect item doc **type** func **brief** get rectangle of QRCode **return** return the rectangle of the QRCode. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x item doc **type** func **brief** get x of QRCode **return** return x of the QRCode, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y item doc **type** func **brief** get y of QRCode **return** return y of the QRCode, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w item doc **type** func **brief** get w of QRCode **return** return w of the QRCode, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h item doc **type** func **brief** get h of QRCode **return** return h of the QRCode, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### payload item doc **type** func **brief** get QRCode payload **return** return area of the QRCode **static** False **C++ defination code**: ```cpp std::string payload() ``` #### version item doc **type** func **brief** get QRCode version **return** return version of the QRCode **static** False **C++ defination code**: ```cpp int version() ``` #### ecc\\_level item doc **type** func **brief** get QRCode error correction level **return** return error correction level of the QRCode **static** False **C++ defination code**: ```cpp int ecc_level() ``` #### mask item doc **type** func **brief** get QRCode mask **return** return mask of the QRCode **static** False **C++ defination code**: ```cpp int mask() ``` #### data\\_type item doc **type** func **brief** get QRCode dataType **return** return mask of the QRCode **static** False **C++ defination code**: ```cpp int data_type() ``` #### eci item doc **type** func **brief** get QRCode eci **return** return data of the QRCode **static** False **C++ defination code**: ```cpp int eci() ``` #### is\\_numeric item doc **type** func **brief** check QRCode is numeric **return** return true if the result type of the QRCode is numeric **static** False **C++ defination code**: ```cpp bool is_numeric() ``` #### is\\_alphanumeric item doc **type** func **brief** check QRCode is alphanumeric **return** return true if the result type of the QRCode is alphanumeric **static** False **C++ defination code**: ```cpp bool is_alphanumeric() ``` #### is\\_binary item doc **type** func **brief** check QRCode is binary **return** return true if the result type of the QRCode is binary **static** False **C++ defination code**: ```cpp bool is_binary() ``` #### is\\_kanji item doc **type** func **brief** check QRCode is kanji **return** return true if the result type of the QRCode is kanji **static** False **C++ defination code**: ```cpp bool is_kanji() ``` ### AprilTag item doc **brief** AprilTag class **C++ defination code**: ```cpp class AprilTag ``` #### \\_\\_init\\_\\_ ```python def __init__(self, rect: list[int], corners: list[list[int]], id: int, famliy: int, centroid_x: float, centroid_y: float, rotation: float, decision_margin: float, hamming: int, goodness: float, x_translation: float, y_translation: float, z_translation: float, x_rotation: float, y_rotation: float, z_rotation: float) > None ``` item doc **type** func **brief** AprilTag constructor **param** **rect**: Inlucdes the top left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector<int><br>**corners**: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector<std::vector<int>><br>**id**: The id of the AprilTag<br>**famliy**: The family of the AprilTag<br>**centroid_x**: The x coordinate of the center of the AprilTag<br>**centroid_y**: The y coordinate of the center of the AprilTag<br>**rotation**: The rotation of the AprilTag<br>**decision_margin**: The decision_margin of the AprilTag<br>**hamming**: The hamming of the AprilTag<br>**goodness**: The goodness of the AprilTag<br>**x_translation**: The x_translation of the AprilTag<br>**y_translation**: The y_translation of the AprilTag<br>**z_translation**: The z_translation of the AprilTag<br>**x_rotation**: The x_rotation of the AprilTag<br>**y_rotation**: The y_rotation of the AprilTag<br>**z_rotation**: The z_rotation of the AprilTag<br> **static** False **C++ defination code**: ```cpp AprilTag(std::vector<int> &rect, std::vector<std::vector<int>> &corners, int id, int famliy, float centroid_x, float centroid_y, float rotation, float decision_margin, int hamming, float goodness, float x_translation, float y_translation, float z_translation, float x_rotation, float y_rotation, float z_rotation) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index [0]**: Returns the apriltag’s bounding box x coordinate<br>[1] Returns the apriltag’s bounding box y coordinate<br>[2] Returns the apriltag’s bounding box w coordinate<br>[3] Returns the apriltag’s bounding box h coordinate<br>[4] Returns the apriltag’s id<br>[5] Returns the apriltag’s family<br>[6] Not support<br>[7] Not support<br>[8] Not support<br>[9] Not support<br>[10] Returns the apriltag’s hamming<br>[11] Not support<br>[12] Not support<br>[13] Not support<br>[14] Not support<br>[15] Not support<br>[16] Not support<br>[17] Not support<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners ```python def corners(self) > list[list[int]] ``` item doc **type** func **brief** get coordinate of AprilTag **return** return the coordinate of the AprilTag. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect ```python def rect(self) > list[int] ``` item doc **type** func **brief** get rectangle of AprilTag **return** return the rectangle of the AprilTag. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x ```python def x(self) > int ``` item doc **type** func **brief** get x of AprilTag **return** return x of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y ```python def y(self) > int ``` item doc **type** func **brief** get y of AprilTag **return** return y of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w ```python def w(self) > int ``` item doc **type** func **brief** get w of AprilTag **return** return w of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h ```python def h(self) > int ``` item doc **type** func **brief** get h of AprilTag **return** return h of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### id ```python def id(self) > int ``` item doc **type** func **brief** get id of AprilTag **return** return id of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int id() ``` #### family ```python def family(self) > int ``` item doc **type** func **brief** get family of AprilTag **return** return family of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int family() ``` #### cx ```python def cx(self) > int ``` item doc **type** func **brief** get cx of AprilTag **return** return cx of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int cx() ``` #### cxf ```python def cxf(self) > float ``` item doc **type** func **brief** get cxf of AprilTag **return** return cxf of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float cxf() ``` #### cy ```python def cy(self) > int ``` item doc **type** func **brief** get cy of AprilTag **return** return cy of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int cy() ``` #### cyf ```python def cyf(self) > float ``` item doc **type** func **brief** get cyf of AprilTag **return** return cyf of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float cyf() ``` #### rotation ```python def rotation(self) > float ``` item doc **type** func **brief** get rotation of AprilTag **return** return rotation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float rotation() ``` #### decision\\_margin ```python def decision_margin(self) > float ``` item doc **type** func **brief** Get decision_margin of AprilTag **return** Returns the quality of the apriltag match (0.0 1.0) where 1.0 is the best. **static** False **C++ defination code**: ```cpp float decision_margin() ``` #### hamming ```python def hamming(self) > int ``` item doc **type** func **brief** get hamming of AprilTag **return** Returns the number of accepted bit errors for this tag.<br>return 0, means 0 bit errors will be accepted.<br>1 is TAG25H7, means up to 1 bit error may be accepted<br>2 is TAG25H9, means up to 3 bit errors may be accepted<br>3 is TAG36H10, means up to 3 bit errors may be accepted<br>4 is TAG36H11, means up to 4 bit errors may be accepted<br>5 is ARTOOLKIT, means 0 bit errors will be accepted **static** False **C++ defination code**: ```cpp int hamming() ``` #### goodness ```python def goodness(self) > float ``` item doc **type** func **brief** get goodness of AprilTag **return** return goodness of the AprilTag, type is float<br>Note: This value is always 0.0 for now. **static** False **C++ defination code**: ```cpp float goodness() ``` #### x\\_translation ```python def x_translation(self) > float ``` item doc **type** func **brief** get x_translation of AprilTag **return** return x_translation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float x_translation() ``` #### y\\_translation ```python def y_translation(self) > float ``` item doc **type** func **brief** get y_translation of AprilTag **return** return y_translation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float y_translation() ``` #### z\\_translation ```python def z_translation(self) > float ``` item doc **type** func **brief** get z_translation of AprilTag **return** return z_translation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float z_translation() ``` #### x\\_rotation ```python def x_rotation(self) > float ``` item doc **type** func **brief** get x_rotation of AprilTag **return** return x_rotation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float x_rotation() ``` #### y\\_rotation ```python def y_rotation(self) > float ``` item doc **type** func **brief** get y_rotation of AprilTag **return** return y_rotation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float y_rotation() ``` #### z\\_rotation ```python def z_rotation(self) > float ``` item doc **type** func **brief** get z_rotation of AprilTag **return** return z_rotation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float z_rotation() ``` ### DataMatrix item doc **brief** DataMatrix class **C++ defination code**: ```cpp class DataMatrix ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** DataMatrix constructor **param** **rect**: Inlucdes the top left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector<int><br>**corners**: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector<std::vector<int>><br>**payload**: The payload of the DataMatrix<br>**rotation**: The rotation of the DataMatrix<br>**rows**: The rows of the DataMatrix<br>**columns**: The columns of the DataMatrix<br>**capacity**: The capacity of the DataMatrix<br>**padding**: The padding of the DataMatrix<br> **static** False **C++ defination code**: ```cpp DataMatrix(std::vector<int> &rect, std::vector<std::vector<int>> &corners, std::string &payload, float rotation, int rows, int columns, int capacity, int padding) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index [0]**: get x of DataMatrix<br>[1] get y of DataMatrix<br>[2] get w of DataMatrix<br>[3] get h of DataMatrix<br>[4] Not support this index, try to use payload() method<br>[5] Not support this index, try to use rotation() method<br>[6] get rows of DataMatrix<br>[7] get columns of DataMatrix<br>[8] get capacity of DataMatrix<br>[9] get padding of DataMatrix<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners item doc **type** func **brief** get coordinate of DataMatrix **return** return the coordinate of the DataMatrix. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect item doc **type** func **brief** get rectangle of DataMatrix **return** return the rectangle of the DataMatrix. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x item doc **type** func **brief** get x of DataMatrix **return** return x of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y item doc **type** func **brief** get y of DataMatrix **return** return y of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w item doc **type** func **brief** get w of DataMatrix **return** return w of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h item doc **type** func **brief** get h of DataMatrix **return** return h of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### payload item doc **type** func **brief** get payload of DataMatrix **return** return payload of the DataMatrix, type is std::string **static** False **C++ defination code**: ```cpp std::string payload() ``` #### rotation item doc **type** func **brief** get rotation of DataMatrix **return** return rotation of the DataMatrix, type is float **static** False **C++ defination code**: ```cpp float rotation() ``` #### rows item doc **type** func **brief** get rows of DataMatrix **return** return rows of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int rows() ``` #### columns item doc **type** func **brief** get columns of DataMatrix **return** return columns of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int columns() ``` #### capacity item doc **type** func **brief** get capacity of DataMatrix **return** returns how many characters could fit in this data matrix, type is int **static** False **C++ defination code**: ```cpp int capacity() ``` #### padding item doc **type** func **brief** get padding of DataMatrix **return** returns how many unused characters are in this data matrix, type is int **static** False **C++ defination code**: ```cpp int padding() ``` ### BarCode item doc **brief** BarCode class **C++ defination code**: ```cpp class BarCode ``` #### \\_\\_init\\_\\_ ```python def __init__(self, rect: list[int], corners: list[list[int]], payload: str, type: int, rotation: float, quality: int) > None ``` item doc **type** func **brief** BarCode constructor **param** **rect**: Inlucdes the top left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector<int><br>**corners**: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector<std::vector<int>><br>**payload**: The payload of the BarCode<br>**type**: The type of the BarCode<br>**rotation**: The rotation of the BarCode<br>**quality**: The quality of the BarCode<br> **static** False **C++ defination code**: ```cpp BarCode(std::vector<int> &rect, std::vector<std::vector<int>> &corners, std::string &payload, int type, float rotation, int quality) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index [0]**: get x of BarCode<br>[1] get y of BarCode<br>[2] get w of BarCode<br>[3] get h of BarCode<br>[4] Not support this index, try to use payload() method<br>[5] get type of BarCode<br>[6] Not support this index, try to use rotation() method<br>[7] get quality of BarCode<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners ```python def corners(self) > list[list[int]] ``` item doc **type** func **brief** get coordinate of BarCode **return** return the coordinate of the BarCode. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect ```python def rect(self) > list[int] ``` item doc **type** func **brief** get rectangle of BarCode **return** return the rectangle of the BarCode. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x ```python def x(self) > int ``` item doc **type** func **brief** get x of BarCode **return** return x of the BarCode, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y ```python def y(self) > int ``` item doc **type** func **brief** get y of BarCode **return** return y of the BarCode, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w ```python def w(self) > int ``` item doc **type** func **brief** get w of BarCode **return** return w of the BarCode, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h ```python def h(self) > int ``` item doc **type** func **brief** get h of BarCode **return** return h of the BarCode, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### payload ```python def payload(self) > str ``` item doc **type** func **brief** get payload of BarCode **return** return payload of the BarCode, type is std::string **static** False **C++ defination code**: ```cpp std::string payload() ``` #### type ```python def type(self) > int ``` item doc **type** func **brief** get type of BarCode **return** return type of the BarCode, type is int **static** False **C++ defination code**: ```cpp int type() ``` #### rotation ```python def rotation(self) > float ``` item doc **type** func **brief** get rotation of BarCode **return** return rotation of the BarCode, type is float. FIXME: always return 0.0 **static** False **C++ defination code**: ```cpp float rotation() ``` #### quality ```python def quality(self) > int ``` item doc **type** func **brief** get quality of BarCode **return** return quality of the BarCode, type is int **static** False **C++ defination code**: ```cpp int quality() ``` ### Statistics item doc **brief** Statistics class **C++ defination code**: ```cpp class Statistics ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Statistics constructor **param** **format**: The statistics source image format<br>**l_statistics**: The statistics of the L channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector<int><br>**a_statistics**: The statistics of the A channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector<int><br>**b_statistics**: The statistics of the B channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector<int><br> **static** False **C++ defination code**: ```cpp Statistics(image::Format format, std::vector<int> &l_statistics, std::vector<int> &a_statistics, std::vector<int> &b_statistics) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index**: array index<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### format item doc **type** func **brief** get format of Statistics source image **return** return format of the Statistics source image, type is image::Format **static** False **C++ defination code**: ```cpp image::Format format() ``` #### l\\_mean item doc **type** func **brief** get L channel mean **return** return L channel mean, type is int **static** False **C++ defination code**: ```cpp int l_mean() ``` #### l\\_median item doc **type** func **brief** get L channel median **return** return L channel median, type is int **static** False **C++ defination code**: ```cpp int l_median() ``` #### l\\_mode item doc **type** func **brief** get L channel mode **return** return L channel mode, type is int **static** False **C++ defination code**: ```cpp int l_mode() ``` #### l\\_std\\_dev item doc **type** func **brief** get L channel std_dev **return** return L channel std_dev, type is int **static** False **C++ defination code**: ```cpp int l_std_dev() ``` #### l\\_min item doc **type** func **brief** get L channel min **return** return L channel min, type is int **static** False **C++ defination code**: ```cpp int l_min() ``` #### l\\_max item doc **type** func **brief** get L channel max **return** return L channel max, type is int **static** False **C++ defination code**: ```cpp int l_max() ``` #### l\\_lq item doc **type** func **brief** get L channel lq **return** return L channel lq, type is int **static** False **C++ defination code**: ```cpp int l_lq() ``` #### l\\_uq item doc **type** func **brief** get L channel uq **return** return L channel uq, type is int **static** False **C++ defination code**: ```cpp int l_uq() ``` #### a\\_mean item doc **type** func **brief** get A channel mean **return** return A channel mean, type is int **static** False **C++ defination code**: ```cpp int a_mean() ``` #### a\\_median item doc **type** func **brief** get A channea median **return** return A channel median, type is int **static** False **C++ defination code**: ```cpp int a_median() ``` #### a\\_mode item doc **type** func **brief** get A channel mode **return** return A channel mode, type is int **static** False **C++ defination code**: ```cpp int a_mode() ``` #### a\\_std\\_dev item doc **type** func **brief** get A channel std_dev **return** return A channel std_dev, type is int **static** False **C++ defination code**: ```cpp int a_std_dev() ``` #### a\\_min item doc **type** func **brief** get A channel min **return** return A channel min, type is int **static** False **C++ defination code**: ```cpp int a_min() ``` #### a\\_max item doc **type** func **brief** get A channel max **return** return A channel max, type is int **static** False **C++ defination code**: ```cpp int a_max() ``` #### a\\_lq item doc **type** func **brief** get A channel lq **return** return A channel lq, type is int **static** False **C++ defination code**: ```cpp int a_lq() ``` #### a\\_uq item doc **type** func **brief** get A channel uq **return** return A channel uq, type is int **static** False **C++ defination code**: ```cpp int a_uq() ``` #### b\\_mean item doc **type** func **brief** get B channel mean **return** return B channel mean, type is int **static** False **C++ defination code**: ```cpp int b_mean() ``` #### b\\_median item doc **type** func **brief** get B channea median **return** return B channel median, type is int **static** False **C++ defination code**: ```cpp int b_median() ``` #### b\\_mode item doc **type** func **brief** get B channel mode **return** return B channel mode, type is int **static** False **C++ defination code**: ```cpp int b_mode() ``` #### b\\_std\\_dev item doc **type** func **brief** get B channel std_dev **return** return B channel std_dev, type is int **static** False **C++ defination code**: ```cpp int b_std_dev() ``` #### b\\_min item doc **type** func **brief** get B channel min **return** return B channel min, type is int **static** False **C++ defination code**: ```cpp int b_min() ``` #### b\\_max item doc **type** func **brief** get B channel max **return** return B channel max, type is int **static** False **C++ defination code**: ```cpp int b_max() ``` #### b\\_lq item doc **type** func **brief** get B channel lq **return** return B channel lq, type is int **static** False **C++ defination code**: ```cpp int b_lq() ``` #### b\\_uq item doc **type** func **brief** get B channel uq **return** return B channel uq, type is int **static** False **C++ defination code**: ```cpp int b_uq() ``` ### Displacement item doc **brief** Displacement class **C++ defination code**: ```cpp class Displacement ``` #### \\_\\_init\\_\\_ ```python def __init__(self, x_translation: float, y_translation: float, rotation: float, scale: float, response: float) > None ``` item doc **type** func **brief** Displacement constructor **param** **x_translation**: The x_translation of the Displacement<br>**y_translation**: The y_translation of the Displacement<br>**rotation**: The rotation of the Displacement<br>**scale**: The scale of the Displacement<br>**response**: The response of the Displacement<br> **static** False **C++ defination code**: ```cpp Displacement(float x_translation, float y_translation, float rotation, float scale, float response) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index**: array index<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### x\\_translation ```python def x_translation(self) > float ``` item doc **type** func **brief** get x_translation of Displacement **return** return x_translation of the Displacement, type is float **static** False **C++ defination code**: ```cpp float x_translation() ``` #### y\\_translation ```python def y_translation(self) > float ``` item doc **type** func **brief** get y_translation of Displacement **return** return y_translation of the Displacement, type is float **static** False **C++ defination code**: ```cpp float y_translation() ``` #### rotation ```python def rotation(self) > float ``` item doc **type** func **brief** get rotation of Displacement **return** return rotation of the Displacement, type is float **static** False **C++ defination code**: ```cpp float rotation() ``` #### scale ```python def scale(self) > float ``` item doc **type** func **brief** get scale of Displacement **return** return scale of the Displacement, type is float **static** False **C++ defination code**: ```cpp float scale() ``` #### response ```python def response(self) > float ``` item doc **type** func **brief** get response of Displacement **return** return response of the Displacement, type is float **static** False **C++ defination code**: ```cpp float response() ``` ### LBPKeyPoint item doc **brief** LBPKeyPoint class **C++ defination code**: ```cpp class LBPKeyPoint ``` #### \\_\\_init\\_\\_ ```python def __init__(self, data: list[int]) > None ``` item doc **type** func **brief** LBPKeyPoint constructor **param** **data**: The data of the LBPKeyPoint<br> **static** False **C++ defination code**: ```cpp LBPKeyPoint(std::valarray<uint8_t> &data) ``` ### KeyPoint item doc **brief** KeyPoint class **C++ defination code**: ```cpp class KeyPoint ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** KeyPoint constructor **param** **x**: The x of the KeyPoint<br>**y**: The y of the KeyPoint<br>**score**: The score of the KeyPoint<br>**octave**: The octave of the KeyPoint<br>**angle**: The angle of the KeyPoint<br>**matched**: The matched of the KeyPoint<br>**desc**: The desc of the KeyPoint<br> **static** False **C++ defination code**: ```cpp KeyPoint(uint16_t x, uint16_t y, uint16_t score, uint16_t octave, uint16_t angle, uint16_t matched, std::vector<uint8_t> &desc) ``` ### KPTMatch item doc **brief** KPTMatch class **C++ defination code**: ```cpp class KPTMatch ``` #### \\_\\_init\\_\\_ ```python def __init__(self, cx: int, cy: int, x: int, y: int, w: int, h: int, score: int, theta: int, match: int) > None ``` item doc **type** func **brief** KPTMatch constructor **param** **cx**: The cx of the KPTMatch<br>**cy**: The cy of the KPTMatch<br>**x**: The x of the KPTMatch<br>**y**: The y of the KPTMatch<br>**w**: The w of the KPTMatch<br>**h**: The h of the KPTMatch<br>**score**: The score of the KPTMatch<br>**theta**: The theta of the KPTMatch<br>**match**: The match of the KPTMatch<br> **static** False **C++ defination code**: ```cpp KPTMatch(int cx, int cy, int x, int y, int w, int h, int score, int theta, int match) ``` ### ORBKeyPoint item doc **brief** ORBKeyPoint class **C++ defination code**: ```cpp class ORBKeyPoint ``` #### \\_\\_init\\_\\_ ```python def __init__(self, data: list[KeyPoint], threshold: int, normalized: bool) > None ``` item doc **type** func **brief** ORBKeyPoint constructor **param** **data**: The data of the ORBKeyPoint<br>**threshold**: The threshold of the ORBKeyPoint<br>**normalized**: The normalized of the ORBKeyPoint<br> **static** False **C++ defination code**: ```cpp ORBKeyPoint(std::vector<image::KeyPoint> &data, int threshold, bool normalized) ``` #### get\\_data ```python def get_data(self) > list[KeyPoint] ``` item doc **type** func **brief** get data of ORBKeyPoint **return** return data of the ORBKeyPoint, type is std::vector<KeyPoint> **static** False **C++ defination code**: ```cpp std::vector<image::KeyPoint> get_data() ``` ### HaarCascade item doc **brief** HaarCascade class **C++ defination code**: ```cpp class HaarCascade ``` #### \\_\\_init\\_\\_ ```python def __init__(self) > None ``` item doc **type** func **brief** HaarCascade constructor **param** **data**: The data of the HaarCascade<br>**threshold**: The threshold of the HaarCascade<br>**normalized**: The normalized of the HaarCascade<br> **static** False **C++ defination code**: ```cpp HaarCascade() ``` ### Color item doc **brief** Color class **C++ defination code**: ```cpp class Color ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Color constructor **param** **alpha**: alpha channel, value range: 0 ~ 1<br> **static** False **C++ defination code**: ```cpp Color(uint8_t ch1, uint8_t ch2 0, uint8_t ch3 0, float alpha 0, image::Format format image::FMT_GRAYSCALE) ``` #### r item doc **type** var **brief** Color red channel **static** False **readonly** False **C++ defination code**: ```cpp uint8_t r ``` #### g item doc **type** var **brief** Color green channel **static** False **readonly** False **C++ defination code**: ```cpp uint8_t g ``` #### b item doc **type** var **brief** Color blue channel **static** False **readonly** False **C++ defination code**: ```cpp uint8_t b ``` #### alpha item doc **type** var **brief** Color alpha channel, value from 0.0 to 1.0, float value **static** False **readonly** False **C++ defination code**: ```cpp float alpha ``` #### gray item doc **type** var **brief** Color gray channel **static** False **readonly** False **C++ defination code**: ```cpp uint8_t gray ``` #### format item doc **type** var **brief** Color format **static** False **readonly** False **C++ defination code**: ```cpp image::Format format ``` #### hex item doc **type** func **brief** Get color's hex value **static** False **C++ defination code**: ```cpp uint32_t hex() ``` #### from\\_rgb item doc **type** func **brief** Create Color object from RGB channels **static** True **C++ defination code**: ```cpp static image::Color from_rgb(uint8_t r, uint8_t g, uint8_t b) ``` #### from\\_bgr item doc **type** func **brief** Create Color object from BGR channels **static** True **C++ defination code**: ```cpp static image::Color from_bgr(uint8_t b, uint8_t g, uint8_t r) ``` #### from\\_gray item doc **type** func **brief** Create Color object from gray channel **static** True **C++ defination code**: ```cpp static image::Color from_gray(uint8_t gray) ``` #### from\\_rgba item doc **type** func **brief** Create Color object from RGBA channels **param** **alpha**: alpha channel, float value, value range: 0 ~ 1<br> **static** True **C++ defination code**: ```cpp static image::Color from_rgba(uint8_t r, uint8_t g, uint8_t b, float alpha) ``` #### from\\_bgra item doc **type** func **brief** Create Color object from BGRA channels **param** **alpha**: alpha channel, float value, value range: 0 ~ 1<br> **static** True **C++ defination code**: ```cpp static image::Color from_bgra(uint8_t b, uint8_t g, uint8_t r, float alpha) ``` #### from\\_hex item doc **type** func **brief** Create Color object from hex value **param** **hex**: hex value, e.g. 0x0000FF00, lower address if first channel<br>**format**: color format, @see image::Format<br> **static** True **C++ defination code**: ```cpp static image::Color from_hex(uint32_t hex, image::Format &format) ``` #### to\\_format item doc **type** func **brief** Convert Color format **param** **format**: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE.<br> **static** False **C++ defination code**: ```cpp void to_format(const image::Format &format) ``` #### to\\_format2 item doc **type** func **brief** Convert color format and return a new Color object **param** **format**: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE.<br> **return** new Color object, you need to delete it manually in C++. **static** False **C++ defination code**: ```cpp image::Color *to_format2(const image::Format &format) ``` ### Image item doc **brief** Image class **C++ defination code**: ```cpp class Image ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Image constructor **param** **width**: image width, should > 0<br>**height**: image height, should > 0<br>**format**: image format @see image::Format<br> **static** False **C++ defination code**: ```cpp Image(int width, int height, image::Format format image::Format::FMT_RGB888) ``` #### format item doc **type** func **brief** Get image's format **see** image.Format **static** False **C++ defination code**: ```cpp image::Format format() ``` #### size item doc **type** func **brief** Get image's size, [width, height] **static** False **C++ defination code**: ```cpp image::Size size() ``` #### data\\_size item doc **type** func **brief** Get image's data size **static** False **C++ defination code**: ```cpp int data_size() ``` #### width item doc **type** func **brief** Get image's width **static** False **C++ defination code**: ```cpp int width() ``` #### height item doc **type** func **brief** Get image's height **static** False **C++ defination code**: ```cpp int height() ``` #### data item doc **type** func **brief** Get image's data pointer.\\nIn MaixPy is capsule object. **static** False **C++ defination code**: ```cpp void *data() ``` #### \\_\\_str\\_\\_ item doc **type** func **brief** To string method **static** False **C++ defination code**: ```cpp std::string __str__() ``` #### to\\_str item doc **type** func **brief** To string method **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### get\\_pixel item doc **type** func **brief** Get pixel of image **param** **x**: pixel's coordinate x. x must less than image's width<br>**y**: pixel's coordinate y. y must less than image's height<br>**rgbtuple**: switch return value method. rgbtuple decides whether to split the return or not. default is false.<br> **return** pixel value,<br>According to image format and rgbtuple, return different value:<br>format is FMT_RGB888, rgbtuple is true, return [R, G, B]; rgbtuple is false, return [RGB]<br>foramt is FMT_BGR888, rgbtuple is true, return [B, G, R]; rgbtuple is false, return [BGR]<br>format is FMT_GRAYSCALE, return [GRAY]; **static** False **C++ defination code**: ```cpp std::vector<int> get_pixel(int x, int y, bool rgbtuple false) ``` #### set\\_pixel item doc **type** func **brief** Set pixel of image **param** **x**: pixel's coordinate x. x must less than image's width<br>**y**: pixel's coordinate y. y must less than image's height<br>**pixel**: pixel value, according to image format and size of pixel, has different operation:<br>format is FMT_RGB888, pixel size must be 1 or 3, if size is 1, will split pixel[0] to [R, G, B]; if size is 3, will use pixel directly<br>format is FMT_BGR888, pixel size must be 1 or 3, if size is 1, will split pixel[0] to [B, G, R]; if size is 3, will use pixel directly<br>format is FMT_GRAYSCALE, pixel size must be 1, will use pixel directly<br> **return** error code, Err::ERR_NONE is ok, other is error **static** False **C++ defination code**: ```cpp err::Err set_pixel(int x, int y, std::vector<int> pixel) ``` #### to\\_tensor item doc **type** func **brief** Convert Image object to tensor::Tensor object **param** **chw**: if true, the shape of tensor is [C, H, W], else [H, W, C]<br>**copy**: if true, will alloc memory for tensor data, else will use the memory of Image object<br> **return** tensor::Tensor object pointer, an allocated tensor object **static** False **C++ defination code**: ```cpp tensor::Tensor *to_tensor(bool chw false, bool copy true) ``` #### to\\_bytes item doc **type** func **brief** Get image's data and convert to array bytes **param** **copy**: if true, will alloc memory and copy data to new buffer,<br>else will use the memory of Image object, delete bytes object will not affect Image object，<br>but delete Image object will make bytes object invalid, it may cause program crash !!!!<br>So use this param carefully.<br> **return** image's data bytes, need be delete by caller in C++. **static** False **C++ defination code**: ```cpp Bytes *to_bytes(bool copy true) ``` #### to\\_format item doc **type** func **brief** Convert image to specific format **param** **format**: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE, JPEG.<br> **return** new image object. Need be delete by caller in C++. **throw** err.Exception, if two images' format not support, **or already the format**, will raise exception **static** False **C++ defination code**: ```cpp image::Image *to_format(const image::Format &format) ``` #### draw\\_image item doc **type** func **brief** Draw image on this image **param** **x**: left top corner of image point's coordinate x<br>**y**: left top corner of image point's coordinate y<br>**img**: image object to draw, the caller's channel must < the args' channel,<br>e.g. caller is RGB888, args is RGBA8888, will throw exception, but caller is RGBA8888, args is RGB888 or RGBA8888 is ok<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_image(int x, int y, image::Image &img) ``` #### draw\\_rect item doc **type** func **brief** Fill rectangle color to image **param** **x**: left top corner of rectangle point's coordinate x<br>**y**: left top corner of rectangle point's coordinate y<br>**w**: rectangle width<br>**h**: rectangle height<br>**color**: rectangle color<br>**thickness**: rectangle thickness(line width), by default(value is 1), 1 means fill rectangle<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_rect(int x, int y, int w, int h, const image::Color &color, int thickness 1) ``` #### draw\\_line item doc **type** func **brief** Draw line on image **param** **x1**: start point's coordinate x<br>**y1**: start point's coordinate y<br>**x2**: end point's coordinate x<br>**y2**: end point's coordinate y<br>**color**: line color @see image::Color<br>**thickness**: line thickness(line width), by default(value is 1)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_line(int x1, int y1, int x2, int y2, const image::Color &color, int thickness 1) ``` #### draw\\_circle item doc **type** func **brief** Draw circle on image **param** **x**: circle center point's coordinate x<br>**y**: circle center point's coordinate y<br>**radius**: circle radius<br>**color**: circle color @see image::Color<br>**thickness**: circle thickness(line width), by default(value is 1), 1 means fill circle<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_circle(int x, int y, int radius, const image::Color &color, int thickness 1) ``` #### draw\\_ellipse item doc **type** func **brief** Draw ellipse on image **param** **x**: ellipse center point's coordinate x<br>**y**: ellipse center point's coordinate y<br>**a**: ellipse major axis length<br>**b**: ellipse minor axis length<br>**angle**: ellipse rotation angle<br>**start_angle**: ellipse start angle<br>**end_angle**: ellipse end angle<br>**color**: ellipse color @see image::Color<br>**thickness**: ellipse thickness(line width), by default(value is 1), 1 means fill ellipse<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_ellipse(int x, int y, int a, int b, float angle, float start_angle, float end_angle, const image::Color &color, int thickness 1) ``` #### draw\\_string item doc **type** func **brief** Draw text on image **param** **x**: text left top point's coordinate x<br>**y**: text left top point's coordinate y<br>**string**: text content<br>**color**: text color @see image::Color, default is white<br>**scale**: font scale, by default(value is 1)<br>**thickness**: text thickness(line width), if negative, the glyph is filled, by default(value is 1)<br>**wrap**: if true, will auto wrap text to next line if text width > image width, by default(value is true)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_string(int x, int y, const std::string &textstring, const image::Color &color image::COLOR_WHITE, float scale 1, int thickness 1, bool wrap true, int wrap_space 4, const std::string &font \"\") ``` #### draw\\_cross item doc **type** func **brief** Draw cross on image **param** **x**: cross center point's coordinate x<br>**y**: cross center point's coordinate y<br>**color**: cross color @see image::Color<br>**size**: how long the lines of the cross extend, by default(value is 5). So the line length is `2 * size + thickness`<br>**thickness**: cross thickness(line width), by default(value is 1)<br> **static** False **C++ defination code**: ```cpp image::Image *draw_cross(int x, int y, const image::Color &color, int size 5, int thickness 1) ``` #### draw\\_arrow item doc **type** func **brief** Draw arrow on image **param** **x0**: start coordinate of the arrow x0<br>**y0**: start coordinate of the arrow y0<br>**x1**: end coordinate of the arrow x1<br>**y1**: end coordinate of the arrow y1<br>**color**: cross color @see image::Color<br>**thickness**: cross thickness(line width), by default(value is 1)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_arrow(int x0, int y0, int x1, int y1, const image::Color &color, int thickness 1) ``` #### draw\\_edges item doc **type** func **brief** Draw edges on image **param** **corners**: edges, [[x0, y0], [x1, y1], [x2, y2], [x3, y3]]<br>**color**: edges color @see image::Color<br>**size**: the circle of radius size. TODO: support in the feature<br>**thickness**: edges thickness(line width), by default(value is 1)<br>**fill**: if true, will fill edges, by default(value is false)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_edges(std::vector<std::vector<int>> corners, const image::Color &color, int size 0, int thickness 1, bool fill false) ``` #### draw\\_keypoints item doc **type** func **brief** Draw keypoints on image **param** **keypoints**: keypoints, [x, y, rotation_andle_in_degrees], TODO: rotation_andle_in_degrees support in the feature<br>**color**: keypoints color @see image::Color<br>**size**: size of keypoints<br>**thickness**: keypoints thickness(line width), by default(value is 1)<br>**fill**: if true, will fill keypoints, by default(value is false)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_keypoints(std::vector<int> keypoints, const image::Color &color, int size 10, int thickness 1, bool fill false) ``` #### resize item doc **type** func **brief** Resize image, will create a new resized image object **param** **width**: new width, if value is 1, will use height to calculate aspect ratio<br>**height**: new height, if value is 1, will use width to calculate aspect ratio<br>**object_fit**: fill, contain, cover, by default is fill<br>**method**: resize method, by default is bilinear<br> **return** Always return a new resized image object even size not change, So in C++ you should take care of the return value to avoid memory leak.<br>And it's better to judge whether the size has changed before calling this function to make the program more efficient.<br>e.g.<br>if img >width() ! width img >height() ! height:<br>img img >resize(width, height); **static** False **C++ defination code**: ```cpp image::Image *resize(int width, int height, image::Fit object_fit image::Fit::FIT_FILL, image::ResizeMethod method image::ResizeMethod::NEAREST) ``` #### affine item doc **type** func **brief** Affine transform image, will create a new transformed image object **param** **src_points**: three source points, [x1, y1, x2, y2, x3, y3]<br>**dst_points**: three destination points, [x1, y1, x2, y2, x3, y3]<br>**width**: new width, if value is 1, will use height to calculate aspect ratio<br>**height**: new height, if value is 1, will use width to calculate aspect ratio<br>**method**: resize method, by default is bilinear<br> **return** new transformed image object **static** False **C++ defination code**: ```cpp image::Image *affine(std::vector<int> src_points, std::vector<int> dst_points, int width 1, int height 1, image::ResizeMethod method image::ResizeMethod::BILINEAR) ``` #### copy item doc **type** func **brief** Copy image, will create a new copied image object **return** new copied image object **static** False **C++ defination code**: ```cpp image::Image *copy() ``` #### crop item doc **type** func **brief** Crop image, will create a new cropped image object **param** **x**: left top corner of crop rectangle point's coordinate x<br>**y**: left top corner of crop rectangle point's coordinate y<br>**w**: crop rectangle width<br>**h**: crop rectangle height<br> **return** new cropped image object **static** False **C++ defination code**: ```cpp image::Image *crop(int x, int y, int w, int h) ``` #### rotate item doc **type** func **brief** Rotate image, will create a new rotated image object **param** **angle**: anti clock wise rotate angle, if angle is 90 or 270, and width or height is 1, will swap width and height, or will throw exception<br>**width**: new width, if value is 1, will use height to calculate aspect ratio<br>**height**: new height, if value is 1, will use width to calculate aspect ratio<br>**method**: resize method, by default is bilinear<br> **return** new rotated image object **static** False **C++ defination code**: ```cpp image::Image *rotate(float angle, int width 1, int height 1, image::ResizeMethod method image::ResizeMethod::BILINEAR) ``` #### mean\\_pool item doc **type** func **brief** Finds the mean of x_div * y_div squares in the image and returns the modified image composed of the mean of each square. **param** **x_div**: The width of the squares.<br>**y_div**: The height of the squares.<br>**copy**: Select whether to return a new image or modify the original image. default is false.<br>If true, returns a new image composed of the mean of each square; If false, returns the modified image composed of the mean of each square.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mean_pool(int x_div, int y_div, bool copy false) ``` #### midpoint\\_pool item doc **type** func **brief** Finds the midpoint of x_div * y_div squares in the image and returns the modified image composed of the mean of each square. **param** **x_div**: The width of the squares.<br>**y_div**: The height of the squares.<br>**bias**: The bias of the midpoint. default is 0.5.<br>midpoint value is equal to (max * bias + min * (1 bias))<br>**copy**: Select whether to return a new image or modify the original image. default is false.<br>If true, returns a new image composed of the midpoint of each square; If false, returns the modified image composed of the midpoint of each square.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *midpoint_pool(int x_div, int y_div, double bias 0.5, bool copy false) ``` #### compress item doc **type** func **brief** JPEG compresses the image in place. **param** **quality**: The quality of the compressed image. default is 95.<br> **return** Returns the compressed JPEG image **static** False **C++ defination code**: ```cpp image::Image *compress(int quality 95) ``` #### clear item doc **type** func **brief** Sets all pixels in the image to zero **param** **mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *clear(image::Image *mask nullptr) ``` #### mask\\_rectange item doc **type** func **brief** Zeros a rectangular part of the image. If no arguments are supplied this method zeros the center of the image. **param** **x**: The x coordinate of the top left corner of the rectangle.<br>**y**: The y coordinate of the top left corner of the rectangle.<br>**w**: The width of the rectangle.<br>**h**: The height of the rectangle.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mask_rectange(int x 1, int y 1, int w 1, int h 1) ``` #### mask\\_circle item doc **type** func **brief** Zeros a circular part of the image. If no arguments are supplied this method zeros the center of the image. **param** **x**: The x coordinate of the center of the circle.<br>**y**: The y coordinate of the center of the circle.<br>**radius**: The radius of the circle.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mask_circle(int x 1, int y 1, int radius 1) ``` #### mask\\_ellipse item doc **type** func **brief** Zeros a ellipse part of the image. If no arguments are supplied this method zeros the center of the image. **param** **x**: The x coordinate of the center of the ellipse.<br>**y**: The y coordinate of the center of the ellipse.<br>**radius_x**: The radius of the ellipse in the x direction.<br>**radius_y**: The radius of the ellipse in the y direction.<br>**rotation_angle_in_degrees**: The rotation angle of the ellipse in degrees.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mask_ellipse(int x 1, int y 1, int radius_x 1, int radius_y 1, float rotation_angle_in_degrees 0) ``` #### binary item doc **type** func **brief** Sets all pixels in the image to black or white depending on if the pixel is inside of a threshold in the threshold list thresholds or not. **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: If true, the thresholds will be inverted before the operation. default is false.<br>**zero**: If zero is true, the image will be set the pixels within the threshold to 0, other pixels remain unchanged. If zero is false, the image will be set to black or white. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br>**to_bitmap**: If true, the image will be converted to a bitmap image before thresholding. default is false. TODO: support in the feature<br>**copy**: Select whether to return a new image or modify the original image. default is false.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *binary(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, bool zero false, image::Image *mask nullptr, bool to_bitmap false, bool copy false) ``` #### invert item doc **type** func **brief** Inverts the image in place. **return** Returns the image after the operation is completed **static** False **C++ defination code**: ```cpp image::Image *invert() ``` #### b\\_and item doc **type** func **brief** Performs a bitwise and operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_and(image::Image *other, image::Image *mask nullptr) ``` #### b\\_nand item doc **type** func **brief** Performs a bitwise nand operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_nand(image::Image *other, image::Image *mask nullptr) ``` #### b\\_or item doc **type** func **brief** Performs a bitwise or operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_or(image::Image *other, image::Image *mask nullptr) ``` #### b\\_nor item doc **type** func **brief** Performs a bitwise nor operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_nor(image::Image *other, image::Image *mask nullptr) ``` #### b\\_xor item doc **type** func **brief** Performs a bitwise xor operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_xor(image::Image *other, image::Image *mask nullptr) ``` #### b\\_xnor item doc **type** func **brief** Performs a bitwise xnor operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_xnor(image::Image *other, image::Image *mask nullptr) ``` #### awb item doc **type** func **brief** Performs an auto white balance operation on the image. TODO: support in the feature **param** **max**: if True uses the white patch algorithm instead. default is false.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *awb(bool max false) ``` #### ccm item doc **type** func **brief** Multiples the passed (3x3) or (4x3) floating point color correction matrix with the image.\\nnote: Grayscale format is not support. **param** **matrix**: The color correction matrix to use. 3x3 or 4x3 matrix.<br>Weights may either be positive or negative, and the sum of each column in the 3x3 matrix should generally be 1.<br>example:<br>{<br>1, 0, 0,<br>0, 1, 0,<br>0, 0, 1,<br>}<br>Where the last row of the 4x3 matrix is an offset per color channel. If you add an offset you may wish to make the<br>weights sum to less than 1 to account for the offset.<br>example:<br>{<br>1, 0, 0,<br>0, 1, 0,<br>0, 0, 1,<br>0, 0, 0,<br>}<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *ccm(std::vector<float> &matrix) ``` #### gamma item doc **type** func **brief** Quickly changes the image gamma, contrast, and brightness. Create a array whose size is usually 255,\\nand use the parameters gamma, contrast, and brightness to calculate the value of the array, and then map the\\nimage pixel value through the value of the array.\\nThe calculation method for array is: array[array_idx] (powf((array_idx / 255.0), (1 / gamma)) * contrast + brightness) * scale,\\n`powf` is a function used to calculate floating point power.\\n`array` is the array used for mapping.\\n`array_idx` is the index of the array, the maximum value is determined according to the image format, usually 255.\\n`scale` is a constant, the value is determined by the image format, usually 255.\\nMapping method:\\nAssume that a pixel value in the image is 128, then map the pixel value to the value of array[128]\\nUsers can adjust the value of the array through the gamma, contrast, and brightness parameters. **param** **gamma**: The contrast gamma greater than 1.0 makes the image darker in a non linear manner while less than 1.0 makes the image brighter. default is 1.0.<br>**contrast**: The contrast value greater than 1.0 makes the image brighter in a linear manner while less than 1.0 makes the image darker. default is 1.0.<br>**brightness**: The brightness value greater than 0.0 makes the image brighter in a constant manner while less than 0.0 makes the image darker. default is 0.0.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *gamma(double gamma 1.0, double contrast 1.0, double brightness 0.0) ``` #### gamma\\_corr item doc **type** func **brief** Alias for Image.gamma. **param** **gamma**: The contrast gamma greater than 1.0 makes the image darker in a non linear manner while less than 1.0 makes the image brighter. default is 1.0.<br>**contrast**: The contrast value greater than 1.0 makes the image brighter in a linear manner while less than 1.0 makes the image darker. default is 1.0.<br>**brightness**: The brightness value greater than 0.0 makes the image brighter in a constant manner while less than 0.0 makes the image darker. default is 0.0.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *gamma_corr(double gamma, double contrast 1.0, double brightness 0.0) ``` #### negate item doc **type** func **brief** Flips (numerically inverts) all pixels values in an image **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *negate() ``` #### replace item doc **type** func **brief** Replaces all pixels in the image with the corresponding pixels in the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**hmirror**: If true, the image will be horizontally mirrored before the operation. default is false.<br>**vflip**: If true, the image will be vertically flipped before the operation. default is false.<br>**transpose**: If true, the image can be used to rotate 90 degrees or 270 degrees.<br>hmirror false, vflip false, transpose false, the image will not be rotated.<br>hmirror false, vflip true, transpose true, the image will be rotated 90 degrees.<br>hmirror true, vflip true, transpose false, the image will be rotated 180 degrees.<br>hmirror true, vflip false, transpose true, the image will be rotated 270 degrees.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *replace(image::Image *other nullptr, bool hmirror false, bool vflip false, bool transpose false, image::Image *mask nullptr) ``` #### set item doc **type** func **brief** Alias for Image::replace. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**hmirror**: If true, the image will be horizontally mirrored before the operation. default is false.<br>**vflip**: If true, the image will be vertically flipped before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *set(image::Image *other, bool hmirror false, bool vflip false, bool transpose false, image::Image *mask nullptr) ``` #### add item doc **type** func **brief** Adds the other image to the image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *add(image::Image *other, image::Image *mask nullptr) ``` #### sub item doc **type** func **brief** Subtracts the other image from the image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**reverse**: If true, the image will be reversed before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *sub(image::Image *other, bool reverse false, image::Image *mask nullptr) ``` #### mul item doc **type** func **brief** Multiplies the image by the other image.\\nNote: This method is meant for image blending and cannot multiply the pixels in the image by a scalar like 2. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**invert**: If true, the image will be change the multiplication operation from a*b to 1/((1/a)*(1/b)).<br>In particular, this lightens the image instead of darkening it (e.g. multiply versus burn operations). default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mul(image::Image *other, bool invert false, image::Image *mask nullptr) ``` #### div item doc **type** func **brief** Divides the image by the other image.\\nThis method is meant for image blending and cannot divide the pixels in the image by a scalar like 2. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**invert**: If true, the image will be change the division direction from a/b to b/a. default is false.<br>**mod**: If true, the image will be change the division operation to the modulus operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *div(image::Image *other, bool invert false, bool mod false, image::Image *mask nullptr) ``` #### min item doc **type** func **brief** Caculate the minimum of each pixel in the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *min(image::Image *other, image::Image *mask nullptr) ``` #### max item doc **type** func **brief** Caculate the maximum of each pixel in the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *max(image::Image *other, image::Image *mask nullptr) ``` #### difference item doc **type** func **brief** Caculate the absolute value of the difference between each pixel in the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *difference(image::Image *other, image::Image *mask nullptr) ``` #### blend item doc **type** func **brief** Blends the image with the other image.\\nres alpha * this_img / 256 + (256 alpha) * other_img / 256 **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**alpha**: The alpha value of the blend, the value range is [0, 256],default is 128.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *blend(image::Image *other, int alpha 128, image::Image *mask nullptr) ``` #### histeq item doc **type** func **brief** Runs the histogram equalization algorithm on the image. **param** **adaptive**: If true, an adaptive histogram equalization method will be run on the image instead which as generally better results than non adaptive histogram qualization but a longer run time. default is false.<br>**clip_limit**: Provides a way to limit the contrast of the adaptive histogram qualization. Use a small value for this, like 10, to produce good histogram equalized contrast limited images. default is 1.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *histeq(bool adaptive false, int clip_limit 1, image::Image *mask nullptr) ``` #### mean item doc **type** func **brief** Standard mean blurring filter using a box filter.\\nThe parameters offset and invert are valid when threshold is True. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mean(int size, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### median item doc **type** func **brief** Runs the median filter on the image. The median filter is the best filter for smoothing surfaces while preserving edges but it is very slow. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**percentile**: This parameter controls the percentile of the value used in the kernel. You can set this to 0 for a min filter, 0.25 for a lower quartile filter, 0.75 for an upper quartile filter, and 1.0 for a max filter. default is 0.5.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *median(int size, double percentile 0.5, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### mode item doc **type** func **brief** Runs the mode filter on the image by replacing each pixel with the mode of their neighbors. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mode(int size, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### midpoint item doc **type** func **brief** Runs the midpoint filter on the image.This filter finds the midpoint (max * bias + min * (1 bias)) of each pixel neighborhood in the image. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**bias**: The bias of the midpoint. default is 0.5.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *midpoint(int size, double bias 0.5, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### morph item doc **type** func **brief** Convolves the image by a filter kernel. This allows you to do general purpose convolutions on an image. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**kernel**: The kernel used for convolution. The kernel should be a list of lists of numbers. The kernel should be the same size as the actual kernel size.<br>**mul**: This parameter is used to multiply the convolved pixel results. default is auto.<br>**add**: This parameter is the value to be added to each convolution pixel result. default is 0.0.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *morph(int size, std::vector<int> kernel, float mul 1, float add 0.0, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### gaussian item doc **type** func **brief** Convolves the image by a smoothing guassian kernel. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**unsharp**: If true, this method will perform an unsharp mask operation instead of gaussian filtering operation, this improves the clarity of image edges. default is false.<br>**mul**: This parameter is used to multiply the convolved pixel results. default is auto.<br>**add**: This parameter is the value to be added to each convolution pixel result. default is 0.0.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *gaussian(int size, bool unsharp false, float mul 1, float add 0.0, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### laplacian item doc **type** func **brief** Convolves the image by a edge detecting laplacian kernel. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**sharpen**: If True, this method will sharpen the image instead of an unthresholded edge detection image. Then increase the kernel size to improve image clarity. default is false.<br>**mul**: This parameter is used to multiply the convolved pixel results. default is auto.<br>**add**: This parameter is the value to be added to each convolution pixel result. default is 0.0.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *laplacian(int size, bool sharpen false, float mul 1, float add 0.0, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### bilateral item doc **type** func **brief** Convolves the image by a bilateral filter. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**color_sigma**: Controls how closely colors are matched using the bilateral filter. default is 0.1.<br>**space_sigma**: Controls how closely pixels space wise are blurred with each other. default is 1.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *bilateral(int size, double color_sigma 0.1, double space_sigma 1, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### linpolar item doc **type** func **brief** Re project’s and image from cartessian coordinates to linear polar coordinates. **param** **reverse**: If true, the image will be reverse polar transformed. default is false.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *linpolar(bool reverse false) ``` #### logpolar item doc **type** func **brief** Re project’s and image from cartessian coordinates to log polar coordinates. **param** **reverse**: If true, the image will be reverse polar transformed. default is false.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *logpolar(bool reverse false) ``` #### lens\\_corr item doc **type** func **brief** Performs a lens correction operation on the image. TODO: support in the feature **param** **strength**: The strength of the lens correction. default is 1.8.<br>**zoom**: The zoom of the lens correction. default is 1.0.<br>**x_corr**: The x correction of the lens correction. default is 0.5.<br>**y_corr**: The y correction of the lens correction. default is 0.5.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *lens_corr(double strength 1.8, double zoom 1.0, double x_corr 0.5, double y_corr 0.5) ``` #### rotation\\_corr item doc **type** func **brief** Performs a rotation correction operation on the image. TODO: support in the feature **param** **x_rotation**: The x rotation of the rotation correction. default is 0.0.<br>**y_rotation**: The y rotation of the rotation correction. default is 0.0.<br>**z_rotation**: The z rotation of the rotation correction. default is 0.0.<br>**x_translation**: The x translation of the rotation correction. default is 0.0.<br>**y_translation**: The y translation of the rotation correction. default is 0.0.<br>**zoom**: The zoom of the rotation correction. default is 1.0.<br>**fov**: The fov of the rotation correction. default is 60.0.<br>**corners**: The corners of the rotation correction. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *rotation_corr(double x_rotation 0.0, double y_rotation 0.0, double z_rotation 0.0, double x_translation 0.0, double y_translation 0.0, double zoom 1.0, double fov 60.0, std::vector<float> corners std::vector<float>()) ``` #### get\\_histogram item doc **type** func **brief** Gets the histogram of the image. **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: If true, the thresholds will be inverted before the operation. default is false.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**bins**: The number of bins to use for the histogram.<br>In GRAYSCALE format, setting range is [2, 256], default is 100.<br>In rgb888 format, setting range is [2, 100], default is 100.<br>**l_bins**: The number of bins to use for the l channel of the histogram. Only valid in RGB888 format.<br>If an invalid value is set, bins will be used instead. The setting range is [2, 100], default is 100.<br>**a_bins**: The number of bins to use for the a channel of the histogram.<br>Only valid in RGB888 format.The setting range is [2, 256], default is 256.<br>**b_bins**: The number of bins to use for the b channel of the histogram.<br>Only valid in RGB888 format. The setting range is [2, 256], default is 256.<br>**difference**: difference may be set to an image object to cause this method to operate on the difference image between the current image and the difference image object.<br>default is None.<br> **return** Returns the histogram of the image **static** False **C++ defination code**: ```cpp std::map<std::string, std::vector<float>> get_histogram(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, std::vector<int> roi std::vector<int>(), int bins 1, int l_bins 100, int a_bins 256, int b_bins 256, image::Image *difference nullptr) ``` #### get\\_statistics item doc **type** func **brief** Gets the statistics of the image. TODO: support in the feature **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**bins**: The number of bins to use for the statistics. default is 1.<br>**l_bins**: The number of bins to use for the l channel of the statistics. default is 1.<br>**a_bins**: The number of bins to use for the a channel of the statistics. default is 1.<br>**b_bins**: The number of bins to use for the b channel of the statistics. default is 1.<br>**difference**: The difference image to use for the statistics. default is None.<br> **return** Returns the statistics of the image **static** False **C++ defination code**: ```cpp image::Statistics get_statistics(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, std::vector<int> roi std::vector<int>(), int bins 1, int l_bins 1, int a_bins 1, int b_bins 1, image::Image *difference nullptr) ``` #### get\\_regression item doc **type** func **brief** Gets the regression of the image. **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**x_stride**: The x stride to use for the regression. default is 2.<br>**y_stride**: The y stride to use for the regression. default is 1.<br>**area_threshold**: The area threshold to use for the regression. default is 10.<br>**pixels_threshold**: The pixels threshold to use for the regression. default is 10.<br>**robust**: If true, the regression will be robust. default is false.<br> **return** Returns the regression of the image **static** False **C++ defination code**: ```cpp std::vector<image::Line> get_regression(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, std::vector<int> roi std::vector<int>(), int x_stride 2, int y_stride 1, int area_threshold 10, int pixels_threshold 10, bool robust false) ``` #### save item doc **type** func **brief** Save image to file **param** **path**: file path<br>**quality**: image quality, by default(value is 95), support jpeg and png format<br> **return** error code, err::ERR_NONE is ok, other is error **static** False **C++ defination code**: ```cpp err::Err save(const char *path, int quality 95) ``` #### flood\\_fill item doc **type** func **brief** Flood fills a region of the image starting from location x, y. **param** **x**: The x coordinate of the seed point.<br>**y**: The y coordinate of the seed point.<br>**seed_threshold**: The seed_threshold value controls how different any pixel in the fill area may be from the original starting pixel. default is 0.05.<br>**floating_threshold**: The floating_threshold value controls how different any pixel in the fill area may be from any neighbor pixels. default is 0.05.<br>**color**: The color to fill the region with. default is white.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**clear_background**: If true, the background will be cleared before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None. FIXME: the mask image works abnormally<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *flood_fill(int x, int y, float seed_threshold 0.05, float floating_threshold 0.05, image::Color color image::COLOR_WHITE, bool invert false, bool clear_background false, image::Image *mask nullptr) ``` #### erode item doc **type** func **brief** Erodes the image in place. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: The number of pixels in the kernel that are not 0. If it is less than or equal to the threshold, set the center pixel to black. default is (kernel_size 1).<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *erode(int size, int threshold 1, image::Image *mask nullptr) ``` #### dilate item doc **type** func **brief** Dilates the image in place. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: The number of pixels in the kernel that are not 0. If it is greater than or equal to the threshold, set the center pixel to white. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *dilate(int size, int threshold 0, image::Image *mask nullptr) ``` #### open item doc **type** func **brief** Performs erosion and dilation on an image in order. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: As the threshold for erosion and dilation, the actual threshold for erosion is (kernel_size 1 threshold), the actual threshold for dialation is threshold. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *open(int size, int threshold 0, image::Image *mask nullptr) ``` #### close item doc **type** func **brief** Performs dilation and erosion on an image in order. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: As the threshold for erosion and dilation, the actual threshold for erosion is (kernel_size 1 threshold), the actual threshold for dialation is threshold. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *close(int size, int threshold 0, image::Image *mask nullptr) ``` #### top\\_hat item doc **type** func **brief** Returns the image difference of the image and Image.open()’ed image. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: As the threshold for open method. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *top_hat(int size, int threshold 0, image::Image *mask nullptr) ``` #### black\\_hat item doc **type** func **brief** Returns the image difference of the image and Image.close()’ed image. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: As the threshold for close method. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *black_hat(int size, int threshold 0, image::Image *mask nullptr) ``` #### find\\_blobs item doc **type** func **brief** Finds all blobs in the image and returns a list of image.Blob class which describe each Blob.\\nPlease see the image.Blob object more more information. **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: if true, will invert thresholds before find blobs, default is false<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**x_stride**: x stride is the number of x pixels to skip when doing the hough transform. default is 2<br>**y_stride**: y_stride is the number of y pixels to skip when doing the hough transform. default is 1<br>**area_threshold**: area threshold, if the blob area is smaller than area_threshold, the blob is not returned, default is 10<br>**pixels_threshold**: pixels threshold, if the blob pixels is smaller than area_threshold, the blob is not returned,, default is 10.<br>when x_stride and y_stride is equal to 1, pixels_threshold is equivalent to area_threshold<br>**merge**: if True merges all not filtered out blobs whos bounding rectangles intersect each other. default is false<br>**margin**: margin can be used to increase or decrease the size of the bounding rectangles for blobs during the intersection test.<br>For example, with a margin of 1 blobs whos bounding rectangles are 1 pixel away from each other will be merged. default is 0<br>**x_hist_bins_max**: if set to non zero populates a histogram buffer in each blob object with an x_histogram projection of all columns in the object. This value then sets the number of bins for that projection.<br>**y_hist_bins_max**: if set to non zero populates a histogram buffer in each blob object with an y_histogram projection of all rows in the object. This value then sets the number of bins for that projection.<br> **return** Return the blob when found blobs, format is (blob1, blob2, ...), you can use blob class methods to do more operations. **static** False **C++ defination code**: ```cpp std::vector<image::Blob> find_blobs(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, std::vector<int> roi std::vector<int>(), int x_stride 2, int y_stride 1, int area_threshold 10, int pixels_threshold 10, bool merge false, int margin 0, int x_hist_bins_max 0, int y_hist_bins_max 0) ``` #### find\\_lines item doc **type** func **brief** Find lines in image **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**x_stride**: x stride is the number of x pixels to skip when doing the hough transform. default is 2<br>**y_stride**: y_stride is the number of y pixels to skip when doing the hough transform. default is 1<br>**threshold**: threshold threshold controls what lines are detected from the hough transform. Only lines with a magnitude greater than or equal to threshold are returned.<br>The right value of threshold for your application is image dependent. default is 1000.<br>**theta_margin**: theta_margin controls the merging of detected lines. default is 25.<br>**rho_margin**: rho_margin controls the merging of detected lines. default is 25.<br> **return** Return the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations **static** False **C++ defination code**: ```cpp std::vector<image::Line> find_lines(std::vector<int> roi std::vector<int>(), int x_stride 2, int y_stride 1, double threshold 1000, double theta_margin 25, double rho_margin 25) ``` #### find\\_line\\_segments item doc **type** func **brief** Finds all line segments in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**merge_distance**: The maximum distance between two lines to merge them. default is 0.<br>**max_theta_difference**: The maximum difference between two lines to merge them. default is 15.<br> **return** Return the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations **static** False **C++ defination code**: ```cpp std::vector<image::Line> find_line_segments(std::vector<int> roi std::vector<int>(), int merge_distance 0, int max_theta_difference 15) ``` #### find\\_circles item doc **type** func **brief** Find circles in image **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**x_stride**: x stride is the number of x pixels to skip when doing the hough transform. default is 2<br>**y_stride**: y_stride is the number of y pixels to skip when doing the hough transform. default is 1<br>**threshold**: threshold controls what circles are detected from the hough transform. Only circles with a magnitude greater than or equal to threshold are returned.<br>The right value of threshold for your application is image dependent.<br>**x_margin**: x_margin controls the merging of detected circles. Circles which are x_margin, y_margin, and r_margin pixels apart are merged. default is 10<br>**y_margin**: y_margin controls the merging of detected circles. Circles which are x_margin, y_margin, and r_margin pixels apart are merged. default is 10<br>**r_margin**: r_margin controls the merging of detected circles. Circles which are x_margin, y_margin, and r_margin pixels apart are merged. default is 10<br>**r_min**: r_min controls the minimum circle radius detected. Increase this to speed up the algorithm. default is 2<br>**r_max**: r_max controls the maximum circle radius detected. Decrease this to speed up the algorithm. default is min(roi.w / 2, roi.h / 2)<br>**r_step**: r_step controls how to step the radius detection by. default is 2.<br> **return** Return the circle when found circles, format is (circle1, circle2, ...), you can use circle class methods to do more operations **static** False **C++ defination code**: ```cpp std::vector<image::Circle> find_circles(std::vector<int> roi std::vector<int>(), int x_stride 2, int y_stride 1, int threshold 2000, int x_margin 10, int y_margin 10, int r_margin 10, int r_min 2, int r_max 1, int r_step 2) ``` #### find\\_rects item doc **type** func **brief** Finds all rects in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**threshold**: The threshold to use for the rects. default is 10000.<br> **return** Returns the rects of the image **static** False **C++ defination code**: ```cpp std::vector<image::Rect> find_rects(std::vector<int> roi std::vector<int>(), int threshold 10000) ``` #### find\\_qrcodes item doc **type** func **brief** Finds all qrcodes in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br> **return** Returns the qrcodes of the image **static** False **C++ defination code**: ```cpp std::vector<image::QRCode> find_qrcodes(std::vector<int> roi std::vector<int>()) ``` #### find\\_apriltags item doc **type** func **brief** Finds all apriltags in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**families**: The families to use for the apriltags. default is TAG36H11.<br>**fx**: The camera X focal length in pixels, default is 1.<br>**fy**: The camera Y focal length in pixels, default is 1.<br>**cx**: The camera X center in pixels, default is image.width / 2.<br>**cy**: The camera Y center in pixels, default is image.height / 2.<br> **return** Returns the apriltags of the image **static** False **C++ defination code**: ```cpp std::vector<image::AprilTag> find_apriltags(std::vector<int> roi std::vector<int>(), image::ApriltagFamilies families image::ApriltagFamilies::TAG36H11, float fx 1, float fy 1, int cx 1, int cy 1) ``` #### find\\_datamatrices item doc **type** func **brief** Finds all datamatrices in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**effort**: Controls how much time to spend trying to find data matrix matches. default is 200.<br> **return** Returns the datamatrices of the image **static** False **C++ defination code**: ```cpp std::vector<image::DataMatrix> find_datamatrices(std::vector<int> roi std::vector<int>(), int effort 200) ``` #### find\\_barcodes item doc **type** func **brief** Finds all barcodes in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br> **return** Returns the barcodes of the image **static** False **C++ defination code**: ```cpp std::vector<image::BarCode> find_barcodes(std::vector<int> roi std::vector<int>()) ``` #### find\\_displacement item doc **type** func **brief** Finds the displacement between the image and the template. TODO: support in the feature\\nnote: this method must be used on power of 2 image sizes **param** **template_image**: The template image.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**template_roi**: The region of interest rectangle (x, y, w, h) to work in. If not specified, it is equal to the image rectangle.<br>**logpolar**: If true, it will instead find rotation and scale changes between the two images. default is false.<br> **return** Returns the displacement of the image **static** False **C++ defination code**: ```cpp image::Displacement find_displacement(image::Image &template_image, std::vector<int> roi std::vector<int>(), std::vector<int> template_roi std::vector<int>(), bool logpolar false) ``` #### find\\_template item doc **type** func **brief** Finds the template in the image. **param** **template_image**: The template image.<br>**threshold**: Threshold is floating point number (0.0 1.0) where a higher threshold prevents false positives while lowering the detection rate while a lower threshold does the opposite.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image. Only valid in SEARCH_EX mode.<br>**step**: The step size to use for the template. default is 2. Only valid in SEARCH_EX mode<br>**search**: The search method to use for the template. default is SEARCH_EX.<br> **return** Returns a bounding box tuple (x, y, w, h) for the matching location otherwise None. **static** False **C++ defination code**: ```cpp std::vector<int> find_template(image::Image &template_image, float threshold, std::vector<int> roi std::vector<int>(), int step 2, image::TemplateMatch search image::TemplateMatch::SEARCH_EX) ``` #### find\\_features item doc **type** func **brief** Finds the features in the image. TODO: support in the feature **param** **cascade**: The cascade to use for the features. default is CASCADE_FRONTALFACE_ALT.<br>**threshold**: The threshold to use for the features. default is 0.5.<br>**scale**: The scale to use for the features. default is 1.5.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br> **return** Returns the features of the image **static** False **C++ defination code**: ```cpp std::vector<int> find_features(int cascade, float threshold 0.5, float scale 1.5, std::vector<int> roi std::vector<int>()) ``` #### find\\_lbp item doc **type** func **brief** Finds the lbp in the image. TODO: support in the feature. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br> **return** Returns the lbp of the image **static** False **C++ defination code**: ```cpp image::LBPKeyPoint find_lbp(std::vector<int> roi std::vector<int>()) ``` #### find\\_keypoints item doc **type** func **brief** Finds the keypoints in the image. TODO: support in the feature. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**threshold**: The threshold to use for the keypoints. default is 20.<br>**normalized**: If true, the image will be normalized before the operation. default is false.<br>**scale_factor**: The scale factor to use for the keypoints. default is 1.5.<br>**max_keypoints**: The maximum number of keypoints to use for the keypoints. default is 100.<br>**corner_detector**: The corner detector to use for the keypoints. default is CORNER_AGAST.<br> **return** Returns the keypoints of the image **static** False **C++ defination code**: ```cpp image::ORBKeyPoint find_keypoints(std::vector<int> roi std::vector<int>(), int threshold 20, bool normalized false, float scale_factor 1.5, int max_keypoints 100, image::CornerDetector corner_detector image::CornerDetector::CORNER_AGAST) ``` #### find\\_edges item doc **type** func **brief** Finds the edges in the image. **param** **edge_type**: The edge type to use for the edges. default is EDGE_CANNY.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**threshold**: The threshold to use for the edges. default is 20.<br> **return** Returns the edges of the image **static** False **C++ defination code**: ```cpp image::Image* find_edges(image::EdgeDetector edge_type, std::vector<int> roi std::vector<int>(), std::vector<int> threshold std::vector<int>({100, 200})) ``` #### find\\_hog item doc **type** func **brief** Finds the hog in the image. TODO: support in the feature **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**size**: The size to use for the hog. default is 8.<br> **return** Returns the hog of the image **static** False **C++ defination code**: ```cpp image::Image* find_hog(std::vector<int> roi std::vector<int>(), int size 8) ``` #### match\\_lbp\\_descriptor item doc **type** func **brief** Matches the lbp descriptor of the image. TODO: support in the feature **param** **desc1**: The descriptor to use for the match.<br>**desc2**: The descriptor to use for the match.<br> **return** Returns the match of the image **static** False **C++ defination code**: ```cpp int match_lbp_descriptor(image::LBPKeyPoint &desc1, image::LBPKeyPoint &desc2) ``` #### match\\_orb\\_descriptor item doc **type** func **brief** Matches the orb descriptor of the image. TODO: support in the feature **param** **desc1**: The descriptor to use for the match.<br>**desc2**: The descriptor to use for the match.<br>**threshold**: The threshold to use for the match. default is 95.<br>**filter_outliers**: If true, the image will be filter_outliers before the operation. default is false.<br> **return** Returns the match of the image **static** False **C++ defination code**: ```cpp image::KPTMatch match_orb_descriptor(image::ORBKeyPoint &desc1, image::ORBKeyPoint &desc2, int threshold 95, bool filter_outliers false) ```"},"/maixpy/api/maix/example.html":{"title":"maix.example","content":" title: maix.example example module, this will be maix.example module in MaixPy, maix::example namespace in MaixCDK > You can use `maix.example` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Kind item doc **brief** Example enum **values** **KIND_NONE**: Kind none, value always 0, other enum value will auto increase<br>**KIND_DOG**: Kind dog<br>**KIND_CAT**: Kind cat, value is auto generated according to KING_DOG<br>**KIND_BIRD**: <br>**KIND_MAX**: Max Kind quantity<br>You can get max Kind value by KIND_MAX 1<br> **C++ defination code**: ```cpp enum Kind { KIND_NONE 0, /** Kind none, value always 0, other enum value will auto increase */ KIND_DOG, /** Kind dog*/ KIND_CAT, // Kind cat, value is auto generated according to KING_DOG KIND_BIRD, KIND_MAX /* Max Kind quantity, You can get max Kind value by KIND_MAX 1 */ } ``` ## Variable ### var1 item doc **brief** Example module variable **attention** It's a copy of this variable in MaixPy,<br>so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.<br>So we add const for this var to avoid this mistake. **value** **\"Sipeed\"** **readonly** True **C++ defination code**: ```cpp const std::string var1 \"Sipeed\" ``` ### list\\_var item doc **brief** Tensor data type size in bytes **attention** **1**. DO NOT use C/C++ array directly for python API, the python wrapper not support it.<br>Use std::vector instead.<br>**2**. It's a copy of this variable in MaixPy,<br>so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.<br>So we add const for this var to avoid this mistake.<br> **value** **{<br> 0, 1, 2, 3, 4, 5, 6, 7, 8, 9}** **readonly** True **C++ defination code**: ```cpp const std::vector<int> list_var { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9} ``` ### test\\_var item doc **brief** Example module variable test_var **attention** It's a copy of this variable in MaixPy, so if you change it in C++, it will not take effect in MaixPy.<br>And change it in MaixPy will not take effect in C++ as well !!!<br>If you want to use vars shared between C++ and MaixPy, you can create a class and use its member. **value** **100** **readonly** False **C++ defination code**: ```cpp int test_var 100 ``` ## Function ### hello ```python def hello(name: str) > str ``` item doc **brief** say hello to someone **param** **name**: direction [in], name of someone, string type<br> **return** string type, content is hello + name **C++ defination code**: ```cpp std::string hello(std::string name) ``` ### change\\_arg\\_name item doc **brief** Change arg name example **param** **e**: Example object<br> **return** same as arg **C++ defination code**: ```cpp example::Example *change_arg_name(example::Example *e) ``` ### change\\_arg\\_name2 ```python def change_arg_name2(e: Example) > None ``` item doc **brief** Change arg name example **param** **e**: Example object<br> **C++ defination code**: ```cpp void change_arg_name2(example::Example &e) ``` ## Class ### Test item doc **brief** Test class **C++ defination code**: ```cpp class Test ``` #### \\_\\_init\\_\\_ ```python def __init__(self) > None ``` item doc **type** func **brief** Test constructor **static** False **C++ defination code**: ```cpp Test() ``` ### Example item doc **brief** Example class\\nthis class will be export to MaixPy as maix.example.Example **C++ defination code**: ```cpp class Example ``` #### \\_\\_init\\_\\_ ```python def __init__(self, name: str, age: int 18, pet: Kind ...) > None ``` item doc **type** func **brief** Example constructor\\nthis constructor will be export to MaixPy as maix.example.Example.__init__ **param** **name**: direction [in], name of Example, string type<br>**age**: direction [in], age of Example, int type, default is 18, value range is [0, 100]<br> **attention** to make auto generate code work, param Kind should with full namespace name `example::Kind` instead of `Kind`,<br>namespace `maix` can be ignored. **static** False **C++ defination code**: ```cpp Example(std::string &name, int age 18, example::Kind pet example::KIND_NONE) ``` #### get\\_name ```python def get_name(self) > str ``` item doc **type** func **brief** get name of Example\\nyou can also get name by property `name`. **return** name of Example, string type **static** False **C++ defination code**: ```cpp std::string get_name() ``` #### get\\_age ```python def get_age(self) > int ``` item doc **type** func **brief** get age of Example **return** age of Example, int type, value range is [0, 100] **static** False **C++ defination code**: ```cpp int get_age() ``` #### set\\_name ```python def set_name(self, name: str) > None ``` item doc **type** func **brief** set name of Example **param** **name**: name of Example, string type<br> **static** False **C++ defination code**: ```cpp void set_name(std::string name) ``` #### set\\_age ```python def set_age(self, age: int) > None ``` item doc **type** func **brief** set age of Example **param** **age**: age of Example, int type, value range is [0, 100]<br> **static** False **C++ defination code**: ```cpp void set_age(int age) ``` #### set\\_pet ```python def set_pet(self, pet: Kind) > None ``` item doc **type** func **brief** Example enum member **attention** **static** False **C++ defination code**: ```cpp void set_pet(example::Kind pet) ``` #### get\\_pet ```python def get_pet(self) > Kind ``` item doc **type** func **brief** Example enum member **static** False **C++ defination code**: ```cpp example::Kind get_pet() ``` #### get\\_list ```python def get_list(self, in: list[int]) > list[int] ``` item doc **type** func **brief** get list example **param** **in**: direction [in], input list, items are int type.<br>In MaixPy, you can pass list or tuple to this API<br> **return** list, items are int type, content is [1, 2, 3] + in. Alloc item, del in MaixPy will auto free memory. **static** False **C++ defination code**: ```cpp std::vector<int> *get_list(std::vector<int> in) ``` #### get\\_dict ```python def get_dict(self, in: dict[str, int]) > dict[str, int] ``` item doc **type** func **brief** Example dict API **param** **in**: direction [in], input dict, key is string type, value is int type.<br>In MaixPy, you can pass `dict` to this API<br> **return** dict, key is string type, value is int type, content is {\"a\": 1} + in<br>In MaixPy, return type is `dict` object **static** False **C++ defination code**: ```cpp std::map<std::string, int> get_dict(std::map<std::string, int> &in) ``` #### hello ```python def hello(name: str) > str ``` item doc **type** func **brief** say hello to someone **param** **name**: name of someone, string type<br> **return** string type, content is Example::hello_str + name **static** True **C++ defination code**: ```cpp static std::string hello(std::string name) ``` #### hello\\_bytes ```python def hello_bytes(*args, **kwargs) ``` item doc **type** func **brief** param is bytes example **param** **bytes**: bytes type param<br> **return** bytes type, return value is bytes changed value **static** True **C++ defination code**: ```cpp static Bytes *hello_bytes(Bytes &bytes) ``` #### callback ```python def callback(cb: typing.Callable[[int, int], int]) > int ``` item doc **type** func **brief** Callback example **param** **cb**: callback function, param is two int type, return is int type<br> **return** int type, return value is cb(1, 2) **static** True **C++ defination code**: ```cpp static int callback(std::function<int(int, int)> cb) ``` #### hello\\_dict ```python def hello_dict(dict: dict[str, int]) > dict[str, int] ``` item doc **type** func **brief** Dict param example **param** **dict**: dict type param, key is string type, value is int type<br> **static** True **C++ defination code**: ```cpp static std::map<std::string, int> *hello_dict(std::map<std::string, int> *dict) ``` #### name item doc **type** var **brief** name member of Example **static** False **readonly** False **C++ defination code**: ```cpp std::string name ``` #### age item doc **type** var **brief** age member of Example, value range should be [0, 100] **static** False **readonly** False **C++ defination code**: ```cpp int age ``` #### hello\\_str item doc **type** var **brief** hello_str member of Example, default value is \\\"hello \\\" **static** True **readonly** False **C++ defination code**: ```cpp static std::string hello_str ``` #### var1 item doc **type** var **brief** Example module readonly variable **static** False **readonly** True **C++ defination code**: ```cpp const std::string var1 \"Example.var1\" ``` #### var2 item doc **type** var **brief** Example module readonly variable **static** False **readonly** True **C++ defination code**: ```cpp std::string var2 \"Example.var2\" ``` #### dict\\_test ```python def dict_test() > dict[str, Test] ``` item doc **type** func **brief** dict_test, return dict type, and element is pointer type(alloc in C++).\\nHere when the returned Tensor object will auto delete by Python GC. **static** True **C++ defination code**: ```cpp static std::map<std::string, example::Test *> *dict_test() ```"},"/maixpy/api/maix/thread.html":{"title":"maix.thread","content":" title: maix.thread maix.thread module > You can use `maix.thread` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### Thread item doc **brief** thread class **C++ defination code**: ```cpp class Thread ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** create thread **param** **func**: direction [in], thread function, one `args` parameter, void* type, no return value<br>**args**: direction [in], thread function parameter<br> **static** False **C++ defination code**: ```cpp Thread(std::function<void(void *)> func, void *args nullptr) ``` #### join item doc **type** func **brief** wait thread exit **static** False **C++ defination code**: ```cpp void join() ``` #### detach item doc **type** func **brief** detach thread **static** False **C++ defination code**: ```cpp void detach() ``` #### joinable item doc **type** func **brief** Check if thread is joinable **return** true if thread is joinable **static** False **C++ defination code**: ```cpp bool joinable() ```"}}
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+{"/maixpy/api/maix/peripheral/spi.html":{"title":"maix.peripheral.spi","content":" title: maix.peripheral.spi maix.peripheral.spi module > You can use `maix.peripheral.spi` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Mode item doc **brief** SPI mode enum **values** **MASTER**: spi master mode<br>**SLAVE**: spi slave mode<br> **C++ defination code**: ```cpp enum Mode { MASTER 0x0, // spi master mode SLAVE 0x1, // spi slave mode } ``` ## Variable ## Function ## Class ### SPI item doc **brief** Peripheral spi class **C++ defination code**: ```cpp class SPI ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** SPI constructor **param** **id**: direction [in], spi bus id, int type<br>**freq**: direction [in], freq of spi, int type<br>**soft_cs**: direction [in], not use hardware cs, bool type, if set true, you can operate cs pin use gpio manually.<br>**mode**: direction [in], mode of spi, spi.Mode type, spi.Mode.MASTER or spi.Mode.SLAVE.<br>**polarity**: direction [in], polarity of spi, 0 means idle level of clock is low, 1 means high, int type, default is 0.<br>**phase**: direction [in], phase of spi, 0 means data is captured on the first edge of the SPI clock cycle, 1 means second, int type, default is 0.<br>**bits**: direction [in], bits of spi, int type, default is 8.<br>**cs**: direction [in], cs pin number, int type, default is 0, if SPI support multi hardware cs, you can set it to other value.<br> **static** False **C++ defination code**: ```cpp SPI(int id, spi::Mode mode, int freq, bool soft_cs false, int polarity 0, int phase 0, int bits 8, int cs 0) ``` #### read item doc **type** func **brief** read data from spi **param** **length**: direction [in], read length, int type<br> **return** bytes data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++. **static** False **C++ defination code**: ```cpp Bytes *read(int length) ``` #### write\\_read item doc **type** func **brief** write data to spi and read data from spi at the same time. **param** **data**: direction [in], data to write, Bytes type in C++, bytes type in MaixPy<br>**read_len**: direction [in], read length, int type, should > 0.<br> **return** read data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++. **static** False **C++ defination code**: ```cpp Bytes *write_read(Bytes *data, int read_len) ``` #### is\\_busy item doc **type** func **brief** get busy status of spi **return** busy status, bool type **static** False **C++ defination code**: ```cpp bool is_busy() ```"},"/maixpy/api/maix/peripheral/timer.html":{"title":"maix.peripheral.timer","content":" title: maix.peripheral.timer maix.peripheral.timer module > You can use `maix.peripheral.timer` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### TIMER item doc **brief** Peripheral timer class **C++ defination code**: ```cpp class TIMER ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** TIMER constructor **static** False **C++ defination code**: ```cpp TIMER() ```"},"/maixpy/api/maix/peripheral/i2c.html":{"title":"maix.peripheral.i2c","content":" title: maix.peripheral.i2c maix.peripheral.i2c module > You can use `maix.peripheral.i2c` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### AddrSize item doc **brief** Address size enum **values** **SEVEN_BIT**: 7 bit address mode<br>**TEN_BIT**: 10 bit address mode<br> **C++ defination code**: ```cpp enum AddrSize { SEVEN_BIT 7, // 7 bit address mode TEN_BIT 10 // 10 bit address mode } ``` ### Mode item doc **brief** I2C mode enum **values** **MASTER**: master mode<br>**SLAVE**: slave mode<br> **C++ defination code**: ```cpp enum Mode { MASTER 0x00, // master mode SLAVE 0x01 // slave mode } ``` ## Variable ## Function ### list\\_devices item doc **brief** Get supported i2c bus devices. **return** i2c bus devices list, int type, is the i2c bus id. **C++ defination code**: ```cpp std::vector<int> list_devices() ``` ## Class ### I2C item doc **brief** Peripheral i2c class **C++ defination code**: ```cpp class I2C ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** I2C Device constructor\\nthis constructor will be export to MaixPy as _maix.example.Example.__init__ **param** **id**: direction [in], i2c bus id, int type, e.g. 0, 1, 2<br>**freq**: direction [in], i2c clock, int type, default is 100000(100kbit/s), will auto set fast mode if freq > 100000.<br>**mode**: direction [in], mode of i2c, i2c.Mode.SLAVE or i2c.Mode.MASTER.<br>**addr_size**: direction [in], address length of i2c, i2c.AddrSize.SEVEN_BIT or i2c.AddrSize.TEN_BIT.<br> **throw** err::Exception if open i2c device failed. **static** False **C++ defination code**: ```cpp I2C(int id, i2c::Mode mode, int freq 100000, i2c::AddrSize addr_size i2c::AddrSize::SEVEN_BIT) ``` #### scan item doc **type** func **brief** scan all i2c salve address on the bus **return** the list of i2c slave address, int list type. **static** False **C++ defination code**: ```cpp std::vector<int> scan() ``` #### writeto item doc **type** func **brief** write data to i2c slave **param** **addr**: direction [in], i2c slave address, int type<br>**data**: direction [in], data to write, bytes type.<br>Note: The range of value should be in [0,255].<br> **return** if success, return the length of written data, error occurred will return err::Err. **static** False **C++ defination code**: ```cpp int writeto(int addr, const Bytes &data) ``` #### readfrom item doc **type** func **brief** read data from i2c slave **param** **addr**: direction [in], i2c slave address, int type<br>**len**: direction [in], data length to read, int type<br> **return** the list of data read from i2c slave, bytes type, you should delete it after use in C++.<br>If read failed, return nullptr in C++, None in MaixPy. **static** False **C++ defination code**: ```cpp Bytes* readfrom(int addr, int len) ``` #### writeto\\_mem item doc **type** func **brief** write data to i2c slave's memory address **param** **addr**: direction [in], i2c slave address, int type<br>**mem_addr**: direction [in], memory address want to write, int type.<br>**data**: direction [in], data to write, bytes type.<br>**mem_addr_size**: direction [in], memory address size, default is 8.<br>**mem_addr_le**: direction [in], memory address little endian, default is false, that is send high byte first.<br> **return** data length written if success, error occurred will return err::Err. **static** False **C++ defination code**: ```cpp int writeto_mem(int addr, int mem_addr, const Bytes &data, int mem_addr_size 8, bool mem_addr_le false) ``` #### readfrom\\_mem item doc **type** func **brief** read data from i2c slave **param** **addr**: direction [in], i2c slave address, int type<br>**mem_addr**: direction [in], memory address want to read, int type.<br>**len**: direction [in], data length to read, int type<br>**mem_addr_size**: direction [in], memory address size, default is 8.<br>**mem_addr_le**: direction [in], memory address little endian, default is false, that is send high byte first.<br> **return** the list of data read from i2c slave, bytes type, you should delete it after use in C++.<br>If read failed, return nullptr in C++, None in MaixPy. **static** False **C++ defination code**: ```cpp Bytes* readfrom_mem(int addr, int mem_addr, int len, int mem_addr_size 8, bool mem_addr_le false) ```"},"/maixpy/api/maix/peripheral/gpio.html":{"title":"maix.peripheral.gpio","content":" title: maix.peripheral.gpio maix.peripheral.gpio module > You can use `maix.peripheral.gpio` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Mode item doc **brief** GPIO mode **values** **IN**: input mode<br>**OUT**: output mode<br>**OUT_OD**: output open drain mode<br>**MODE_MAX**: <br> **C++ defination code**: ```cpp enum Mode { IN 0x01, // input mode OUT 0x02, // output mode OUT_OD 0x03, // output open drain mode MODE_MAX } ``` ### Pull item doc **brief** GPIO pull mode **values** **PULL_NONE**: pull none mode<br>**PULL_UP**: pull up mode<br>**PULL_DOWN**: pull down mode<br>**PULL_MAX**: <br> **C++ defination code**: ```cpp enum Pull { PULL_NONE 0x00, // pull none mode PULL_UP 0x01, // pull up mode PULL_DOWN 0x02, // pull down mode PULL_MAX } ``` ## Variable ## Function ## Class ### GPIO item doc **brief** Peripheral gpio class **C++ defination code**: ```cpp class GPIO ``` #### \\_\\_init\\_\\_ ```python def __init__(self, pin: str, mode: Mode ..., pull: Pull ...) > None ``` item doc **type** func **brief** GPIO constructor **param** **pin**: direction [in], gpio pin name, string type the same as board's pin name, e.g. \"B14\" or \"GPIOB14\", or number string like \"10\" if board no gpiochipe name.<br>**mode**: direction [in], gpio mode. gpio.Mode type, default is gpio.Mode.IN (input) mode.<br>**pull**: direction [in], gpio pull. gpio.Pull type, default is gpio.Pull.PULL_NONE (pull none) mode.<br>For input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.<br>For output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0.<br> **throw** err::Exception if open gpio device failed. **static** False **C++ defination code**: ```cpp GPIO(std::string pin, gpio::Mode mode gpio::Mode::IN, gpio::Pull pull gpio::Pull::PULL_NONE) ``` #### value ```python def value(self, value: int 1) > int ``` item doc **type** func **brief** set and get gpio value **param** **value**: direction [in], gpio value. int type.<br>0, means write gpio to low level<br>1, means write gpio to high level<br> 1, means read gpio value, not set<br> **return** int type, return gpio value, can be 0 or 1 **static** False **C++ defination code**: ```cpp int value(int value 1) ``` #### high ```python def high(self) > None ``` item doc **type** func **brief** set gpio high (value to 1) **static** False **C++ defination code**: ```cpp void high() ``` #### low ```python def low(self) > None ``` item doc **type** func **brief** set gpio low (value to 0) **static** False **C++ defination code**: ```cpp void low() ``` #### toggle ```python def toggle(self) > None ``` item doc **type** func **brief** gpio toggle **static** False **C++ defination code**: ```cpp void toggle() ```"},"/maixpy/api/maix/video.html":{"title":"maix.video","content":" title: maix.video maix.video module > You can use `maix.video` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### VideoType item doc **brief** Video type **values** **VIDEO_NONE**: format invalid<br>**VIDEO_ENC_H265_CBR**: <br>**VIDEO_ENC_MP4_CBR**: <br>**VIDEO_DEC_H265_CBR**: <br>**VIDEO_DEC_MP4_CBR**: <br> **C++ defination code**: ```cpp enum VideoType { VIDEO_NONE 0, // format invalid VIDEO_ENC_H265_CBR, VIDEO_ENC_MP4_CBR, VIDEO_DEC_H265_CBR, VIDEO_DEC_MP4_CBR, } ``` ## Variable ## Function ## Class ### Frame item doc **brief** Frame class **C++ defination code**: ```cpp class Frame ``` ### Packet item doc **brief** Packet class **C++ defination code**: ```cpp class Packet ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Packet number (pair of numerator and denominator). **param** **data**: src data pointer, use pointers directly without copying.<br>Note: this object will try to free this memory<br>**len**: data len<br>**pts**: presentation time stamp. unit: time_base<br>**dts**: decoding time stamp. unit: time_base<br>**duration**: packet display time. unit: time_base<br> **static** False **C++ defination code**: ```cpp Packet(uint8_t *data, int len, uint64_t pts 1, uint64_t dts 1, int64_t duration 0) ``` #### get item doc **type** func **brief** Get raw data of packet **return** raw data **static** False **C++ defination code**: ```cpp std::vector<uint8_t> get() ``` #### data item doc **type** func **brief** Get raw data of packet **return** raw data **static** False **C++ defination code**: ```cpp uint8_t *data() ``` #### data\\_size item doc **type** func **brief** Get raw data size of packet **return** size of raw data **static** False **C++ defination code**: ```cpp size_t data_size() ``` #### is\\_valid item doc **type** func **brief** Check packet is valid **return** true, packet is valid; false, packet is invalid **static** False **C++ defination code**: ```cpp bool is_valid() ``` #### set\\_pts item doc **type** func **brief** Set pts **param** **pts**: presentation time stamp. unit: time_base<br> **return** true, packet is valid; false, packet is invalid **static** False **C++ defination code**: ```cpp void set_pts(uint64_t pts) ``` #### set\\_dts item doc **type** func **brief** Set dts **param** **dts**: decoding time stamp. unit: time_base<br> **return** true, packet is valid; false, packet is invalid **static** False **C++ defination code**: ```cpp void set_dts(uint64_t dts) ``` #### set\\_duration item doc **type** func **brief** Set duration **param** **duration**: packet display time. unit: time_base<br> **return** true, packet is valid; false, packet is invalid **static** False **C++ defination code**: ```cpp void set_duration(uint64_t duration) ``` ### Video item doc **brief** Video class **C++ defination code**: ```cpp class Video ``` #### \\_\\_init\\_\\_ ```python def __init__(self, path: str '', width: int 2560, height: int 1440, format: maix.image.Format ..., time_base: int 30, framerate: int 30, capture: bool False, open: bool True) > None ``` item doc **type** func **brief** Construct a new Video object **param** **path**: video path. the path determines the location where you load or save the file, if path is none, the video module will not save or load file.<br>xxx.h265 means video format is H265, xxx.mp4 means video format is MP4<br>**width**: picture width. this value may be set automatically. default is 2560.<br>**height**: picture height. this value may be set automatically. default is 1440.<br>**format**: picture pixel format. this value may be set automatically. default is FMT_YVU420SP.<br>**time_base**: frame time base. time_base default is 30, means 1/30 ms<br>**framerate**: frame rate. framerate default is 30, means 30 frames per second<br>for video. 1/time_base is not the average frame rate if the frame rate is not constant.<br>**capture**: enable capture, if true, you can use capture() function to get an image object<br>**open**: If true, video will automatically call open() after creation. default is true.<br> **static** False **C++ defination code**: ```cpp Video(std::string path std::string(), int width 2560, int height 1440, image::Format format image::Format::FMT_YVU420SP, int time_base 30, int framerate 30, bool capture false, bool open true) ``` #### open ```python def open(self, path: str '', fps: float 30.0) > maix.err.Err ``` item doc **type** func **brief** Open video and run **param** **path**: video path. the path determines the location where you load or save the file, if path is none, the video module will not save or load file.<br>xxx.h265 means video format is H265, xxx.mp4 means video format is MP4<br>**fps**: video fps<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err open(std::string path std::string(), double fps 30.0) ``` #### close ```python def close(self) > None ``` item doc **type** func **brief** Close video **static** False **C++ defination code**: ```cpp void close() ``` #### bind\\_camera ```python def bind_camera(self, camera: maix.camera.Camera) > maix.err.Err ``` item doc **type** func **brief** Bind camera **param** **camera**: camera object<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err bind_camera(camera::Camera *camera) ``` #### encode ```python def encode(self, img: maix.image.Image ...) > Packet ``` item doc **type** func **brief** Encode image. **param** **img**: the image will be encode.<br>if the img is NULL, this function will try to get image from camera, you must use bind_camera() function to bind the camera.<br> **return** encode result **static** False **C++ defination code**: ```cpp video::Packet *encode(image::Image *img maix::video::Video::NoneImage) ``` #### decode ```python def decode(self, frame: Frame None) > maix.image.Image ``` item doc **type** func **brief** Decode frame **param** **frame**: the frame will be decode<br> **return** decode result **static** False **C++ defination code**: ```cpp image::Image *decode(video::Frame *frame nullptr) ``` #### finish ```python def finish(self) > maix.err.Err ``` item doc **type** func **brief** Encode or decode finish **return** error code **static** False **C++ defination code**: ```cpp err::Err finish() ``` #### capture ```python def capture(self) > maix.image.Image ``` item doc **type** func **brief** Capture image **attention** Each time encode is called, the last captured image will be released. **return** error code **static** False **C++ defination code**: ```cpp image::Image *capture() ``` #### is\\_recording ```python def is_recording(self) > bool ``` item doc **type** func **brief** Check if video is recording **return** true if video is recording, false if not **static** False **C++ defination code**: ```cpp bool is_recording() ``` #### is\\_opened ```python def is_opened(self) > bool ``` item doc **type** func **brief** Check if video is opened **return** true if video is opened, false if not **static** False **C++ defination code**: ```cpp bool is_opened() ``` #### is\\_closed ```python def is_closed(self) > bool ``` item doc **type** func **brief** check video device is closed or not **return** closed or not, bool type **static** False **C++ defination code**: ```cpp bool is_closed() ``` #### width ```python def width(self) > int ``` item doc **type** func **brief** Get video width **return** video width **static** False **C++ defination code**: ```cpp int width() ``` #### height ```python def height(self) > int ``` item doc **type** func **brief** Get video height **return** video height **static** False **C++ defination code**: ```cpp int height() ```"},"/maixpy/api/maix/touchscreen.html":{"title":"maix.touchscreen","content":" title: maix.touchscreen maix.touchscreen module > You can use `maix.touchscreen` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### TouchScreen item doc **brief** TouchScreen class **C++ defination code**: ```cpp class TouchScreen ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new TouchScreen object **param** **device**: touchscreen device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device<br>**open**: If true, touchscreen will automatically call open() after creation. default is true.<br> **static** False **C++ defination code**: ```cpp TouchScreen(const std::string &device \"\", bool open true) ``` #### open item doc **type** func **brief** open touchscreen device **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err open() ``` #### close item doc **type** func **brief** close touchscreen device **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err close() ``` #### read item doc **type** func **brief** read touchscreen device **attention** This method will discard same event in buffer, that is:<br>if too many move event in buffer when call this method, it will only return the last one,<br>and if read pressed or released event, it will return immediately. **return** Returns a list include x, y, pressed state **static** False **C++ defination code**: ```cpp std::vector<int> read() ``` #### read (overload 1) item doc **type** func **brief** read touchscreen device **attention** This method will return immediately if have event, so it's better to use available() to check if have more event in buffer,<br>or too much event in buffer when your program call this read() interval is too long will make your program slow. **return** Returns a list include x, y, pressed state **static** False **C++ defination code**: ```cpp std::vector<int> read0() ``` #### available item doc **type** func **brief** If we need to read from touchscreen, for event driven touchscreen means have event or not **param** **timeout**: 1 means block, 0 means no block, >0 means timeout, default is 0, unit is ms.<br> **return** true if need to read(have event), false if not **static** False **C++ defination code**: ```cpp bool available(int timeout 0) ``` #### is\\_opened item doc **type** func **brief** Check if touchscreen is opened **return** true if touchscreen is opened, false if not **static** False **C++ defination code**: ```cpp bool is_opened() ```"},"/maixpy/api/maix/peripheral/wdt.html":{"title":"maix.peripheral.wdt","content":" title: maix.peripheral.wdt maix.peripheral.wdt module > You can use `maix.peripheral.wdt` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### WDT item doc **brief** Peripheral wdt class **C++ defination code**: ```cpp class WDT ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** WDT constructor, after construct, the wdt will auto start. **param** **id**: direction [in], id of wdt, int type<br>**feed_ms**: direction [in], feed interval, int type, unit is ms, you must feed wdt in this interval, or system will restart.<br> **static** False **C++ defination code**: ```cpp WDT(int id, int feed_ms) ``` #### feed item doc **type** func **brief** feed wdt **return** error code, if feed success, return err::ERR_NONE **static** False **C++ defination code**: ```cpp int feed() ``` #### stop item doc **type** func **brief** stop wdt **static** False **C++ defination code**: ```cpp int stop() ``` #### restart item doc **type** func **brief** restart wdt, stop and start watchdog timer. **static** False **C++ defination code**: ```cpp int restart() ```"},"/maixpy/api/maix/peripheral/pinmap.html":{"title":"maix.peripheral.pinmap","content":" title: maix.peripheral.pinmap maix.peripheral.pinmap module > You can use `maix.peripheral.pinmap` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### get\\_pins ```python def get_pins() > list[str] ``` item doc **brief** Get all pins of devices **return** pin name list, string type. **C++ defination code**: ```cpp std::vector<std::string> get_pins() ``` ### get\\_pin\\_functions ```python def get_pin_functions(pin: str) > list[str] ``` item doc **brief** Get all function of a pin **param** **pin**: pin name, string type.<br> **return** function list, function name is string type. **throw** If pin name error will throwout err.Err.ERR_ARGS error. **C++ defination code**: ```cpp std::vector<std::string> get_pin_functions(const std::string &pin) ``` ### set\\_pin\\_function ```python def set_pin_function(pin: str, func: str) > maix.err.Err ``` item doc **brief** Set function of a pin **param** **pin**: pin name, string type.<br>**func**: which function should this pin use.<br> **return** if set ok, will return err.Err.ERR_NONE, else error occurs. **C++ defination code**: ```cpp err::Err set_pin_function(const std::string &pin, const std::string &func) ``` ## Class"},"/maixpy/api/maix/protocol.html":{"title":"maix.protocol","content":" title: maix.protocol maix.protocol module > You can use `maix.protocol` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### CMD item doc **brief** protocol cmd, more doc see MaixCDK document's convention doc **note** max app custom CMD value should < CMD_APP_MAX **values** **CMD_APP_MAX**: 200, max app custom CMD value should < CMD_APP_MAX<br>**CMD_SET_UPLOAD**: set auto upload data mode<br>**CMD_APP_LIST**: <br>**CMD_START_APP**: <br>**CMD_EXIT_APP**: <br>**CMD_CUR_APP_INFO**: <br>**CMD_APP_INFO**: <br>**CMD_KEY**: <br>**CMD_TOUCH**: <br> **C++ defination code**: ```cpp enum CMD { CMD_APP_MAX 0xC8, // 200, max app custom CMD value should < CMD_APP_MAX CMD_SET_UPLOAD 0xF8, // set auto upload data mode CMD_APP_LIST 0xF9, CMD_START_APP 0xFA, CMD_EXIT_APP 0xFB, CMD_CUR_APP_INFO 0xFC, CMD_APP_INFO 0xFD, CMD_KEY 0xFE, CMD_TOUCH 0xFF, } ``` ### FLAGS item doc **brief** protocol flags, more doc see MaixCDK document's convention doc **values** **FLAG_REQ**: <br>**FLAG_RESP**: <br>**FLAG_IS_RESP_MASK**: <br>**FLAG_RESP_OK**: <br>**FLAG_RESP_ERR**: <br>**FLAG_RESP_OK_MASK**: <br>**FLAG_REPORT**: <br>**FLAG_REPORT_MASK**: <br>**FLAG_VERSION_MASK**: <br> **C++ defination code**: ```cpp enum FLAGS { FLAG_REQ 0x00, FLAG_RESP 0x80, FLAG_IS_RESP_MASK 0x80, FLAG_RESP_OK 0x40, FLAG_RESP_ERR 0x00, FLAG_RESP_OK_MASK 0x40, FLAG_REPORT 0x20, FLAG_REPORT_MASK 0x20, FLAG_VERSION_MASK 0x03 } ``` ## Variable ### VERSION item doc **brief** protocol version **value** **1** **readonly** True **C++ defination code**: ```cpp const uint8_t VERSION 1 ``` ### HEADER item doc **brief** protocol header **value** **0xBBACCAAA** **readonly** True **C++ defination code**: ```cpp const uint32_t HEADER 0xBBACCAAA ``` ## Function ### crc16\\_IBM ```python def crc16_IBM(data: maix.Bytes(bytes)) > int ``` item doc **brief** CRC16 IBM **param** **data**: data, bytes type.<br> **return** CRC16 IBM value, uint16_t type. **C++ defination code**: ```cpp uint16_t crc16_IBM(const Bytes *data) ``` ## Class ### MSG item doc **brief** protocol msg **C++ defination code**: ```cpp class MSG ``` #### version item doc **type** var **brief** protocol version **static** False **readonly** False **C++ defination code**: ```cpp uint8_t version ``` #### resp\\_ok item doc **type** var **brief** Is success response or not, (only for response msg) **static** False **readonly** False **C++ defination code**: ```cpp uint8_t resp_ok ``` #### cmd item doc **type** var **brief** CMD value **static** False **readonly** False **C++ defination code**: ```cpp uint8_t cmd ``` #### is\\_resp item doc **type** var **brief** message is response or not, contrast with is_req **static** False **readonly** False **C++ defination code**: ```cpp bool is_resp ``` #### body\\_len item doc **type** var **brief** Message body length, read only, use set_body() to update **attention** DO NOT manually change this value **static** False **readonly** False **C++ defination code**: ```cpp int body_len ``` #### encode\\_resp\\_ok ```python def encode_resp_ok(*args, **kwargs) ``` item doc **type** func **brief** Encode response ok(success) message **param** **body**: response body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_resp_ok(Bytes *body nullptr) ``` #### encode\\_report ```python def encode_report(*args, **kwargs) ``` item doc **type** func **brief** Encode proactively report message **param** **body**: report body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_report(Bytes *body nullptr) ``` #### encode\\_resp\\_err ```python def encode_resp_err(*args, **kwargs) ``` item doc **type** func **brief** Encode response error message **param** **code**: error code<br>**msg**: error message<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_resp_err(err::Err code, const std::string &msg) ``` #### set\\_body ```python def set_body(self, body_new: maix.Bytes(bytes)) > None ``` item doc **type** func **brief** Update message body **param** **body_new**: new body data<br> **static** False **C++ defination code**: ```cpp void set_body(Bytes *body_new) ``` #### get\\_body ```python def get_body(*args, **kwargs) ``` item doc **type** func **brief** Get message body **return** message body, bytes type **static** False **C++ defination code**: ```cpp Bytes *get_body() ``` ### Protocol item doc **brief** Communicate protocol **C++ defination code**: ```cpp class Protocol ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new Protocol object **param** **buff_size**: Data queue buffer size<br> **static** False **C++ defination code**: ```cpp Protocol(int buff_size 1024) ``` #### buff\\_size item doc **type** func **brief** Data queue buffer size **static** False **C++ defination code**: ```cpp int buff_size() ``` #### push\\_data item doc **type** func **brief** Add data to data queue **param** **new_data**: new data<br> **return** error code, maybe err.Err.ERR_BUFF_FULL **static** False **C++ defination code**: ```cpp err::Err push_data(const Bytes *new_data) ``` #### decode item doc **type** func **brief** Decode data in data queue and return a message **param** **new_data**: new data add to data queue, if null, only decode.<br> **return** decoded message, if nullptr, means no message decoded. **static** False **C++ defination code**: ```cpp protocol::MSG *decode(const Bytes *new_data nullptr) ``` #### encode\\_resp\\_ok item doc **type** func **brief** Encode response ok(success) message to buffer **param** **cmd**: CMD value<br>**body**: response body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_resp_ok(uint8_t cmd, Bytes *body nullptr) ``` #### encode\\_report item doc **type** func **brief** Encode proactively report message to buffer **param** **cmd**: CMD value<br>**body**: report body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_report(uint8_t cmd, Bytes *body nullptr) ``` #### encode\\_resp\\_err item doc **type** func **brief** Encode response error message to buffer **param** **cmd**: CMD value<br>**code**: error code<br>**msg**: error message<br> **return** encoded data, if nullptr, means error, and the error code is err.Err **static** False **C++ defination code**: ```cpp Bytes *encode_resp_err(uint8_t cmd, err::Err code, const std::string &msg) ```"},"/maixpy/api/maix/tensor.html":{"title":"maix.tensor","content":" title: maix.tensor maix.tensor module > You can use `maix.tensor` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### DType item doc **brief** Tensor data types **values** **UINT8**: <br>**INT8**: <br>**UINT16**: <br>**INT16**: <br>**UINT32**: <br>**INT32**: <br>**FLOAT16**: <br>**FLOAT32**: <br>**FLOAT64**: <br>**BOOL**: <br>**DTYPE_MAX**: <br> **C++ defination code**: ```cpp enum DType { UINT8 0, INT8, UINT16, INT16, UINT32, INT32, FLOAT16, FLOAT32, FLOAT64, BOOL, // STRING, // OBJECT, DTYPE_MAX } ``` ## Variable ### dtype\\_size item doc **brief** Tensor data type size in bytes **attention** It's a copy of this variable in MaixPy,<br>so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.<br>So we add const for this var to avoid this mistake. **value** **{<br> 1, // UINT8<br> 1, // INT8<br> 2, // UINT16<br> 2, // INT16<br> 4, // UINT32<br> 4, // INT32<br> 2, // FLOAT16<br> 4, // FLOAT32<br> 8, // FLOAT64<br> 1, // BOOL<br> // 1, // STRING<br> // 1, // OBJECT<br> 0<br> }** **readonly** True **C++ defination code**: ```cpp const std::vector<int> dtype_size { 1, // UINT8 1, // INT8 2, // UINT16 2, // INT16 4, // UINT32 4, // INT32 2, // FLOAT16 4, // FLOAT32 8, // FLOAT64 1, // BOOL // 1, // STRING // 1, // OBJECT 0 } ``` ### dtype\\_name item doc **brief** Tensor data type name **value** **{<br> \"uint8\",<br> \"int8\",<br> \"uint16\",<br> \"int16\",<br> \"uint32\",<br> \"int32\",<br> \"float16\",<br> \"float32\",<br> \"float64\",<br> \"bool\",<br> // \"string\",<br> // \"object\",<br> \"invalid\"<br> }** **readonly** True **C++ defination code**: ```cpp const std::vector<std::string> dtype_name { \"uint8\", \"int8\", \"uint16\", \"int16\", \"uint32\", \"int32\", \"float16\", \"float32\", \"float64\", \"bool\", // \"string\", // \"object\", \"invalid\" } ``` ## Function ## Class ### Tensor item doc **brief** Tensor class **C++ defination code**: ```cpp class Tensor ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Tensor constructor **param** **shape**: tensor shape, a int list<br>**dtype**: tensor element data type, see DType of this module<br>**data**: pointer to data content, can be nullptr, it will automatically alloc memory<br>and detroy it when this object is destroyed<br> **static** False **C++ defination code**: ```cpp Tensor(std::vector<int> shape, tensor::DType dtype, void *data nullptr) ``` #### to\\_str item doc **type** func **brief** To string **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### \\_\\_str\\_\\_ item doc **type** func **brief** To string **static** False **C++ defination code**: ```cpp std::string __str__() ``` #### shape item doc **type** func **brief** get tensor shape **return** tensor shape, a int list **static** False **C++ defination code**: ```cpp std::vector<int> shape() ``` #### expand\\_dims item doc **type** func **brief** expand tensor shape **param** **axis**: axis to expand<br> **static** False **C++ defination code**: ```cpp void expand_dims(int axis) ``` #### reshape item doc **type** func **brief** reshape tensor shape, if size not match, it will throw an err::Exception **param** **shape**: new shape<br> **static** False **C++ defination code**: ```cpp void reshape(std::vector<int> shape) ``` #### flatten item doc **type** func **brief** Flatten tensor shape to 1D **static** False **C++ defination code**: ```cpp void flatten() ``` #### dtype item doc **type** func **brief** get tensor data type **return** tensor data type, see DType of this module **static** False **C++ defination code**: ```cpp tensor::DType dtype() ``` #### to\\_float\\_list item doc **type** func **brief** get tensor data and return a list **return** list type data **static** False **C++ defination code**: ```cpp std::valarray<float>* to_float_list() ``` #### argmax item doc **type** func **brief** argmax of tensor **param** **axis**: By default, the index is into the flattened array, otherwise along the specified axis., wrong axis will throw an err::Exception<br> **return** argmax result, you need to delete it after use in C++. **static** False **C++ defination code**: ```cpp tensor::Tensor *argmax(int axis 0xffff) ``` #### argmax1 item doc **type** func **brief** argmax1, flattened data max index **return** argmax result, int type **static** False **C++ defination code**: ```cpp int argmax1() ``` ### Tensors item doc **brief** Tensors **C++ defination code**: ```cpp class Tensors ``` #### \\_\\_init\\_\\_ ```python def __init__(self) > None ``` item doc **type** func **brief** Constructor of Tensors **static** False **C++ defination code**: ```cpp Tensors() ``` #### add\\_tensor ```python def add_tensor(self, key: str, tensor: Tensor, copy: bool, auto_delete: bool) > None ``` item doc **type** func **brief** Add tensor **static** False **C++ defination code**: ```cpp void add_tensor(const std::string &key, tensor::Tensor *tensor, bool copy, bool auto_delete) ``` #### rm\\_tensor ```python def rm_tensor(self, key: str) > None ``` item doc **type** func **brief** Remove tensor **static** False **C++ defination code**: ```cpp void rm_tensor(const std::string &key) ``` #### get\\_tensor ```python def get_tensor(self, key: str) > Tensor ``` item doc **type** func **brief** Get tensor by key **static** False **C++ defination code**: ```cpp tensor::Tensor *get_tensor(const std::string &key) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, key: str) > Tensor ``` item doc **type** func **brief** Operator [] **static** False **C++ defination code**: ```cpp tensor::Tensor *operator[](const std::string &key) ``` #### \\_\\_len\\_\\_ ```python def __len__(self) > int ``` item doc **type** func **brief** Size **static** False **C++ defination code**: ```cpp size_t size() ``` #### get\\_names ```python def get_names(self) > list[str] ``` item doc **type** func **brief** Get names **static** False **C++ defination code**: ```cpp std::vector<std::string> get_names() ``` #### tensors item doc **type** var **brief** Tensors data, dict type **static** False **readonly** False **C++ defination code**: ```cpp std::map<std::string, tensor::Tensor*> tensors ```"},"/maixpy/api/maix/network/wifi.html":{"title":"maix.network.wifi","content":" title: maix.network.wifi maix.network.wifi module > You can use `maix.network.wifi` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### list\\_devices ```python def list_devices() > list[str] ``` item doc **brief** List WiFi interfaces **return** WiFi interface list, string type **C++ defination code**: ```cpp std::vector<std::string> list_devices() ``` ## Class ### AP\\_Info item doc **brief** WiFi AP info **C++ defination code**: ```cpp class AP_Info ``` #### ssid item doc **type** var **brief** WiFi AP info SSID **static** False **readonly** False **C++ defination code**: ```cpp std::vector<uint8_t> ssid ``` #### bssid item doc **type** var **brief** WiFi AP info BSSID **static** False **readonly** False **C++ defination code**: ```cpp std::string bssid ``` #### security item doc **type** var **brief** WiFi AP info security **static** False **readonly** False **C++ defination code**: ```cpp std::string security ``` #### channel item doc **type** var **brief** WiFi AP info channel **static** False **readonly** False **C++ defination code**: ```cpp int channel ``` #### frequency item doc **type** var **brief** WiFi AP info frequency **static** False **readonly** False **C++ defination code**: ```cpp int frequency ``` #### rssi item doc **type** var **brief** WiFi AP info rssi **static** False **readonly** False **C++ defination code**: ```cpp int rssi ``` #### ssid\\_str ```python def ssid_str(self) > str ``` item doc **type** func **brief** WiFi AP info ssid_str **static** False **C++ defination code**: ```cpp std::string ssid_str() ``` ### Wifi item doc **brief** Wifi class **C++ defination code**: ```cpp class Wifi ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Wifi class **param** **iface**: wifi interface name, default is wlan0<br> **static** False **C++ defination code**: ```cpp Wifi(std::string iface \"wlan0\") ``` #### get\\_ip item doc **type** func **brief** Get current WiFi ip **return** ip, string type, if network not connected, will return empty string. **static** False **C++ defination code**: ```cpp std::string get_ip() ``` #### get\\_mac item doc **type** func **brief** Get current WiFi MAC address **return** ip, string type. **static** False **C++ defination code**: ```cpp std::string get_mac() ``` #### get\\_gateway item doc **type** func **brief** Get current WiFi ip **return** ip, string type, if network not connected, will return empty string. **static** False **C++ defination code**: ```cpp std::string get_gateway() ``` #### start\\_scan item doc **type** func **brief** WiFi start scan AP info around in background. **return** If success, return err.Err.ERR_NONE, else means failed. **static** False **C++ defination code**: ```cpp err::Err start_scan() ``` #### get\\_scan\\_result item doc **type** func **brief** Get WiFi scan AP info. **return** wifi.AP_Info list. **static** False **C++ defination code**: ```cpp std::vector<network::wifi::AP_Info> get_scan_result() ``` #### stop\\_scan item doc **type** func **brief** Stop WiFi scan AP info. **static** False **C++ defination code**: ```cpp void stop_scan() ``` #### connect item doc **type** func **brief** Connect to WiFi AP. **param** **ssid**: SSID of AP<br>**password**: password of AP, if no password, leave it empty.<br>**wait**: wait for got IP or failed or timeout.<br>**timeout**: connect timeout internal, unit second.<br> **return** If success, return err.Err.ERR_NONE, else means failed. **static** False **C++ defination code**: ```cpp err::Err connect(const std::string &ssid, const std::string &password, bool wait true, int timeout 60) ``` #### disconnect item doc **type** func **brief** Disconnect from WiFi AP. **return** If success, return err.Err.ERR_NONE, else means failed. **static** False **C++ defination code**: ```cpp err::Err disconnect() ``` #### is\\_connected item doc **type** func **brief** See if WiFi is connected to AP. **return** If connected return true, else false. **static** False **C++ defination code**: ```cpp bool is_connected() ```"},"/maixpy/api/maix/nn/F.html":{"title":"maix.nn.F","content":" title: maix.nn.F maix.nn.F module > You can use `maix.nn.F` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### softmax ```python def softmax(tensor: maix.tensor.Tensor, replace: bool) > maix.tensor.Tensor ``` item doc **brief** Softmax, only support 1D tensor, multi dimension tensor will be treated as 1D tensor **param** **tensor**: input tensor<br>**replace**: change input tensor data directly, if not, will create a new tensor<br> **throw** If arg error, will raise err.Exception error **return** output tensor, if arg replace is true, return the arg tensor's address.<br>If not replace, return a new object, so In C++, you should delete it manually in this case! **C++ defination code**: ```cpp tensor::Tensor *softmax(tensor::Tensor *tensor, bool replace) ``` ## Class"},"/maixpy/api/maix/comm.html":{"title":"maix.comm","content":" title: maix.comm maix.comm module > You can use `maix.comm` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### CommProtocol item doc **brief** Class for communication protocol **C++ defination code**: ```cpp class CommProtocol ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new CommProtocol object **param** **buff_size**: buffer size, default to 1024 bytes<br> **static** False **C++ defination code**: ```cpp CommProtocol(int buff_size 1024) ``` #### get\\_msg item doc **type** func **brief** Read data to buffer, and try to decode it as maix.protocol.MSG object **return** decoded data, if nullptr, means no valid frame found.<br>Attentioin, delete it after use in C++. **static** False **C++ defination code**: ```cpp protocol::MSG *get_msg() ``` #### resp\\_ok item doc **type** func **brief** Send response ok(success) message **param** **cmd**: CMD value<br>**body**: response body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err.<br>Attentioin, delete it after use in C++. **static** False **C++ defination code**: ```cpp err::Err resp_ok(uint8_t cmd, Bytes *body nullptr) ``` #### report item doc **type** func **brief** Send report message **param** **cmd**: CMD value<br>**body**: report body, can be null<br> **return** encoded data, if nullptr, means error, and the error code is err.Err.<br>Attentioin, delete it after use in C++. **static** False **C++ defination code**: ```cpp err::Err report(uint8_t cmd, Bytes *body nullptr) ``` #### resp\\_err item doc **type** func **brief** Encode response error message to buffer **param** **cmd**: CMD value<br>**code**: error code<br>**msg**: error message<br> **return** encoded data, if nullptr, means error, and the error code is err.Err.<br>Attentioin, delete it after use in C++. **static** False **C++ defination code**: ```cpp err::Err resp_err(uint8_t cmd, err::Err code, const std::string &msg) ```"},"/maixpy/api/maix/rtsp.html":{"title":"maix.rtsp","content":" title: maix.rtsp maix.rtsp module > You can use `maix.rtsp` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### RtspStreamType item doc **brief** The stream type of rtsp **values** **RTSP_STREAM_NONE**: format invalid<br>**RTSP_STREAM_H265**: <br> **C++ defination code**: ```cpp enum RtspStreamType { RTSP_STREAM_NONE 0, // format invalid RTSP_STREAM_H265, } ``` ## Variable ## Function ## Class ### Region item doc **brief** Region class **C++ defination code**: ```cpp class Region ``` #### \\_\\_init\\_\\_ ```python def __init__(self, x: int, y: int, width: int, height: int, format: maix.image.Format, camera: maix.camera.Camera) > None ``` item doc **type** func **brief** Construct a new Region object **param** **x**: region coordinate x<br>**y**: region coordinate y<br>**width**: region width<br>**height**: region height<br>**format**: region format<br>**camera**: bind region to camera<br> **static** False **C++ defination code**: ```cpp Region(int x, int y, int width, int height, image::Format format, camera::Camera *camera) ``` #### get\\_canvas ```python def get_canvas(self) > maix.image.Image ``` item doc **type** func **brief** Return an image object from region **return** image object **static** False **C++ defination code**: ```cpp image::Image *get_canvas() ``` #### update\\_canvas ```python def update_canvas(self) > maix.err.Err ``` item doc **type** func **brief** Update canvas **return** error code **static** False **C++ defination code**: ```cpp err::Err update_canvas() ``` ### Rtsp item doc **brief** Rtsp class **C++ defination code**: ```cpp class Rtsp ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new Video object **param** **ip**: rtsp ip<br>**port**: rtsp port<br>**fps**: rtsp fps<br>**stream_type**: rtsp stream type<br> **static** False **C++ defination code**: ```cpp Rtsp(std::string ip std::string(), int port 8554, int fps 30, rtsp::RtspStreamType stream_type rtsp::RtspStreamType::RTSP_STREAM_H265) ``` #### start item doc **type** func **brief** start rtsp **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err start() ``` #### start (overload 1) item doc **type** func **brief** stop rtsp **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err stop() ``` #### bind\\_camera item doc **type** func **brief** Bind camera **param** **camera**: camera object<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err bind_camera(camera::Camera *camera) ``` #### write item doc **type** func **brief** Write data to rtsp **param** **type**: rtsp stream type<br>**data**: rtsp stream data<br>**fps**: rtsp stream data size<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err write(video::Frame &stream) ``` #### get\\_url item doc **type** func **brief** Get url of rtsp **return** url of rtsp **static** False **C++ defination code**: ```cpp std::string get_url() ``` #### to\\_camera item doc **type** func **brief** Get camera object from rtsp **return** camera object **static** False **C++ defination code**: ```cpp camera::Camera *to_camera() ``` #### rtsp\\_is\\_start item doc **type** func **brief** return rtsp start status **return** true means rtsp is start, false means rtsp is stop. **static** False **C++ defination code**: ```cpp bool rtsp_is_start() ``` #### add\\_region item doc **type** func **brief** return a region object, you can draw image on the region. **param** **x**: region coordinate x<br>**y**: region coordinate y<br>**width**: region width<br>**height**: region height<br>**format**: region format, support Format::FMT_BGRA8888 only<br> **return** the reigon object **static** False **C++ defination code**: ```cpp rtsp::Region *add_region(int x, int y, int width, int height, image::Format format image::Format::FMT_BGRA8888) ``` #### update\\_region item doc **type** func **brief** update and show region **return** error code **static** False **C++ defination code**: ```cpp err::Err update_region(rtsp::Region &region) ```"},"/maixpy/api/maix/sys.html":{"title":"maix.sys","content":" title: maix.sys maix.sys module > You can use `maix.sys` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### os\\_version ```python def os_version() > str ``` item doc **brief** Get system version **return** version string, e.g. \"2024.4.1 13af4b\" **C++ defination code**: ```cpp std::string os_version() ``` ### device\\_name ```python def device_name() > str ``` item doc **brief** Get device name **return** device name, e.g. \"MaixCAM\" **C++ defination code**: ```cpp std::string device_name() ``` ### host\\_name ```python def host_name() > str ``` item doc **brief** Get host name **return** host name, e.g. \"maixcam 2f9f\" **C++ defination code**: ```cpp std::string host_name() ``` ### host\\_domain ```python def host_domain() > str ``` item doc **brief** Get host domain **return** host domain, e.g. \"maixcam 2f9f.local\" **C++ defination code**: ```cpp std::string host_domain() ``` ### ip\\_address ```python def ip_address() > dict[str, str] ``` item doc **brief** Get ip address **return** ip address, dict type, e.g. {\"eth0\": \"192.168.0.195\", \"wlan0\": \"192.168.0.123\", \"usb0\": \"10.47.159.1\"} **C++ defination code**: ```cpp std::map<std::string, std::string> ip_address() ``` ### mac\\_address ```python def mac_address() > dict[str, str] ``` item doc **brief** Get mac address **return** mac address, dict type, e.g. {\"eth0\": \"00:0c:29:2f:9f:00\", \"wlan0\": \"00:0c:29:2f:9f:01\", \"usb0\": \"00:0c:29:2f:9f:02\"} **C++ defination code**: ```cpp std::map<std::string, std::string> mac_address() ``` ### device\\_key ```python def device_key() > str ``` item doc **brief** Get device key, can be unique id of device **return** device key, 32 bytes hex string, e.g. \"1234567890abcdef1234567890abcdef\" **C++ defination code**: ```cpp std::string device_key() ``` ### memory\\_info ```python def memory_info() > dict[str, int] ``` item doc **brief** Get memory info **return** memory info, dict type, e.g. {\"total\": 1024, \"used\": 512, \"hw_total\": 256*1024*1024}<br>total: total memory size in Byte.<br>used: used memory size in Byte.<br>hw_total: total memory size in Byte of hardware, the total < hw_total，<br>OS kernel may reserve some memory for some hardware like camera, npu, display etc. **C++ defination code**: ```cpp std::map<std::string, int> memory_info() ``` ### bytes\\_to\\_human ```python def bytes_to_human(bytes: int, precision: int 2, base: int 1024, unit: str 'B', sep: str ' ') > str ``` item doc **brief** Bytes to human readable string **param** **bytes:**: bytes size，e.g. 1234B 1234/1024 1.205 KB<br>**precision:**: decimal precision, default 2<br>**base:**: base number, default 1024<br>**unit:**: unit string, e.g. \"B\"<br>**sep:**: separator string, e.g. \" \"<br> **return** human readable string, e.g. \"1.21 KB\" **C++ defination code**: ```cpp std::string bytes_to_human(unsigned long long bytes, int precision 2, int base 1024, const std::string &unit \"B\", const std::string &sep \" \") ``` ### cpu\\_freq ```python def cpu_freq() > dict[str, int] ``` item doc **brief** Get CPU frequency **return** CPU frequency, dict type, e.g. {\"cpu0\": 1000000000, \"cpu1\": 1000000000} **C++ defination code**: ```cpp std::map<std::string, unsigned long> cpu_freq() ``` ### cpu\\_temp ```python def cpu_temp() > dict[str, float] ``` item doc **brief** Get CPU temperature **return** CPU temperature, unit dgree, dict type, e.g. {\"cpu\": 50.0, \"cpu0\": 50, \"cpu1\": 50} **C++ defination code**: ```cpp std::map<std::string, float> cpu_temp() ``` ### cpu\\_usage ```python def cpu_usage() > dict[str, float] ``` item doc **brief** Get CPU usage **return** CPU usage, dict type, e.g. {\"cpu\": 50.0, \"cpu0\": 50, \"cpu1\": 50} **C++ defination code**: ```cpp std::map<std::string, float> cpu_usage() ``` ### npu\\_freq ```python def npu_freq() > dict[str, int] ``` item doc **brief** Get NPU frequency **return** NPU frequency, dict type, e.g. {\"npu0\": 500000000} **C++ defination code**: ```cpp std::map<std::string, unsigned long> npu_freq() ``` ### disk\\_usage ```python def disk_usage(path: str '/') > dict[str, int] ``` item doc **brief** Get disk usage **param** **path:**: disk path, default \"/\"<br> **return** disk usage, dict type, e.g. {\"total\": 1024, \"used\": 512} **C++ defination code**: ```cpp std::map<std::string, unsigned long long> disk_usage(const std::string &path \"/\") ``` ### disk\\_partitions ```python def disk_partitions(only_disk: bool True) > list[dict[str, str]] ``` item doc **brief** Get disk partition and mount point info **param** **only_disk**: only return real disk, tempfs sysfs etc. not return, default true.<br> **return** disk partition and mount point info, list type, e.g. [{\"device\": \"/dev/mmcblk0p1\", \"mountpoint\": \"/mnt/sdcard\", \"fstype\": \"vfat\"}] **C++ defination code**: ```cpp std::vector<std::map<std::string, std::string>> disk_partitions(bool only_disk true) ``` ### poweroff ```python def poweroff() > None ``` item doc **brief** Power off device **C++ defination code**: ```cpp void poweroff() ``` ### reboot ```python def reboot() > None ``` item doc **brief** Power off device and power on **C++ defination code**: ```cpp void reboot() ``` ## Class"},"/maixpy/api/maix/display.html":{"title":"maix.display","content":" title: maix.display maix.display module, control display device and show image on it > You can use `maix.display` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### send\\_to\\_maixvision item doc **brief** Send image to MaixVision work station if connected.\\nIf you want to debug your program an don't want to initialize display, use this method. **param** **img**: image to send, image.Image object<br> **C++ defination code**: ```cpp void send_to_maixvision(image::Image &img) ``` ## Class ### Display item doc **brief** Display class **C++ defination code**: ```cpp class Display ``` #### \\_\\_init\\_\\_ ```python def __init__(self, width: int 1, height: int 1, format: maix.image.Format ..., device: str None, open: bool True) > None ``` item doc **type** func **brief** Construct a new Display object **param** **width**: display width, by default(value is 1) means auto detect,<br>if width > max device supported width, will auto set to max device supported width<br>**height**: display height, by default(value is 1) means auto detect,<br>if height > max device supported height, will auto set to max device supported height<br>**device**: display device name, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device<br>**open**: If true, display will automatically call open() after creation. default is true.<br> **static** False **C++ defination code**: ```cpp Display(int width 1, int height 1, image::Format format image::FMT_RGB888, const char *device nullptr, bool open true) ``` #### width ```python def width(self) > int ``` item doc **type** func **brief** Get display width **return** width **static** False **C++ defination code**: ```cpp int width() ``` #### height ```python def height(self) > int ``` item doc **type** func **brief** Get display height **param** **ch**: channel to get, by default(value is 0) means the first channel<br> **return** height **static** False **C++ defination code**: ```cpp int height() ``` #### size ```python def size(self) > list[int] ``` item doc **type** func **brief** Get display size **param** **ch**: channel to get, by default(value is 0) means the first channel<br> **return** size A list type in MaixPy, [width, height] **static** False **C++ defination code**: ```cpp std::vector<int> size() ``` #### format ```python def format(self) > maix.image.Format ``` item doc **type** func **brief** Get display format **return** format **static** False **C++ defination code**: ```cpp image::Format format() ``` #### open ```python def open(self, width: int 1, height: int 1, format: maix.image.Format ...) > maix.err.Err ``` item doc **type** func **brief** open display device, if already opened, will return err.ERR_NONE. **param** **width**: display width, default is 1, means auto, mostly means max width of display support<br>**height**: display height, default is 1, means auto, mostly means max height of display support<br>**format**: display output format, default is RGB888<br> **return** error code **static** False **C++ defination code**: ```cpp err::Err open(int width 1, int height 1, image::Format format image::FMT_INVALID) ``` #### close ```python def close(self) > maix.err.Err ``` item doc **type** func **brief** close display device **return** error code **static** False **C++ defination code**: ```cpp err::Err close() ``` #### add\\_channel ```python def add_channel(self, width: int 1, height: int 1, format: maix.image.Format ..., open: bool True) > Display ``` item doc **type** func **brief** Add a new channel and return a new Display object, you can use close() to close this channel. **param** **width**: display width, default is 1, means auto, mostly means max width of display support<br>**height**: display height, default is 1, means auto, mostly means max height of display support<br>**format**: display output format, default is RGB888<br>**open**: If true, display will automatically call open() after creation. default is true.<br> **return** new Display object **static** False **C++ defination code**: ```cpp display::Display *add_channel(int width 1, int height 1, image::Format format image::FMT_RGB888, bool open true) ``` #### is\\_opened ```python def is_opened(self) > bool ``` item doc **type** func **brief** check display device is opened or not **return** opened or not, bool type **static** False **C++ defination code**: ```cpp bool is_opened() ``` #### is\\_closed ```python def is_closed(self) > bool ``` item doc **type** func **brief** check display device is closed or not **return** closed or not, bool type **static** False **C++ defination code**: ```cpp bool is_closed() ``` #### show ```python def show(self, img: maix.image.Image, fit: maix.image.Fit ...) > maix.err.Err ``` item doc **type** func **brief** show image on display device, and will also send to MaixVision work station if connected. **param** **img**: image to show, image.Image object,<br>if the size of image smaller than display size, will show in the center of display;<br>if the size of image bigger than display size, will auto resize to display size and keep ratio, fill blank with black color.<br>**fit**: image in screen fit mode, by default(value is image.FIT_CONTAIN), @see image.Fit for more details<br>e.g. image.FIT_CONTAIN means resize image to fit display size and keep ratio, fill blank with black color.<br> **return** error code **static** False **C++ defination code**: ```cpp err::Err show(image::Image &img, image::Fit fit image::FIT_CONTAIN) ``` #### device ```python def device(self) > str ``` item doc **type** func **brief** Get display device path **return** display device path **static** False **C++ defination code**: ```cpp std::string device() ``` #### set\\_backlight ```python def set_backlight(self, value: float) > None ``` item doc **type** func **brief** Set display backlight **param** **value**: backlight value, float type, range is [0, 100]<br> **static** False **C++ defination code**: ```cpp void set_backlight(float value) ``` #### get\\_backlight ```python def get_backlight(self) > float ``` item doc **type** func **brief** Get display backlight **return** value backlight value, float type, range is [0, 100] **static** False **C++ defination code**: ```cpp float get_backlight() ``` #### set\\_hmirror ```python def set_hmirror(self, en: bool) > maix.err.Err ``` item doc **type** func **brief** Set display mirror **param** **en**: enable/disable mirror<br> **static** False **C++ defination code**: ```cpp err::Err set_hmirror(bool en) ``` #### set\\_vflip ```python def set_vflip(self, en: bool) > maix.err.Err ``` item doc **type** func **brief** Set display flip **param** **en**: enable/disable flip<br> **static** False **C++ defination code**: ```cpp err::Err set_vflip(bool en) ```"},"/maixpy/api/maix/util.html":{"title":"maix.util","content":" title: maix.util maix.util module > You can use `maix.util` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### disable\\_kernel\\_debug ```python def disable_kernel_debug() > None ``` item doc **brief** disable the kernel debug **C++ defination code**: ```cpp void disable_kernel_debug() ``` ### enable\\_kernel\\_debug ```python def enable_kernel_debug() > None ``` item doc **brief** disable the kernel debug **C++ defination code**: ```cpp void enable_kernel_debug() ``` ## Class"},"/maixpy/api/maix/peripheral.html":{"title":"maix.peripheral","content":" title: maix.peripheral Chip's peripheral driver > You can use `maix.peripheral` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module module brief [timer](./peripheral/timer.html) maix.peripheral.timer module [wdt](./peripheral/wdt.html) maix.peripheral.wdt module [pinmap](./peripheral/pinmap.html) maix.peripheral.pinmap module [pwm](./peripheral/pwm.html) maix.peripheral.pwm module [gpio](./peripheral/gpio.html) maix.peripheral.gpio module [spi](./peripheral/spi.html) maix.peripheral.spi module [uart](./peripheral/uart.html) maix uart peripheral driver [key](./peripheral/key.html) maix.peripheral.key module [i2c](./peripheral/i2c.html) maix.peripheral.i2c module [adc](./peripheral/adc.html) maix.peripheral.adc module ## Enum ## Variable ## Function ## Class"},"/maixpy/api/maix/app.html":{"title":"maix.app","content":" title: maix.app maix.app module > You can use `maix.app` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### app\\_id ```python def app_id() > str ``` item doc **brief** Get current APP ID. **return** APP ID. **C++ defination code**: ```cpp string app_id() ``` ### set\\_app\\_id ```python def set_app_id(app_id: str) > str ``` item doc **brief** Set current APP ID. **param** **app_id**: APP ID.<br> **C++ defination code**: ```cpp string set_app_id(const string &app_id) ``` ### get\\_apps\\_info\\_path ```python def get_apps_info_path() > str ``` item doc **brief** Get APP info file path. **C++ defination code**: ```cpp string get_apps_info_path() ``` ### get\\_apps\\_info ```python def get_apps_info(ignore_launcher: bool False, ignore_app_store: bool False) > list[APP_Info] ``` item doc **brief** Get APP info list. **param** **ignore_launcher**: if true, ignore launcher APP. default false.<br>**ignore_app_store**: if true, ignore app store APP. default false.<br> **return** APP info list. APP_Info object list. **C++ defination code**: ```cpp vector<app::APP_Info> &get_apps_info(bool ignore_launcher false, bool ignore_app_store false) ``` ### get\\_app\\_data\\_path ```python def get_app_data_path() > str ``` item doc **brief** Get APP info, APP can store private data in this directory. **return** APP data path \"./data\", just return the data folder in current path because APP executed in app install path or project path.<br>So, you must execute your program in you project path to use the project/data folder when you debug your APP. **C++ defination code**: ```cpp string get_app_data_path() ``` ### get\\_app\\_path ```python def get_app_path(app_id: str '') > str ``` item doc **brief** Get APP path. **param** **app_id**: APP ID, if empty, return current APP path, else return the APP path by app_id.<br> **return** APP path, just return the current path because APP executed in app install path or project path.<br>So, you must execute your program in you project path to use the project/data folder when you debug your APP. **C++ defination code**: ```cpp string get_app_path(const string &app_id \"\") ``` ### get\\_tmp\\_path ```python def get_tmp_path() > str ``` item doc **brief** Get global temporary data path, APPs can use this path as temporary data directory. **return** temporary data path. **C++ defination code**: ```cpp string get_tmp_path() ``` ### get\\_share\\_path ```python def get_share_path() > str ``` item doc **brief** Get data path of share, shared data like picture and video will put in this directory **return** share data path. **C++ defination code**: ```cpp string get_share_path() ``` ### get\\_picture\\_path ```python def get_picture_path() > str ``` item doc **brief** Get picture path of share, shared picture will put in this directory **return** share picture path. **C++ defination code**: ```cpp string get_picture_path() ``` ### get\\_video\\_path ```python def get_video_path() > str ``` item doc **brief** Get video path of share, shared video will put in this directory **return** share video path. **C++ defination code**: ```cpp string get_video_path() ``` ### get\\_font\\_path ```python def get_font_path() > str ``` item doc **brief** Get font path of share, shared font will put in this directory **return** share font path. **C++ defination code**: ```cpp string get_font_path() ``` ### get\\_icon\\_path ```python def get_icon_path() > str ``` item doc **brief** Get icon path of share, shared icon will put in this directory **return** share icon path. **C++ defination code**: ```cpp string get_icon_path() ``` ### get\\_sys\\_config\\_kv ```python def get_sys_config_kv(item: str, key: str, value: str '', from_cache: bool True) > str ``` item doc **brief** Get system config item value. **param** **item**: name of setting item, e.g. wifi, language. more see settings APP.<br>**key**: config key, e.g. for wifi, key can be ssid, for language, key can be locale.<br>**value**: default value, if not found, return this value.<br>**from_cache**: if true, read from cache, if false, read from file.<br> **return** config value, always string type, if not found, return empty string. **C++ defination code**: ```cpp string get_sys_config_kv(const string &item, const string &key, const string &value \"\", bool from_cache true) ``` ### get\\_app\\_config\\_kv ```python def get_app_config_kv(item: str, key: str, value: str '', from_cache: bool True) > str ``` item doc **brief** Get APP config item value. **param** **item**: name of setting item, e.g. user_info<br>**key**: config key, e.g. for user_info, key can be name, age etc.<br>**value**: default value, if not found, return this value.<br>**from_cache**: if true, read from cache, if false, read from file.<br> **return** config value, always string type, if not found, return empty string. **C++ defination code**: ```cpp string get_app_config_kv(const string &item, const string &key, const string &value \"\", bool from_cache true) ``` ### set\\_app\\_config\\_kv ```python def set_app_config_kv(item: str, key: str, value: str, write_file: bool True) > maix.err.Err ``` item doc **brief** Set APP config item value. **param** **item**: name of setting item, e.g. user_info<br>**key**: config key, e.g. for user_info, key can be name, age etc.<br>**value**: config value, always string type.<br>**write_file**: if true, write to file, if false, just write to cache.<br> **return** err::Err **C++ defination code**: ```cpp err::Err set_app_config_kv(const string &item, const string &key, const string &value, bool write_file true) ``` ### get\\_app\\_config\\_path ```python def get_app_config_path() > str ``` item doc **brief** Get APP config path, ini format, so you can use your own ini parser to parse it like `configparser` in Python.\\nAll APP config info is recommended to store in this file. **return** APP config path(ini format). **C++ defination code**: ```cpp string get_app_config_path() ``` ### set\\_exit\\_msg ```python def set_exit_msg(code: maix.err.Err, msg: str) > maix.err.Err ``` item doc **brief** Set APP exit code and exit message.\\nIf code ! 0, the launcher will show a dialog to user, and display the msg. **param** **code**: exit code, 0 means success, other means error, if code is 0, do nothing.<br>**msg**: exit message, if code is 0, msg is not used.<br> **return** exit code, the same as arg @code. **C++ defination code**: ```cpp err::Err set_exit_msg(err::Err code, const string &msg) ``` ### get\\_exit\\_msg ```python def get_exit_msg(cache: bool False) > tuple[str, maix.err.Err, str] ``` item doc **brief** Get APP exit code and exit message. **param** **cache**: if true, read from cache, if false, read from file. default false.<br> **return** exit return app_id, exit code and exit message. **C++ defination code**: ```cpp tuple<string, err::Err, string> get_exit_msg(bool cache false) ``` ### have\\_exit\\_msg ```python def have_exit_msg(cache: bool False) > bool ``` item doc **brief** Check if have exit msg **param** **cache**: if true, just check from cache, if false, check from file. default false.<br> **return** true if have exit msg, false if not. **C++ defination code**: ```cpp bool have_exit_msg(bool cache false) ``` ### switch\\_app ```python def switch_app(app_id: str, idx: int 1) > None ``` item doc **brief** Exit this APP and start another APP(by launcher).\\nCall this API will call set_exit_flag(true), you should check app::need_exit() in your code.\\nAnd exit this APP if app::need_exit() return true. **param** **app_id**: APP ID which will be started. app_id and idx must have one is valid.<br>**idx**: APP index. app_id and idx must have one is valid.<br> **C++ defination code**: ```cpp void switch_app(const string &app_id, int idx 1) ``` ### need\\_exit ```python def need_exit() > bool ``` item doc **brief** Shoule this APP exit? **return** true if this APP should exit, false if not. **attention** This API is a function, not a variable. **C++ defination code**: ```cpp bool need_exit() ``` ### running ```python def running() > bool ``` item doc **brief** App should running? The same as !app::need_exit() (not app::need_exit() in MaixPy). **return** true if this APP should running, false if not. **attention** This API is a function, not a variable. **C++ defination code**: ```cpp bool running() ``` ### set\\_exit\\_flag ```python def set_exit_flag(exit: bool) > None ``` item doc **brief** Set exit flag. You can get exit flag by app.need_exit(). **param** **exit**: true if this APP should exit, false if not.<br> **C++ defination code**: ```cpp void set_exit_flag(bool exit) ``` ## Class ### Version item doc **brief** APP version **C++ defination code**: ```cpp class Version ``` #### \\_\\_str\\_\\_ item doc **type** func **brief** Convert to string, e.g. 1.0.0 **static** False **C++ defination code**: ```cpp std::string __str__() ``` #### from\\_str item doc **type** func **brief** Convert from string, e.g. \\\"1.0.0\\\" **static** True **C++ defination code**: ```cpp static app::Version from_str(const string &version_str) ``` ### APP\\_Info item doc **brief** APP info **C++ defination code**: ```cpp class APP_Info ``` #### id item doc **type** var **brief** APP id **static** False **readonly** False **C++ defination code**: ```cpp string id ``` #### name item doc **type** var **brief** APP name **static** False **readonly** False **C++ defination code**: ```cpp string name ``` #### icon item doc **type** var **brief** APP icon **static** False **readonly** False **C++ defination code**: ```cpp string icon ``` #### version item doc **type** var **brief** APP version **static** False **readonly** False **C++ defination code**: ```cpp Version version ``` #### exec item doc **type** var **brief** APP exec **static** False **readonly** False **C++ defination code**: ```cpp string exec ``` #### author item doc **type** var **brief** APP author **static** False **readonly** False **C++ defination code**: ```cpp string author ``` #### desc item doc **type** var **brief** APP desc **static** False **readonly** False **C++ defination code**: ```cpp string desc ``` #### names item doc **type** var **brief** APP names **static** False **readonly** False **C++ defination code**: ```cpp map<string, string> names ``` #### descs item doc **type** var **brief** APP descs **static** False **readonly** False **C++ defination code**: ```cpp map<string, string> descs ```"},"/maixpy/api/maix/i18n.html":{"title":"maix.i18n","content":" title: maix.i18n maix.i18n module > You can use `maix.i18n` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ### locales item doc **brief** i18n locales list **value** **{<br> \"en\",<br> \"zh\",<br> \"zh tw\",<br> \"ja\"<br> }** **readonly** False **C++ defination code**: ```cpp static std::vector<std::string> locales { \"en\", \"zh\", \"zh tw\", \"ja\" } ``` ### names item doc **brief** i18n language names list **value** **{<br> \"English\",<br> \"简体中文\",<br> \"繁體中文\",<br> \"日本語\"<br> }** **readonly** True **C++ defination code**: ```cpp const static std::vector<std::string> names { \"English\", \"简体中文\", \"繁體中文\", \"日本語\" } ``` ## Function ### get\\_locale ```python def get_locale(self) > str ``` item doc **brief** Get system config of locale. **return** language locale, e.g. en, zh, zh_CN, zh_TW, etc. **C++ defination code**: ```cpp string get_locale() ``` ### get\\_language\\_name item doc **brief** Get system config of language name. **return** language name, e.g. English, 简体中文, 繁體中文, etc. **C++ defination code**: ```cpp string get_language_name() ``` ## Class ### Trans item doc **brief** Translate helper class. **C++ defination code**: ```cpp class Trans ``` #### \\_\\_init\\_\\_ ```python def __init__(self, locales_dict: dict[str, dict[str, str]]) > None ``` item doc **type** func **brief** Translate helper class constructor.\\nBy default locale is get by `i18n.get_locale()` function which set by system settings.\\nBut you can also manually set by `set_locale` function temporarily. **param** **locales_dict**: locales dict, e.g. {\"zh\": {\"Confirm\": \"确认\", \"OK\": \"好的\"}, \"en\": {\"Confirm\": \"Confirm\", \"OK\": \"OK\"}}<br> **static** False **C++ defination code**: ```cpp Trans(const std::map<string, const std::map<string, string>> &locales_dict) ``` #### tr ```python def tr(self, key: str, locale: str '') > str ``` item doc **type** func **brief** Translate string by key. **param** **key**: string key, e.g. \"Confirm\"<br>**locale**: locale name, if not assign, use default locale set by system settings or set_locale function.<br> **return** translated string, if find translation, return it, or return key, e.g. \"确认\", \"Confirm\", etc. **static** False **C++ defination code**: ```cpp string tr(const string &key, const string locale \"\") ``` #### set\\_locale ```python def set_locale(self, locale: str) > None ``` item doc **type** func **brief** Set locale temporarily, will not affect system settings. **param** **locale**: locale name, e.g. \"zh\", \"en\", etc. @see maix.i18n.locales<br> **static** False **C++ defination code**: ```cpp void set_locale(const string &locale) ``` #### get\\_locale ```python def get_locale(self) > str ``` item doc **type** func **brief** Get current locale. **return** locale name, e.g. \"zh\", \"en\", etc. @see maix.i18n.locales **static** False **C++ defination code**: ```cpp string get_locale() ```"},"/maixpy/api/maix/example.html":{"title":"maix.example","content":" title: maix.example example module, this will be maix.example module in MaixPy, maix::example namespace in MaixCDK > You can use `maix.example` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Kind item doc **brief** Example enum **values** **KIND_NONE**: Kind none, value always 0, other enum value will auto increase<br>**KIND_DOG**: Kind dog<br>**KIND_CAT**: Kind cat, value is auto generated according to KING_DOG<br>**KIND_BIRD**: <br>**KIND_MAX**: Max Kind quantity<br>You can get max Kind value by KIND_MAX 1<br> **C++ defination code**: ```cpp enum Kind { KIND_NONE 0, /** Kind none, value always 0, other enum value will auto increase */ KIND_DOG, /** Kind dog*/ KIND_CAT, // Kind cat, value is auto generated according to KING_DOG KIND_BIRD, KIND_MAX /* Max Kind quantity, You can get max Kind value by KIND_MAX 1 */ } ``` ## Variable ### var1 item doc **brief** Example module variable **attention** It's a copy of this variable in MaixPy,<br>so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.<br>So we add const for this var to avoid this mistake. **value** **\"Sipeed\"** **readonly** True **C++ defination code**: ```cpp const std::string var1 \"Sipeed\" ``` ### list\\_var item doc **brief** Tensor data type size in bytes **attention** **1**. DO NOT use C/C++ array directly for python API, the python wrapper not support it.<br>Use std::vector instead.<br>**2**. It's a copy of this variable in MaixPy,<br>so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.<br>So we add const for this var to avoid this mistake.<br> **value** **{<br> 0, 1, 2, 3, 4, 5, 6, 7, 8, 9}** **readonly** True **C++ defination code**: ```cpp const std::vector<int> list_var { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9} ``` ### test\\_var item doc **brief** Example module variable test_var **attention** It's a copy of this variable in MaixPy, so if you change it in C++, it will not take effect in MaixPy.<br>And change it in MaixPy will not take effect in C++ as well !!!<br>If you want to use vars shared between C++ and MaixPy, you can create a class and use its member. **value** **100** **readonly** False **C++ defination code**: ```cpp int test_var 100 ``` ## Function ### hello ```python def hello(name: str) > str ``` item doc **brief** say hello to someone **param** **name**: direction [in], name of someone, string type<br> **return** string type, content is hello + name **C++ defination code**: ```cpp std::string hello(std::string name) ``` ### change\\_arg\\_name item doc **brief** Change arg name example **param** **e**: Example object<br> **return** same as arg **C++ defination code**: ```cpp example::Example *change_arg_name(example::Example *e) ``` ### change\\_arg\\_name2 ```python def change_arg_name2(e: Example) > None ``` item doc **brief** Change arg name example **param** **e**: Example object<br> **C++ defination code**: ```cpp void change_arg_name2(example::Example &e) ``` ## Class ### Test item doc **brief** Test class **C++ defination code**: ```cpp class Test ``` #### \\_\\_init\\_\\_ ```python def __init__(self) > None ``` item doc **type** func **brief** Test constructor **static** False **C++ defination code**: ```cpp Test() ``` ### Example item doc **brief** Example class\\nthis class will be export to MaixPy as maix.example.Example **C++ defination code**: ```cpp class Example ``` #### \\_\\_init\\_\\_ ```python def __init__(self, name: str, age: int 18, pet: Kind ...) > None ``` item doc **type** func **brief** Example constructor\\nthis constructor will be export to MaixPy as maix.example.Example.__init__ **param** **name**: direction [in], name of Example, string type<br>**age**: direction [in], age of Example, int type, default is 18, value range is [0, 100]<br> **attention** to make auto generate code work, param Kind should with full namespace name `example::Kind` instead of `Kind`,<br>namespace `maix` can be ignored. **static** False **C++ defination code**: ```cpp Example(std::string &name, int age 18, example::Kind pet example::KIND_NONE) ``` #### get\\_name ```python def get_name(self) > str ``` item doc **type** func **brief** get name of Example\\nyou can also get name by property `name`. **return** name of Example, string type **static** False **C++ defination code**: ```cpp std::string get_name() ``` #### get\\_age ```python def get_age(self) > int ``` item doc **type** func **brief** get age of Example **return** age of Example, int type, value range is [0, 100] **static** False **C++ defination code**: ```cpp int get_age() ``` #### set\\_name ```python def set_name(self, name: str) > None ``` item doc **type** func **brief** set name of Example **param** **name**: name of Example, string type<br> **static** False **C++ defination code**: ```cpp void set_name(std::string name) ``` #### set\\_age ```python def set_age(self, age: int) > None ``` item doc **type** func **brief** set age of Example **param** **age**: age of Example, int type, value range is [0, 100]<br> **static** False **C++ defination code**: ```cpp void set_age(int age) ``` #### set\\_pet ```python def set_pet(self, pet: Kind) > None ``` item doc **type** func **brief** Example enum member **attention** **static** False **C++ defination code**: ```cpp void set_pet(example::Kind pet) ``` #### get\\_pet ```python def get_pet(self) > Kind ``` item doc **type** func **brief** Example enum member **static** False **C++ defination code**: ```cpp example::Kind get_pet() ``` #### get\\_list ```python def get_list(self, in: list[int]) > list[int] ``` item doc **type** func **brief** get list example **param** **in**: direction [in], input list, items are int type.<br>In MaixPy, you can pass list or tuple to this API<br> **return** list, items are int type, content is [1, 2, 3] + in. Alloc item, del in MaixPy will auto free memory. **static** False **C++ defination code**: ```cpp std::vector<int> *get_list(std::vector<int> in) ``` #### get\\_dict ```python def get_dict(self, in: dict[str, int]) > dict[str, int] ``` item doc **type** func **brief** Example dict API **param** **in**: direction [in], input dict, key is string type, value is int type.<br>In MaixPy, you can pass `dict` to this API<br> **return** dict, key is string type, value is int type, content is {\"a\": 1} + in<br>In MaixPy, return type is `dict` object **static** False **C++ defination code**: ```cpp std::map<std::string, int> get_dict(std::map<std::string, int> &in) ``` #### hello ```python def hello(name: str) > str ``` item doc **type** func **brief** say hello to someone **param** **name**: name of someone, string type<br> **return** string type, content is Example::hello_str + name **static** True **C++ defination code**: ```cpp static std::string hello(std::string name) ``` #### hello\\_bytes ```python def hello_bytes(*args, **kwargs) ``` item doc **type** func **brief** param is bytes example **param** **bytes**: bytes type param<br> **return** bytes type, return value is bytes changed value **static** True **C++ defination code**: ```cpp static Bytes *hello_bytes(Bytes &bytes) ``` #### callback ```python def callback(cb: typing.Callable[[int, int], int]) > int ``` item doc **type** func **brief** Callback example **param** **cb**: callback function, param is two int type, return is int type<br> **return** int type, return value is cb(1, 2) **static** True **C++ defination code**: ```cpp static int callback(std::function<int(int, int)> cb) ``` #### hello\\_dict ```python def hello_dict(dict: dict[str, int]) > dict[str, int] ``` item doc **type** func **brief** Dict param example **param** **dict**: dict type param, key is string type, value is int type<br> **static** True **C++ defination code**: ```cpp static std::map<std::string, int> *hello_dict(std::map<std::string, int> *dict) ``` #### name item doc **type** var **brief** name member of Example **static** False **readonly** False **C++ defination code**: ```cpp std::string name ``` #### age item doc **type** var **brief** age member of Example, value range should be [0, 100] **static** False **readonly** False **C++ defination code**: ```cpp int age ``` #### hello\\_str item doc **type** var **brief** hello_str member of Example, default value is \\\"hello \\\" **static** True **readonly** False **C++ defination code**: ```cpp static std::string hello_str ``` #### var1 item doc **type** var **brief** Example module readonly variable **static** False **readonly** True **C++ defination code**: ```cpp const std::string var1 \"Example.var1\" ``` #### var2 item doc **type** var **brief** Example module readonly variable **static** False **readonly** True **C++ defination code**: ```cpp std::string var2 \"Example.var2\" ``` #### dict\\_test ```python def dict_test() > dict[str, Test] ``` item doc **type** func **brief** dict_test, return dict type, and element is pointer type(alloc in C++).\\nHere when the returned Tensor object will auto delete by Python GC. **static** True **C++ defination code**: ```cpp static std::map<std::string, example::Test *> *dict_test() ```"},"/maixpy/api/maix/thread.html":{"title":"maix.thread","content":" title: maix.thread maix.thread module > You can use `maix.thread` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### Thread item doc **brief** thread class **C++ defination code**: ```cpp class Thread ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** create thread **param** **func**: direction [in], thread function, one `args` parameter, void* type, no return value<br>**args**: direction [in], thread function parameter<br> **static** False **C++ defination code**: ```cpp Thread(std::function<void(void *)> func, void *args nullptr) ``` #### join item doc **type** func **brief** wait thread exit **static** False **C++ defination code**: ```cpp void join() ``` #### detach item doc **type** func **brief** detach thread **static** False **C++ defination code**: ```cpp void detach() ``` #### joinable item doc **type** func **brief** Check if thread is joinable **return** true if thread is joinable **static** False **C++ defination code**: ```cpp bool joinable() ```"},"/maixpy/api/maix/err.html":{"title":"maix.err","content":" title: maix.err maix.err module > You can use `maix.err` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Err item doc **brief** Maix Error code **values** **ERR_NONE**: No error<br>**ERR_ARGS**: Invalid arguments<br>**ERR_NO_MEM**: No memory<br>**ERR_NOT_IMPL**: Not implemented<br>**ERR_NOT_READY**: Not ready<br>**ERR_NOT_INIT**: Not initialized<br>**ERR_NOT_OPEN**: Not opened<br>**ERR_NOT_PERMIT**: Not permitted<br>**ERR_REOPEN**: Re open<br>**ERR_BUSY**: Busy<br>**ERR_READ**: Read error<br>**ERR_WRITE**: Write error<br>**ERR_TIMEOUT**: Timeout<br>**ERR_RUNTIME**: Runtime error<br>**ERR_IO**: IO error<br>**ERR_NOT_FOUND**: Not found<br>**ERR_ALREAY_EXIST**: Already exist<br>**ERR_BUFF_FULL**: Buffer full<br>**ERR_BUFF_EMPTY**: Buffer empty<br>**ERR_CANCEL**: Cancel<br>**ERR_OVERFLOW**: Overflow<br>**ERR_MAX**: <br> **C++ defination code**: ```cpp enum Err { // !!! fixed error code, DO NOT change number already defined, only append new error code ERR_NONE 0, // No error ERR_ARGS , // Invalid arguments ERR_NO_MEM , // No memory ERR_NOT_IMPL , // Not implemented ERR_NOT_READY , // Not ready ERR_NOT_INIT , // Not initialized ERR_NOT_OPEN , // Not opened ERR_NOT_PERMIT , // Not permitted ERR_REOPEN , // Re open ERR_BUSY , // Busy ERR_READ , // Read error ERR_WRITE , // Write error ERR_TIMEOUT , // Timeout ERR_RUNTIME , // Runtime error ERR_IO , // IO error ERR_NOT_FOUND , // Not found ERR_ALREAY_EXIST , // Already exist ERR_BUFF_FULL , // Buffer full ERR_BUFF_EMPTY , // Buffer empty ERR_CANCEL , // Cancel ERR_OVERFLOW , // Overflow ERR_MAX, } ``` ## Variable ## Function ### to\\_str ```python def to_str(e: Err) > str ``` item doc **brief** Error code to string **param** **e**: direction [in], error code, err::Err type<br> **return** error string **C++ defination code**: ```cpp std::string to_str(err::Err e) ``` ### get\\_error ```python def get_error() > str ``` item doc **brief** get last error string **return** error string **C++ defination code**: ```cpp std::string& get_error() ``` ### set\\_error ```python def set_error(str: str) > None ``` item doc **brief** set last error string **param** **str**: direction [in], error string<br> **C++ defination code**: ```cpp void set_error(const std::string &str) ``` ### check\\_raise ```python def check_raise(e: Err, msg: str '') > None ``` item doc **brief** Check error code, if not ERR_NONE, raise err.Exception **param** **e**: direction [in], error code, err::Err type<br>**msg**: direction [in], error message<br> **C++ defination code**: ```cpp void check_raise(err::Err e, const std::string &msg \"\") ``` ### check\\_bool\\_raise ```python def check_bool_raise(ok: bool, msg: str '') > None ``` item doc **brief** Check condition, if false, raise err.Exception **param** **ok**: direction [in], condition, if true, do nothing, if false, raise err.Exception<br>**msg**: direction [in], error message<br> **C++ defination code**: ```cpp void check_bool_raise(bool ok, const std::string &msg \"\") ``` ### check\\_null\\_raise ```python def check_null_raise(ptr: capsule, msg: str '') > None ``` item doc **brief** Check NULL pointer, if NULL, raise exception **param** **ptr**: direction [in], pointer<br>**msg**: direction [in], error message<br> **C++ defination code**: ```cpp void check_null_raise(void *ptr, const std::string &msg \"\") ``` ## Class ### Exception item doc **brief** Maix Exception **C++ defination code**: ```cpp class Exception : public std::exception ```"},"/maixpy/api/maix/rtmp.html":{"title":"maix.rtmp","content":" title: maix.rtmp maix.rtmp module > You can use `maix.rtmp` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### Rtmp item doc **brief** Rtmp class **C++ defination code**: ```cpp class Rtmp ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new Video object **note** Rtmp url : rtmp://host:prot/app/stream<br>example:<br>r Rtmp(\"localhost\", 1935, \"live\", \"stream\")<br>means rtmp url is rtmp://localhost:1935/live/stream **param** **host**: rtmp ip<br>**port**: rtmp port, default is 1935.<br>**app**: rtmp app name<br>**stream**: rtmp stream name<br> **static** False **C++ defination code**: ```cpp Rtmp(std::string host, int port 1935, std::string app std::string(), std::string stream std::string()) ``` #### bind\\_camera item doc **type** func **brief** Bind camera **note** If the cam object is bound, the cam object cannot be used elsewhere. **param** **cam**: camera object<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err bind_camera(camera::Camera *cam) ``` #### start item doc **type** func **brief** Start push stream **note** only support flv file now **param** **path**: File path, if you passed file path, cyclic push the file, else if you bound camera, push the camera image.<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err start(std::string path std::string()) ``` #### stop item doc **type** func **brief** Stop push **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err stop() ``` #### get\\_path item doc **type** func **brief** Get the file path of the push stream **return** file path **static** False **C++ defination code**: ```cpp std::string get_path() ``` #### get\\_path (overload 1) item doc **type** func **brief** Check whether push streaming has started **return** If rtmp thread is running, returns true **static** False **C++ defination code**: ```cpp bool is_started() ```"},"/maixpy/api/index.html":{"title":"MaixPy API -- Maix AI machine vision platform Python API","content":" title: MaixPy API Maix AI machine vision platform Python API **You can read API doc at [MaixPy API on Sipeed Wiki](https://wiki.sipeed.com/maixpy/api/index.html)** If you want to preview API doc offline, build MaixPy, and API doc will be generated in `MaixPy/docs/api/` directory. > For MaixPy developer: This API documentation is generated from the source code, DO NOT edit this file manually! MaixPy API documentation, modules: module brief [maix.err](./maix/err.html) maix.err module [maix.tensor](./maix/tensor.html) maix.tensor module [maix.image](./maix/image.html) maix.image module, image related definition and functions [maix.camera](./maix/camera.html) maix.camera module, access camera device and get image from it [maix.display](./maix/display.html) maix.display module, control display device and show image on it [maix.comm](./maix/comm.html) maix.comm module [maix.thread](./maix/thread.html) maix.thread module [maix.fs](./maix/fs.html) maix.fs module [maix.sys](./maix/sys.html) maix.sys module [maix.time](./maix/time.html) maix.time module [maix.i18n](./maix/i18n.html) maix.i18n module [maix.protocol](./maix/protocol.html) maix.protocol module [maix.example](./maix/example.html) example module, this will be maix.example module in MaixPy, maix::example namespace in MaixCDK [maix.app](./maix/app.html) maix.app module [maix.util](./maix/util.html) maix.util module [maix.network](./maix/network.html) maix.network module [maix.nn](./maix/nn.html) maix.nn module [maix.audio](./maix/audio.html) maix.audio module [maix.peripheral](./maix/peripheral.html) Chip's peripheral driver [maix.rtmp](./maix/rtmp.html) maix.rtmp module [maix.rtsp](./maix/rtsp.html) maix.rtsp module [maix.video](./maix/video.html) maix.video module [maix.touchscreen](./maix/touchscreen.html) maix.touchscreen module "},"/maixpy/api/maix/audio.html":{"title":"maix.audio","content":" title: maix.audio maix.audio module > You can use `maix.audio` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Format item doc **brief** Audio type **values** **FMT_NONE**: format invalid<br>**FMT_S8**: unsigned 8 bits<br>**FMT_S16_LE**: signed 16 bits, little endian<br>**FMT_S32_LE**: signed 32 bits, little endian<br>**FMT_S16_BE**: signed 16 bits, big endian<br>**FMT_S32_BE**: signed 32 bits, big endian<br>**FMT_U8**: unsigned 8 bits<br>**FMT_U16_LE**: unsigned 16 bits, little endian<br>**FMT_U32_LE**: unsigned 32 bits, little endian<br>**FMT_U16_BE**: unsigned 16 bits, big endian<br>**FMT_U32_BE**: unsigned 32 bits, big endian<br> **C++ defination code**: ```cpp enum Format { FMT_NONE 0, // format invalid FMT_S8, // unsigned 8 bits FMT_S16_LE, // signed 16 bits, little endian FMT_S32_LE, // signed 32 bits, little endian FMT_S16_BE, // signed 16 bits, big endian FMT_S32_BE, // signed 32 bits, big endian FMT_U8, // unsigned 8 bits FMT_U16_LE, // unsigned 16 bits, little endian FMT_U32_LE, // unsigned 32 bits, little endian FMT_U16_BE, // unsigned 16 bits, big endian FMT_U32_BE, // unsigned 32 bits, big endian } ``` ## Variable ## Function ## Class ### Recorder item doc **brief** Recorder class **C++ defination code**: ```cpp class Recorder ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new Recorder object **param** **path**: record path. the path determines the location where you save the file, if path is none, the audio module will not save file.<br>**sample_rate**: record sample rate, default is 48000(48KHz), means 48000 samples per second.<br>**format**: record sample format, default is audio::Format::FMT_S16_LE, means sampling 16 bits at a time and save as signed 16 bits, little endian. see @audio::Format<br>**channel**: record sample channel, default is 1, means 1 channel sampling at the same time<br> **static** False **C++ defination code**: ```cpp Recorder(std::string path std::string(), int sample_rate 48000, audio::Format format audio::Format::FMT_S16_LE, int channel 1) ``` #### volume item doc **type** func **brief** Set/Get record volume **param** **value**: volume value, If you use this parameter, audio will set the value to volume,<br>if you don't, it will return the current volume.<br> **return** the current volume **static** False **C++ defination code**: ```cpp int volume(int value 1) ``` #### record item doc **type** func **brief** Record, Read all cached data in buffer and return. **param** **record_ms**: record time. unit: ms<br>**sample_rate**: audio sample rate<br>**format**: audio sample format<br>**channel**: audio sample channel<br> **return** pcm data. datatype @see Bytes. If you pass in record_ms parameter, the return value is an empty Bytes object. **static** False **C++ defination code**: ```cpp maix::Bytes *record(int record_ms 1) ``` #### finish item doc **type** func **brief** Finish the record, if you have passed in the path, this api will save the audio data to file. **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err finish() ``` #### sample\\_rate item doc **type** func **brief** Get sample rate **return** returns sample rate **static** False **C++ defination code**: ```cpp int sample_rate() ``` #### format item doc **type** func **brief** Get sample format **return** returns sample format **static** False **C++ defination code**: ```cpp audio::Format format() ``` #### channel item doc **type** func **brief** Get sample channel **return** returns sample channel **static** False **C++ defination code**: ```cpp int channel() ``` ### Player item doc **brief** Player class **C++ defination code**: ```cpp class Player ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new Player object **param** **path**: player path. the path determines the location where you save the file, if path is none, the audio module will not save file.<br>**sample_rate**: player sample rate, default is 48000(48KHz), means 48000 samples per second.<br>**format**: player sample format, default is audio::Format::FMT_S16_LE, means sampling 16 bits at a time and save as signed 16 bits, little endian. see @audio::Format<br>**channel**: player sample channel, default is 1, means 1 channel sampling at the same time<br> **static** False **C++ defination code**: ```cpp Player(std::string path std::string(), int sample_rate 48000, audio::Format format audio::Format::FMT_S16_LE, int channel 1) ``` #### volume item doc **type** func **brief** Set/Get player volume(Not support now) **param** **value**: volume value, If you use this parameter, audio will set the value to volume,<br>if you don't, it will return the current volume.<br> **return** the current volume **static** False **C++ defination code**: ```cpp int volume(int value 1) ``` #### play item doc **type** func **brief** Play **param** **data**: audio data, must be raw data<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err play(maix::Bytes *data maix::audio::Player::NoneBytes) ``` #### sample\\_rate item doc **type** func **brief** Get sample rate **return** returns sample rate **static** False **C++ defination code**: ```cpp int sample_rate() ``` #### format item doc **type** func **brief** Get sample format **return** returns sample format **static** False **C++ defination code**: ```cpp audio::Format format() ``` #### channel item doc **type** func **brief** Get sample channel **return** returns sample channel **static** False **C++ defination code**: ```cpp int channel() ```"},"/maixpy/api/maix/time.html":{"title":"maix.time","content":" title: maix.time maix.time module > You can use `maix.time` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### time ```python def time() > float ``` item doc **brief** Get current time in s **return** current time in s, double type **C++ defination code**: ```cpp double time() ``` ### time\\_ms ```python def time_ms() > int ``` item doc **brief** Get current time in ms **return** current time in ms, uint64_t type **C++ defination code**: ```cpp uint64_t time_ms() ``` ### time\\_s ```python def time_s() > int ``` item doc **brief** Get current time in s **return** current time in s, uint64_t type **C++ defination code**: ```cpp uint64_t time_s() ``` ### time\\_us ```python def time_us() > int ``` item doc **brief** Get current time in us **return** current time in us, uint64_t type **C++ defination code**: ```cpp uint64_t time_us() ``` ### time\\_diff ```python def time_diff(last: float, now: float 1) > float ``` item doc **brief** Calculate time difference **param** **last**: last time<br>**now**: current time<br> **return** time difference **C++ defination code**: ```cpp double time_diff(double last, double now 1) ``` ### sleep ```python def sleep(s: float) > None ``` item doc **brief** Sleep seconds **param** **s**: seconds, double type<br> **C++ defination code**: ```cpp void sleep(double s) ``` ### sleep\\_ms ```python def sleep_ms(ms: int) > None ``` item doc **brief** Sleep milliseconds **param** **ms**: milliseconds, uint64_t type<br> **C++ defination code**: ```cpp void sleep_ms(uint64_t ms) ``` ### sleep\\_us ```python def sleep_us(us: int) > None ``` item doc **brief** Sleep microseconds **param** **us**: microseconds, uint64_t type<br> **C++ defination code**: ```cpp void sleep_us(uint64_t us) ``` ### now ```python def now() > DateTime ``` item doc **brief** Get current UTC date and time **return** current date and time, DateTime type **C++ defination code**: ```cpp time::DateTime *now() ``` ### localtime ```python def localtime() > DateTime ``` item doc **brief** Get local time **return** local time, DateTime type **C++ defination code**: ```cpp time::DateTime *localtime() ``` ### strptime ```python def strptime(str: str, format: str) > DateTime ``` item doc **brief** DateTime from string **param** **str**: date time string<br>**format**: date time format<br> **return** DateTime **C++ defination code**: ```cpp time::DateTime *strptime(const std::string &str, const std::string &format) ``` ### gmtime item doc **brief** timestamp to DateTime(time zone is UTC (value 0)) **param** **timestamp**: double timestamp<br> **return** DateTime **C++ defination code**: ```cpp time::DateTime *gmtime(double timestamp) ``` ## Class ### DateTime item doc **brief** Date and time class **C++ defination code**: ```cpp class DateTime ``` #### year item doc **type** var **brief** Year **static** False **readonly** False **C++ defination code**: ```cpp int year ``` #### month item doc **type** var **brief** Month, 1~12 **static** False **readonly** False **C++ defination code**: ```cpp int month ``` #### day item doc **type** var **brief** Day **static** False **readonly** False **C++ defination code**: ```cpp int day ``` #### hour item doc **type** var **brief** Hour **static** False **readonly** False **C++ defination code**: ```cpp int hour ``` #### minute item doc **type** var **brief** Minute **static** False **readonly** False **C++ defination code**: ```cpp int minute ``` #### second item doc **type** var **brief** Second **static** False **readonly** False **C++ defination code**: ```cpp int second ``` #### microsecond item doc **type** var **brief** Microsecond **static** False **readonly** False **C++ defination code**: ```cpp int microsecond ``` #### yearday item doc **type** var **brief** Year day **static** False **readonly** False **C++ defination code**: ```cpp int yearday ``` #### weekday item doc **type** var **brief** Weekday, 0 is Monday, 6 is Sunday **static** False **readonly** False **C++ defination code**: ```cpp int weekday ``` #### zone item doc **type** var **brief** Time zone **static** False **readonly** False **C++ defination code**: ```cpp float zone ``` #### zone\\_name item doc **type** var **brief** Time zone name **static** False **readonly** False **C++ defination code**: ```cpp std::string zone_name ``` #### \\_\\_init\\_\\_ ```python def __init__(self, year: int 0, month: int 0, day: int 0, hour: int 0, minute: int 0, second: int 0, microsecond: int 0, yearday: int 0, weekday: int 0, zone: int 0) > None ``` item doc **type** func **brief** Constructor **param** **year**: year<br>**month**: month<br>**day**: day<br>**hour**: hour<br>**minute**: minute<br>**second**: second<br>**microsecond**: microsecond<br>**yearday**: year day<br>**weekday**: weekday<br>**zone**: time zone<br> **static** False **C++ defination code**: ```cpp DateTime(int year 0, int month 0, int day 0, int hour 0, int minute 0, int second 0, int microsecond 0, int yearday 0, int weekday 0, int zone 0) ``` #### strftime ```python def strftime(self, format: str) > str ``` item doc **type** func **brief** Convert to string **return** date time string **static** False **C++ defination code**: ```cpp std::string strftime(const std::string &format) ``` #### timestamp ```python def timestamp(self) > float ``` item doc **type** func **brief** Convert to float timestamp **return** float timestamp **static** False **C++ defination code**: ```cpp double timestamp() ```"},"/maixpy/api/maix/fs.html":{"title":"maix.fs","content":" title: maix.fs maix.fs module > You can use `maix.fs` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### SEEK item doc **brief** SEEK enums **values** **SEEK_SET**: Seek from beginning of file.<br>**SEEK_CUR**: Seek from current position.<br>**SEEK_END**: Seek from end of file.<br> **C++ defination code**: ```cpp enum SEEK { SEEK_SET 0, // Seek from beginning of file. SEEK_CUR 1, // Seek from current position. SEEK_END 2, // Seek from end of file. } ``` ## Variable ## Function ### isabs ```python def isabs(path: str) > bool ``` item doc **brief** Check if the path is absolute path **param** **path**: path to check<br> **return** true if path is absolute path **C++ defination code**: ```cpp bool isabs(const std::string &path) ``` ### isdir ```python def isdir(path: str) > bool ``` item doc **brief** Check if the path is a directory, if not exist, throw exception **param** **path**: path to check<br> **return** true if path is a directory **C++ defination code**: ```cpp bool isdir(const std::string &path) ``` ### isfile ```python def isfile(path: str) > bool ``` item doc **brief** Check if the path is a file, if not exist, throw exception **param** **path**: path to check<br> **return** true if path is a file **C++ defination code**: ```cpp bool isfile(const std::string &path) ``` ### islink ```python def islink(path: str) > bool ``` item doc **brief** Check if the path is a link, if not exist, throw exception **param** **path**: path to check<br> **return** true if path is a link **C++ defination code**: ```cpp bool islink(const std::string &path) ``` ### symlink ```python def symlink(src: str, link: str, force: bool False) > maix.err.Err ``` item doc **brief** Create soft link **param** **src**: real file path<br>**link**: link file path<br>**force**: force link, if already have link file, will delet it first then create.<br> **C++ defination code**: ```cpp err::Err symlink(const std::string &src, const std::string &link, bool force false) ``` ### exists ```python def exists(path: str) > bool ``` item doc **brief** Check if the path exists **param** **path**: path to check<br> **return** true if path exists **C++ defination code**: ```cpp bool exists(const std::string &path) ``` ### mkdir ```python def mkdir(path: str, exist_ok: bool True, recursive: bool True) > maix.err.Err ``` item doc **brief** Create a directory recursively **param** **path**: path to create<br>**exist_ok**: if true, also return true if directory already exists<br>**recursive**: if true, create directory recursively, otherwise, only create one directory, default is true<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **C++ defination code**: ```cpp err::Err mkdir(const std::string &path, bool exist_ok true, bool recursive true) ``` ### rmdir ```python def rmdir(path: str, recursive: bool False) > maix.err.Err ``` item doc **brief** Remove a directory **param** **path**: path to remove<br>**recursive**: if true, remove directory recursively, otherwise, only remove empty directory, default is false<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **C++ defination code**: ```cpp err::Err rmdir(const std::string &path, bool recursive false) ``` ### remove ```python def remove(path: str) > maix.err.Err ``` item doc **brief** Remove a file **param** **path**: path to remove<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **C++ defination code**: ```cpp err::Err remove(const std::string &path) ``` ### rename ```python def rename(src: str, dst: str) > maix.err.Err ``` item doc **brief** Rename a file or directory **param** **src**: source path<br>**dst**: destination path, if destination dirs not exist, will auto create<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **C++ defination code**: ```cpp err::Err rename(const std::string &src, const std::string &dst) ``` ### sync ```python def sync() > None ``` item doc **brief** Sync files, ensure they're wrriten to disk from RAM **C++ defination code**: ```cpp void sync() ``` ### getsize ```python def getsize(path: str) > int ``` item doc **brief** Get file size **param** **path**: path to get size<br> **return** file size if success, err::Err code if failed **C++ defination code**: ```cpp int getsize(const std::string &path) ``` ### dirname ```python def dirname(path: str) > str ``` item doc **brief** Get directory name of path **param** **path**: path to get dirname<br> **return** dirname if success, empty string if failed **C++ defination code**: ```cpp std::string dirname(const std::string &path) ``` ### basename ```python def basename(path: str) > str ``` item doc **brief** Get base name of path **param** **path**: path to get basename<br> **return** basename if success, empty string if failed **C++ defination code**: ```cpp std::string basename(const std::string &path) ``` ### abspath ```python def abspath(path: str) > str ``` item doc **brief** Get absolute path **param** **path**: path to get absolute path<br> **return** absolute path if success, empty string if failed **C++ defination code**: ```cpp std::string abspath(const std::string &path) ``` ### getcwd ```python def getcwd() > str ``` item doc **brief** Get current working directory **return** current working directory absolute path **C++ defination code**: ```cpp std::string getcwd() ``` ### realpath ```python def realpath(path: str) > str ``` item doc **brief** Get realpath of path **param** **path**: path to get realpath<br> **return** realpath if success, empty string if failed **C++ defination code**: ```cpp std::string realpath(const std::string &path) ``` ### splitext ```python def splitext(path: str) > str ``` item doc **brief** Get file extension **param** **path**: path to get extension<br> **return** extension if success, empty string if failed **C++ defination code**: ```cpp std::string splitext(const std::string &path) ``` ### listdir ```python def listdir(path: str, recursive: bool False, full_path: bool False) > list[str] ``` item doc **brief** List files in directory **param** **path**: path to list<br>**recursive**: if true, list recursively, otherwise, only list current directory, default is false<br>**full_path**: if true, return full path, otherwise, only return basename, default is false<br> **return** files list if success, nullptr if failed, you should manually delete it in C++. **C++ defination code**: ```cpp std::vector<std::string> *listdir(const std::string &path, bool recursive false, bool full_path false) ``` ### open ```python def open(self, path: str, mode: str) > maix.err.Err ``` item doc **brief** Open a file, and return a File object **param** **path**: path to open<br>**mode**: open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"<br> **return** File object if success(need to delete object manually in C/C++), nullptr if failed **C++ defination code**: ```cpp fs::File *open(const std::string &path, const std::string &mode) ``` ### tempdir ```python def tempdir() > str ``` item doc **brief** Get temp files directory **return** temp files directory **C++ defination code**: ```cpp std::string tempdir() ``` ## Class ### File item doc **brief** File read write ops **C++ defination code**: ```cpp class File ``` #### \\_\\_init\\_\\_ ```python def __init__(self) > None ``` item doc **type** func **brief** Construct File object **static** False **C++ defination code**: ```cpp File() ``` #### open ```python def open(self, path: str, mode: str) > maix.err.Err ``` item doc **type** func **brief** Open a file **param** **path**: path to open<br>**mode**: open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"<br> **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **static** False **C++ defination code**: ```cpp err::Err open(const std::string &path, const std::string &mode) ``` #### close ```python def close(self) > None ``` item doc **type** func **brief** Close a file **static** False **C++ defination code**: ```cpp void close() ``` #### read ```python def read(self, size: int) > list[int] ``` item doc **type** func **brief** Read data from file API2 **param** **size**: max read size<br> **return** bytes data if success(need delete manually in C/C++), nullptr if failed **static** False **C++ defination code**: ```cpp std::vector<uint8_t> *read(int size) ``` #### readline ```python def readline(self) > str ``` item doc **type** func **brief** Read line from file **return** line if success, empty string if failed. You need to delete the returned object manually in C/C++. **static** False **C++ defination code**: ```cpp std::string *readline() ``` #### write ```python def write(self, buf: list[int]) > int ``` item doc **type** func **brief** Write data to file API2 **param** **buf**: buffer to write<br> **return** write size if success, err::Err code if failed **static** False **C++ defination code**: ```cpp int write(const std::vector<uint8_t> &buf) ``` #### seek ```python def seek(self, offset: int, whence: int) > int ``` item doc **type** func **brief** Seek file position **param** **offset**: offset to seek<br>**whence**: @see maix.fs.SEEK<br> **return** new position if success, err::Err code if failed **static** False **C++ defination code**: ```cpp int seek(int offset, int whence) ``` #### tell ```python def tell(self) > int ``` item doc **type** func **brief** Get file position **return** file position if success, err::Err code if failed **static** False **C++ defination code**: ```cpp int tell() ``` #### flush ```python def flush(self) > maix.err.Err ``` item doc **type** func **brief** Flush file **return** err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed **static** False **C++ defination code**: ```cpp err::Err flush() ```"},"/maixpy/api/maix/peripheral/uart.html":{"title":"maix.peripheral.uart","content":" title: maix.peripheral.uart maix uart peripheral driver > You can use `maix.peripheral.uart` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### PARITY item doc **brief** uart parity enum **values** **PARITY_NONE**: no parity<br>**PARITY_ODD**: odd parity<br>**PARITY_EVEN**: even parity<br>**PARITY_MAX**: <br> **C++ defination code**: ```cpp enum PARITY { PARITY_NONE 0x00, // no parity PARITY_ODD 0x01, // odd parity PARITY_EVEN 0x02, // even parity PARITY_MAX } ``` ### STOP item doc **brief** uart stop bits **values** **STOP_1**: 1 stop bit<br>**STOP_2**: 2 stop bits<br>**STOP_1_5**: 1.5 stop bits<br>**STOP_MAX**: <br> **C++ defination code**: ```cpp enum STOP { STOP_1 0x01, // 1 stop bit STOP_2 0x02, // 2 stop bits STOP_1_5 0x03, // 1.5 stop bits STOP_MAX } ``` ### BITS item doc **brief** uart stop bits **values** **BITS_5**: 5 data bits<br>**BITS_6**: 6 data bits<br>**BITS_7**: 7 data bits<br>**BITS_8**: 8 data bits<br>**BITS_MAX**: <br> **C++ defination code**: ```cpp enum BITS { BITS_5 5, // 5 data bits BITS_6 6, // 6 data bits BITS_7 7, // 7 data bits BITS_8 8, // 8 data bits BITS_MAX } ``` ### FLOW\\_CTRL item doc **brief** uart flow control **values** **FLOW_CTRL_NONE**: no flow control<br>**FLOW_CTRL_HW**: hardware flow control<br>**FLOW_CTRL_MAX**: <br> **C++ defination code**: ```cpp enum FLOW_CTRL { FLOW_CTRL_NONE 0, // no flow control FLOW_CTRL_HW 1, // hardware flow control FLOW_CTRL_MAX } ``` ## Variable ## Function ### list\\_devices item doc **brief** Get supported uart ports. **return** uart ports list, string type. **C++ defination code**: ```cpp std::vector<std::string> list_devices() ``` ## Class ### UART item doc **brief** maix uart peripheral driver **C++ defination code**: ```cpp class UART : public comm::CommBase ``` #### \\_\\_init\\_\\_ ```python def __init__(self, port: str '', baudrate: int 115200, databits: BITS ..., parity: PARITY ..., stopbits: STOP ..., flow_ctrl: FLOW_CTRL ...) > None ``` item doc **type** func **brief** UART constructor. You need to call open() to open the device. **param** **port**: uart port. string type, can get it by uart.list_devices().<br>If empty, will not open device in constructor, default empty.<br>if not empty, will auto open device in constructor, open fail will throw err.Exception.<br>**baudrate**: baudrate of uart. int type, default 115200.<br>**databits**: databits, values @see uart.DATA_BITS<br>**parity**: parity, values @see uart.PARITY<br>**stopbits**: stopbits, values @see uart.STOP_BITS<br>**flow_control**: flow_control, values @see uart.FLOW_CTRL<br> **static** False **C++ defination code**: ```cpp UART(const std::string &port \"\", int baudrate 115200, uart::BITS databits uart::BITS_8, uart::PARITY parity uart::PARITY_NONE, uart::STOP stopbits uart::STOP_1, uart::FLOW_CTRL flow_ctrl uart::FLOW_CTRL_NONE) ``` #### set\\_port ```python def set_port(self, port: str) > maix.err.Err ``` item doc **type** func **brief** Set port **param** **port**: uart port. string type, can get it by uart.list_devices().<br> **return** set port error code, err.Err type. **static** False **C++ defination code**: ```cpp err::Err set_port(const std::string &port) ``` #### get\\_port ```python def get_port(self) > str ``` item doc **type** func **brief** Get port **return** uart port, string type. **static** False **C++ defination code**: ```cpp std::string get_port() ``` #### set\\_baudrate ```python def set_baudrate(self, baudrate: int) > maix.err.Err ``` item doc **type** func **brief** Set baud rate **param** **baudrate**: baudrate of uart. int type, default 115200.<br> **return** set baud rate error code, err.Err type. **static** False **C++ defination code**: ```cpp err::Err set_baudrate(int baudrate) ``` #### get\\_baudrate ```python def get_baudrate(self) > int ``` item doc **type** func **brief** Get baud rate **return** baud rate, int type. **static** False **C++ defination code**: ```cpp int get_baudrate() ``` #### open ```python def open(self) > maix.err.Err ``` item doc **type** func **brief** Open uart device, before open, port must be set in constructor or by set_port().\\nIf already opened, do nothing and return err.ERR_NONE. **return** open device error code, err.Err type. **static** False **C++ defination code**: ```cpp err::Err open() ``` #### is\\_open ```python def is_open(self) > bool ``` item doc **type** func **brief** Check if device is opened. **return** true if opened, false if not opened. **static** False **C++ defination code**: ```cpp bool is_open() ``` #### close ```python def close(self) > maix.err.Err ``` item doc **type** func **brief** Close uart device, if already closed, do nothing and return err.ERR_NONE. **return** close device error code, err.Err type. **static** False **C++ defination code**: ```cpp err::Err close() ``` #### write\\_str ```python def write_str(self, str: str) > int ``` item doc **type** func **brief** Send string data **param** **str**: string data<br> **return** sent data length, < 0 means error, value is err.Err. **static** False **C++ defination code**: ```cpp int write_str(const std::string &str) ``` #### write ```python def write(self, data: maix.Bytes(bytes)) > int ``` item doc **type** func **brief** Send data to uart **param** **data**: direction [in], data to send, bytes type. If you want to send str type, use str.encode() to convert.<br> **return** sent length, int type, if < 0 means error, value is err.Err. **static** False **C++ defination code**: ```cpp int write(Bytes &data) ``` #### available ```python def available(self, timeout: int 0) > int ``` item doc **type** func **brief** Check if data available or wait data available. **param** **timeout**: unit ms, timeout to wait data, default 0.<br>0 means check data available and return immediately,<br>> 0 means wait until data available or timeout.<br> 1 means wait until data available.<br> **return** available data number, 0 if timeout or no data, <0 if error, value is err.Err, can be err::ERR_IO， err::ERR_CANCEL, err::ERR_NOT_OPEN. **throw** err.Exception if fatal error. **static** False **C++ defination code**: ```cpp int available(int timeout 0) ``` #### read ```python def read(*args, **kwargs) ``` item doc **type** func **brief** Recv data from uart **param** **len**: max data length want to receive, default 1.<br> 1 means read data in uart receive buffer.<br>>0 means read len data want to receive.<br>other values is invalid.<br>**timeout**: unit ms, timeout to receive data, default 0.<br>0 means read data in uart receive buffer and return immediately,<br> 1 means block until read len data,<br>>0 means block until read len data or timeout.<br> **return** received data, bytes type.<br>Attention, you need to delete the returned object yourself in C++. **static** False **C++ defination code**: ```cpp Bytes *read(int len 1, int timeout 0) ``` #### readline ```python def readline(*args, **kwargs) ``` item doc **type** func **brief** Read line from uart, that is read until '\\n' or '\\r\\n'. **param** **timeout**: unit ms, timeout to receive data, default 1 means block until read '\\n' or '\\r\\n'.<br>> 0 means block until read '\\n' or '\\r\\n' or timeout.<br> **return** received data, bytes type. If timeout will return the current received data despite not read '\\n' or '\\r\\n'.<br>e.g. If we want to read b'123\\n', but when we only read b'12', timeout, then return b'12'. **static** False **C++ defination code**: ```cpp Bytes *readline(int timeout 1) ```"},"/maixpy/api/maix/peripheral/key.html":{"title":"maix.peripheral.key","content":" title: maix.peripheral.key maix.peripheral.key module > You can use `maix.peripheral.key` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Keys item doc **brief** Keys enum, id the same as linux input.h(input event codes.h) **values** **KEY_NONE**: <br>**KEY_ESC**: <br>**KEY_OK**: <br>**KEY_OPTION**: <br>**KEY_NEXT**: <br>**KEY_PREV**: <br> **C++ defination code**: ```cpp enum Keys{ KEY_NONE 0x000, KEY_ESC 0x001, KEY_OK 0x160, KEY_OPTION 0x165, KEY_NEXT 0x197, KEY_PREV 0x19c } ``` ### State item doc **brief** Key state enum **values** **KEY_RELEASED**: <br>**KEY_PRESSED**: <br> **C++ defination code**: ```cpp enum State{ KEY_RELEASED 0, KEY_PRESSED 1, } ``` ## Variable ## Function ### add\\_default\\_listener item doc **brief** Add default listener, if you want to exit app when press ok button, you can just call this function.\\nThis function is auto called in MaixPy' startup code, so you don't need to call it in MaixPy.\\nCreate Key object will auto call rm_default_listener() to cancel the default ok button function.\\nWhen ok button pressed, a SIGINT signal will be raise and call app.set_exit_flag(True). **C++ defination code**: ```cpp void add_default_listener() ``` ### rm\\_default\\_listener item doc **brief** Remove default listener, if you want to cancel the default ok button function(exit app), you can just call this function. **C++ defination code**: ```cpp void rm_default_listener() ``` ## Class ### Key item doc **brief** Key input class **C++ defination code**: ```cpp class Key ``` #### \\_\\_init\\_\\_ ```python def __init__(self, callback: typing.Callable[[int, int], None] None, open: bool True) > None ``` item doc **type** func **brief** Key Device constructor **param** **callback**: When key triggered and callback is not empty(empty In MaixPy is None, in C++ is nullptr),<br>callback will be called with args key(key.Keys) and value(key.State).<br>If set to null, you can get key value by read() function.<br>This callback called in a standalone thread, so you can block a while in callback, and you should be carefully when operate shared data.<br>**open**: auto open device in constructor, if false, you need call open() to open device<br> **static** False **C++ defination code**: ```cpp Key(std::function<void(int, int)> callback nullptr, bool open true) ``` #### open ```python def open(self) > maix.err.Err ``` item doc **type** func **brief** Open(Initialize) key device, if already opened, will close first and then open. **return** err::Err type, err.Err.ERR_NONE means success **static** False **C++ defination code**: ```cpp err::Err open() ``` #### close ```python def close(self) > maix.err.Err ``` item doc **type** func **brief** Close key device **return** err::Err type, err.Err.ERR_NONE means success **static** False **C++ defination code**: ```cpp err::Err close() ``` #### is\\_opened ```python def is_opened(self) > bool ``` item doc **type** func **brief** Check key device is opened **return** bool type, true means opened, false means closed **static** False **C++ defination code**: ```cpp bool is_opened() ``` #### read ```python def read(self) > tuple[int, int] ``` item doc **type** func **brief** Read key input, and return key and value, if callback is set, DO NOT call this function manually. **return** list type, first is key(maix.key.Keys), second is value(maix.key.State), if no key input, return [0, 0] **throw** If read failed, will throw maix.err.Exception. **static** False **C++ defination code**: ```cpp std::pair<int, int> read() ```"},"/maixpy/api/maix/peripheral/adc.html":{"title":"maix.peripheral.adc","content":" title: maix.peripheral.adc maix.peripheral.adc module > You can use `maix.peripheral.adc` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ### RES\\_BIT\\_8 item doc **brief** 8 bit resolution, supported by the actual hardware **value** **8** **readonly** True **C++ defination code**: ```cpp const int RES_BIT_8 8 ``` ### RES\\_BIT\\_10 item doc **brief** 10 bit resolution, supported by the actual hardware **value** **10** **readonly** True **C++ defination code**: ```cpp const int RES_BIT_10 10 ``` ### RES\\_BIT\\_12 item doc **brief** 12 bit resolution, supported by the actual hardware **value** **12** **readonly** True **C++ defination code**: ```cpp const int RES_BIT_12 12 ``` ### RES\\_BIT\\_16 item doc **brief** 16 bit resolution, supported by the actual hardware **value** **16** **readonly** True **C++ defination code**: ```cpp const int RES_BIT_16 16 ``` ## Function ## Class ### ADC item doc **brief** Peripheral adc class **C++ defination code**: ```cpp class ADC ``` #### \\_\\_init\\_\\_ ```python def __init__(self, pin: int, resolution: int, vref: float 1) > None ``` item doc **type** func **brief** ADC constructor **param** **pin**: direction [in], adc pin, int type<br>**resolution**: direction [in], adc resolution. default is 1, means use default resolution<br>option:<br>resolution adc.RES_BIT_8, means 8 bit resolution<br>resolution adc.RES_BIT_10, means 10 bit resolution<br>resolution adc.RES_BIT_12, means 12 bit resolution<br>resolution adc.RES_BIT_16, means 16 bit resolution<br>the default resolution is determined by actual hardware.<br>**vref**: direction [in], adc refer voltage. default is 1, means use default refer voltage.<br>the default vref is determined by actual hardware. range: [0.0, 10.0]<br> **static** False **C++ defination code**: ```cpp ADC(int pin, int resolution, float vref 1) ``` #### read ```python def read(self) > int ``` item doc **type** func **brief** read adc value **return** adc data, int type<br>if resolution is 8 bit, return value range is [0, 255]<br>if resolution is 10 bit, return value range is [0, 1023]<br>if resolution is 12 bit, return value range is [0, 4095]<br>if resolution is 16 bit, return value range is [0, 65535] **static** False **C++ defination code**: ```cpp int read() ``` #### read\\_vol ```python def read_vol(self) > float ``` item doc **type** func **brief** read adc voltage **return** adc voltage, float type。the range is [0.0, vref] **static** False **C++ defination code**: ```cpp float read_vol() ```"},"/maixpy/api/maix/peripheral/pwm.html":{"title":"maix.peripheral.pwm","content":" title: maix.peripheral.pwm maix.peripheral.pwm module > You can use `maix.peripheral.pwm` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### PWM item doc **brief** Peripheral pwm class **C++ defination code**: ```cpp class PWM ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** PWM constructor **param** **pin**: direction [in], pwm id, int type, like 0, 1, 2 etc.<br>**freq**: direction [in], pwm frequency, unit: Hz. int type. default is 1000<br>**duty**: direction [in], pwm duty. double type. range is [0, 100], default is 0.<br>**enable**: direction [in], enable pwm output right now. bool type. default is true, if false, you need to call enable() to enable pwm output.<br>**duty_val**: direction [in], pwm duty value, int type. default 1 means not set and auto calculate by freq and duty.<br>This arg directly set pwm duty value, if set, will ignore duty arg.<br>duty_val duty / 100 * T_ns, T_ns 1 / freq * 1000000000.<br> **throw** If args error or init pwm failed, will throw err::Exception **static** False **C++ defination code**: ```cpp PWM(int id, int freq 1000, double duty 0, bool enable true, int duty_val 1) ``` #### duty item doc **type** func **brief** get or set pwm duty **param** **duty**: direction [in], pwm duty, double type, value in [0, 100], default 1 means only read.<br> **return** current duty, float type, if set and set failed will return err::Err **static** False **C++ defination code**: ```cpp double duty(double duty 1) ``` #### duty\\_val item doc **type** func **brief** set pwm duty value **param** **duty_val**: direction [in], pwm duty value. int type. default is 1<br>duty_val > 0 means set duty_val<br>duty_val 1 or not set, return current duty_val<br> **return** int type<br>when get duty_val, return current duty_val, else return err::Err code. **static** False **C++ defination code**: ```cpp int duty_val(int duty_val 1) ``` #### freq item doc **type** func **brief** get or set pwm frequency **param** **freq**: direction [in], pwm frequency. int type. default is 1<br>freq > 0, set freq<br>freq 1 or not set, return current freq<br> **return** int type, current freq, if set and set failed will return err::Err **static** False **C++ defination code**: ```cpp int freq(int freq 1) ``` #### enable item doc **type** func **brief** set pwm enable **return** err::Err type, err.Err.ERR_NONE means success **static** False **C++ defination code**: ```cpp err::Err enable() ``` #### disable item doc **type** func **brief** set pwm disable **return** err::Err type, err.Err.ERR_NONE means success **static** False **C++ defination code**: ```cpp err::Err disable() ``` #### is\\_enabled item doc **type** func **brief** get pwm enable status **return** bool type, true means enable, false means disable **static** False **C++ defination code**: ```cpp bool is_enabled() ```"},"/maixpy/api/maix/camera.html":{"title":"maix.camera","content":" title: maix.camera maix.camera module, access camera device and get image from it > You can use `maix.camera` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ### list\\_devices item doc **brief** List all supported camera devices. **return** Returns the path to the camera device. **C++ defination code**: ```cpp std::vector<std::string> list_devices() ``` ### set\\_regs\\_enable ```python def set_regs_enable(enable: bool True) > None ``` item doc **brief** Enable set camera registers, default is false, if set to true, will not set camera registers, you can manually set registers by write_reg API. **param** **enable**: enable/disable set camera registers<br> **C++ defination code**: ```cpp void set_regs_enable(bool enable true) ``` ## Class ### Camera item doc **brief** Camera class **C++ defination code**: ```cpp class Camera ``` #### \\_\\_init\\_\\_ ```python def __init__(self, width: int 1, height: int 1, format: maix.image.Format ..., device: str None, fps: int 1, buff_num: int 3, open: bool True) > None ``` item doc **type** func **brief** Construct a new Camera object **param** **width**: camera width, default is 1, means auto, mostly means max width of camera support<br>**height**: camera height, default is 1, means auto, mostly means max height of camera support<br>**format**: camera output format, default is image.Format.FMT_RGB888<br>**device**: camera device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device<br>**fps**: camera fps, default is 1, means auto, mostly means max fps of camera support<br>**buff_num**: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,<br>more than one buffer will accelerate image read speed, but will cost more memory.<br>**open**: If true, camera will automatically call open() after creation. default is true.<br> **static** False **C++ defination code**: ```cpp Camera(int width 1, int height 1, image::Format format image::FMT_RGB888, const char *device nullptr, int fps 1, int buff_num 3, bool open true) ``` #### get\\_ch\\_nums ```python def get_ch_nums(self) > int ``` item doc **type** func **brief** Get the number of channels supported by the camera. **return** Returns the maximum number of channels. **static** False **C++ defination code**: ```cpp int get_ch_nums() ``` #### open ```python def open(self, width: int 1, height: int 1, format: maix.image.Format ..., fps: int 1, buff_num: int 1) > maix.err.Err ``` item doc **type** func **brief** Open camera and run **param** **width**: camera width, default is 1, means auto, mostly means max width of camera support<br>**height**: camera height, default is 1, means auto, mostly means max height of camera support<br>**format**: camera output format, default same as the constructor's format argument<br>**fps**: camera fps, default is 1, means auto, mostly means max fps of camera support<br>**buff_num**: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,<br>more than one buffer will accelerate image read speed, but will cost more memory.<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err open(int width 1, int height 1, image::Format format image::FMT_INVALID, int fps 1, int buff_num 1) ``` #### read ```python def read(self, buff: capsule None, buff_size: int 0, block: bool True) > maix.image.Image ``` item doc **type** func **brief** Get one frame image from camera buffer, must call open method before read.\\nIf open method not called, will call it automatically, if open failed, will throw exception!\\nSo call open method before read is recommended. **param** **buff**: buffer to store image data, if buff is nullptr, will alloc memory automatically.<br>In MaixPy, default to None, you can create a image.Image object, then pass img.data() to buff.<br>**block**: block read, default is true, means block util read image successfully,<br>if set to false, will return nullptr if no image in buffer<br> **return** image::Image object, if failed, return nullptr, you should delete if manually in C++ **static** False **C++ defination code**: ```cpp image::Image *read(void *buff nullptr, size_t buff_size 0, bool block true) ``` #### clear\\_buff ```python def clear_buff(self) > None ``` item doc **type** func **brief** Clear buff to ensure the next read image is the latest image **static** False **C++ defination code**: ```cpp void clear_buff() ``` #### skip\\_frames ```python def skip_frames(self, num: int) > None ``` item doc **type** func **brief** Read some frames and drop, this is usually used avoid read not stable image when camera just opened. **param** **num**: number of frames to read and drop<br> **static** False **C++ defination code**: ```cpp void skip_frames(int num) ``` #### close ```python def close(self) > None ``` item doc **type** func **brief** Close camera **static** False **C++ defination code**: ```cpp void close() ``` #### add\\_channel ```python def add_channel(self, width: int 1, height: int 1, format: maix.image.Format ..., fps: int 1, buff_num: int 3, open: bool True) > Camera ``` item doc **type** func **brief** Add a new channel and return a new Camera object, you can use close() to close this channel. **param** **width**: camera width, default is 1, means auto, mostly means max width of camera support<br>**height**: camera height, default is 1, means auto, mostly means max height of camera support<br>**format**: camera output format, default is RGB888<br>**fps**: camera fps, default is 1, means auto, mostly means max fps of camera support<br>**buff_num**: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,<br>more than one buffer will accelerate image read speed, but will cost more memory.<br>**open**: If true, camera will automatically call open() after creation. default is true.<br> **return** new Camera object **static** False **C++ defination code**: ```cpp camera::Camera *add_channel(int width 1, int height 1, image::Format format image::FMT_RGB888, int fps 1, int buff_num 3, bool open true) ``` #### is\\_opened ```python def is_opened(self) > bool ``` item doc **type** func **brief** Check if camera is opened **return** true if camera is opened, false if not **static** False **C++ defination code**: ```cpp bool is_opened() ``` #### is\\_closed ```python def is_closed(self) > bool ``` item doc **type** func **brief** check camera device is closed or not **return** closed or not, bool type **static** False **C++ defination code**: ```cpp bool is_closed() ``` #### width ```python def width(self) > int ``` item doc **type** func **brief** Get camera width **return** camera width **static** False **C++ defination code**: ```cpp int width() ``` #### height ```python def height(self) > int ``` item doc **type** func **brief** Get camera height **return** camera height **static** False **C++ defination code**: ```cpp int height() ``` #### fps ```python def fps(self) > int ``` item doc **type** func **brief** Get camera fps **return** camera fps **static** False **C++ defination code**: ```cpp int fps() ``` #### format ```python def format(self) > maix.image.Format ``` item doc **type** func **brief** Get camera output format **return** camera output format, image::Format object **static** False **C++ defination code**: ```cpp image::Format format() ``` #### buff\\_num ```python def buff_num(self) > int ``` item doc **type** func **brief** Get camera buffer number **return** camera buffer number **static** False **C++ defination code**: ```cpp int buff_num() ``` #### hmirror ```python def hmirror(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera horizontal mirror **return** camera horizontal mirror **static** False **C++ defination code**: ```cpp int hmirror(int value 1) ``` #### vflip ```python def vflip(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera vertical flip **return** camera vertical flip **static** False **C++ defination code**: ```cpp int vflip(int value 1) ``` #### device ```python def device(self) > str ``` item doc **type** func **brief** Get camera device path **return** camera device path **static** False **C++ defination code**: ```cpp std::string device() ``` #### write\\_reg ```python def write_reg(self, addr: int, data: int, bit_width: int 8) > maix.err.Err ``` item doc **type** func **brief** Write camera register **param** **addr**: register address<br>**data**: register data<br>**bit_width**: register data bit width, default is 8<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err write_reg(int addr, int data, int bit_width 8) ``` #### read\\_reg ```python def read_reg(self, addr: int, bit_width: int 8) > int ``` item doc **type** func **brief** Read camera register **param** **addr**: register address<br>**bit_width**: register data bit width, default is 8<br> **return** register data, 1 means failed **static** False **C++ defination code**: ```cpp int read_reg(int addr, int bit_width 8) ``` #### show\\_colorbar ```python def show_colorbar(self, enable: bool) > maix.err.Err ``` item doc **type** func **brief** Camera output color bar image for test **param** **enable**: enable/disable color bar<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err show_colorbar(bool enable) ``` #### get\\_channel ```python def get_channel(self) > int ``` item doc **type** func **brief** Get channel of camera **return** channel number **static** False **C++ defination code**: ```cpp int get_channel() ``` #### set\\_resolution ```python def set_resolution(self, width: int, height: int) > maix.err.Err ``` item doc **type** func **brief** Set camera resolution **param** **width**: new width<br>**height**: new height<br> **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err set_resolution(int width, int height) ``` #### exposure ```python def exposure(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera exposure **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: exposure time. unit: us<br>If value 1, return exposure time.<br>If value ! 0, set and return exposure time.<br> **return** camera exposure time **static** False **C++ defination code**: ```cpp uint64_t exposure(uint64_t value 1) ``` #### gain ```python def gain(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera gain **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: camera gain.<br>If value 1, returns camera gain.<br>If value ! 0, set and return camera gain.<br> **return** camera gain **static** False **C++ defination code**: ```cpp uint32_t gain(uint32_t value 1) ``` #### luma ```python def luma(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera luma **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: luma value, range is [0, 100]<br>If value 1, returns luma value.<br>If value ! 0, set and return luma value.<br> **return** returns luma value **static** False **C++ defination code**: ```cpp uint32_t luma(uint32_t value 1) ``` #### constrast ```python def constrast(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera constrast **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: constrast value, range is [0, 100]<br>If value 1, returns constrast value.<br>If value ! 0, set and return constrast value.<br> **return** returns constrast value **static** False **C++ defination code**: ```cpp uint32_t constrast(uint32_t value 1) ``` #### saturation ```python def saturation(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get camera saturation **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: saturation value, range is [0, 100]<br>If value 1, returns saturation value.<br>If value ! 0, set and return saturation value.<br> **return** returns saturation value **static** False **C++ defination code**: ```cpp uint32_t saturation(uint32_t value 1) ``` #### awb\\_mode ```python def awb_mode(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get white balance mode **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: value 0, means set white balance to auto mode, value 1, means set white balance to manual mode, default is auto mode.<br> **return** returns awb mode **static** False **C++ defination code**: ```cpp uint32_t awb_mode(uint32_t value 1) ``` #### exp\\_mode ```python def exp_mode(self, value: int 1) > int ``` item doc **type** func **brief** Set/Get exposure mode **attention** This method will affect the isp and thus the image, so please be careful with it. **param** **value**: value 0, means set exposure to auto mode, value 1, means set exposure to manual mode, default is auto mode.<br> **return** returns exposure mode **static** False **C++ defination code**: ```cpp uint32_t exp_mode(uint32_t value 1) ```"},"/maixpy/api/maix/network.html":{"title":"maix.network","content":" title: maix.network maix.network module > You can use `maix.network` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module module brief [wifi](./network/wifi.html) maix.network.wifi module ## Enum ## Variable ## Function ### have\\_network ```python def have_network() > bool ``` item doc **brief** Return if device have network(WiFi/Eth etc.) **return** True if have network, else False. **C++ defination code**: ```cpp bool have_network() ``` ## Class"},"/maixpy/api/maix/nn.html":{"title":"maix.nn","content":" title: maix.nn maix.nn module > You can use `maix.nn` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module module brief [F](./nn/F.html) maix.nn.F module ## Enum ## Variable ## Function ## Class ### YOLOv5 item doc **brief** YOLOv5 class **C++ defination code**: ```cpp class YOLOv5 ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor of YOLOv5 class **param** **model**: model path, default empty, you can load model later by load function.<br> **throw** If model arg is not empty and load failed, will throw err::Exception. **static** False **C++ defination code**: ```cpp YOLOv5(const string &model \"\") ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file **param** **model**: Model path want to load<br> **return** err::Err **static** False **C++ defination code**: ```cpp err::Err load(const string &model) ``` #### detect ```python def detect(self, img: maix.image.Image, conf_th: float 0.5, iou_th: float 0.45, fit: maix.image.Fit ...) > list[...] ``` item doc **type** func **brief** Detect objects from image **param** **img**: Image want to detect, if image's size not match model input's, will auto resize with fit method.<br>**conf_th**: Confidence threshold, default 0.5.<br>**iou_th**: IoU threshold, default 0.45.<br>**fit**: Resize method, default image.Fit.FIT_CONTAIN.<br> **throw** If image format not match model input format, will throw err::Exception. **return** Object list. In C++, you should delete it after use. **static** False **C++ defination code**: ```cpp std::vector<nn::Object> *detect(image::Image &img, float conf_th 0.5, float iou_th 0.45, maix::image::Fit fit maix::image::FIT_CONTAIN) ``` #### input\\_size ```python def input_size(self) > maix.image.Size ``` item doc **type** func **brief** Get model input size **return** model input size **static** False **C++ defination code**: ```cpp image::Size input_size() ``` #### input\\_width ```python def input_width(self) > int ``` item doc **type** func **brief** Get model input width **return** model input size of width **static** False **C++ defination code**: ```cpp int input_width() ``` #### input\\_height ```python def input_height(self) > int ``` item doc **type** func **brief** Get model input height **return** model input size of height **static** False **C++ defination code**: ```cpp int input_height() ``` #### input\\_format ```python def input_format(self) > maix.image.Format ``` item doc **type** func **brief** Get input image format **return** input image format, image::Format type. **static** False **C++ defination code**: ```cpp image::Format input_format() ``` #### labels item doc **type** var **brief** Labels list **static** False **readonly** False **C++ defination code**: ```cpp std::vector<string> labels ``` #### label\\_path item doc **type** var **brief** Label file path **static** False **readonly** False **C++ defination code**: ```cpp std::string label_path ``` #### mean item doc **type** var **brief** Get mean value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> scale ``` #### anchors item doc **type** var **brief** Get anchors **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> anchors ``` ### Classifier item doc **brief** Classifier **C++ defination code**: ```cpp class Classifier ``` #### \\_\\_init\\_\\_ ```python def __init__(self, model: str '') > None ``` item doc **type** func **brief** Construct a new Classifier object **param** **model**: MUD model path, if empty, will not load model, you can call load() later.<br>if not empty, will load model and will raise err::Exception if load failed.<br> **static** False **C++ defination code**: ```cpp Classifier(const string &model \"\") ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file, model format is .mud,\\nMUD file should contain [extra] section, have key values:\\n model_type: classifier\\n input_type: rgb or bgr\\n mean: 123.675, 116.28, 103.53\\n scale: 0.017124753831663668, 0.01750700280112045, 0.017429193899782137\\n labels: imagenet_classes.txt **param** **model**: MUD model path<br> **return** error code, if load failed, return error code **static** False **C++ defination code**: ```cpp err::Err load(const string &model) ``` #### classify ```python def classify(self, img: maix.image.Image, softmax: bool True) > list[tuple[int, float]] ``` item doc **type** func **brief** Forward image to model, get result. Only for image input, use classify_raw for tensor input. **param** **img**: image, format should match model input_type， or will raise err.Exception<br>**softmax**: if true, will do softmax to result, or will return raw value<br> **throw** If error occurred, will raise err::Exception, you can find reason in log, mostly caused by args error or hardware error. **return** result, a list of (label, score). In C++, you need to delete it after use. **static** False **C++ defination code**: ```cpp std::vector<std::pair<int, float>> *classify(image::Image &img, bool softmax true) ``` #### classify\\_raw ```python def classify_raw(self, data: maix.tensor.Tensor, softmax: bool True) > list[tuple[int, float]] ``` item doc **type** func **brief** Forward tensor data to model, get result **param** **data**: tensor data, format should match model input_type， or will raise err.Excetion<br>**softmax**: if true, will do softmax to result, or will return raw value<br> **throw** If error occurred, will raise err::Exception, you can find reason in log, mostly caused by args error or hardware error. **return** result, a list of (label, score). In C++, you need to delete it after use. **static** False **C++ defination code**: ```cpp std::vector<std::pair<int, float>> *classify_raw(tensor::Tensor &data, bool softmax true) ``` #### input\\_size ```python def input_size(self) > maix.image.Size ``` item doc **type** func **brief** Get model input size, only for image input **return** model input size **static** False **C++ defination code**: ```cpp image::Size input_size() ``` #### input\\_width ```python def input_width(self) > int ``` item doc **type** func **brief** Get model input width, only for image input **return** model input size of width **static** False **C++ defination code**: ```cpp int input_width() ``` #### input\\_height ```python def input_height(self) > int ``` item doc **type** func **brief** Get model input height, only for image input **return** model input size of height **static** False **C++ defination code**: ```cpp int input_height() ``` #### input\\_format ```python def input_format(self) > maix.image.Format ``` item doc **type** func **brief** Get input image format, only for image input **return** input image format, image::Format type. **static** False **C++ defination code**: ```cpp image::Format input_format() ``` #### input\\_shape ```python def input_shape(self) > list[int] ``` item doc **type** func **brief** Get input shape, if have multiple input, only return first input shape **return** input shape, list type **static** False **C++ defination code**: ```cpp std::vector<int> input_shape() ``` #### labels item doc **type** var **brief** Labels list **static** False **readonly** False **C++ defination code**: ```cpp std::vector<string> labels ``` #### label\\_path item doc **type** var **brief** Label file path **static** False **readonly** False **C++ defination code**: ```cpp std::string label_path ``` #### mean item doc **type** var **brief** Get mean value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> scale ``` ### MUD item doc **brief** MUD(model universal describe file) class **C++ defination code**: ```cpp class MUD ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** MUD constructor **param** **model_path**: direction [in], model file path, model format can be MUD(model universal describe file) file.<br>If model_path set, will load model from file, load failed will raise err.Exception.<br>If model_path not set, you can load model later by load function.<br> **static** False **C++ defination code**: ```cpp MUD(const char *model_path nullptr) ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file **param** **model_path**: direction [in], model file path, model format can be MUD(model universal describe file) file.<br> **return** error code, if load success, return err::ERR_NONE **static** False **C++ defination code**: ```cpp err::Err load(const std::string &model_path) ``` #### type item doc **type** var **brief** Model type, string type **static** False **readonly** False **C++ defination code**: ```cpp std::string type ``` #### items item doc **type** var **brief** Model config items, different model type has different config items **static** False **readonly** False **C++ defination code**: ```cpp std::map<std::string, std::map<std::string, std::string>> items ``` ### LayerInfo item doc **brief** NN model layer info **C++ defination code**: ```cpp class LayerInfo ``` #### \\_\\_init\\_\\_ ```python def __init__(self, name: str '', dtype: maix.tensor.DType ..., shape: list[int] []) > None ``` item doc **type** func **brief** LayerInfo constructor **param** **name**: direction [in], layer name<br>**dtype**: direction [in], layer data type<br>**shape**: direction [in], layer shape<br> **static** False **C++ defination code**: ```cpp LayerInfo(const std::string &name \"\", tensor::DType dtype tensor::DType::FLOAT32, std::vector<int> shape std::vector<int>()) ``` #### name item doc **type** var **brief** Layer name **static** False **readonly** False **C++ defination code**: ```cpp std::string name ``` #### dtype item doc **type** var **brief** Layer data type **attention** If model is quantized, this is the real quantized data type like int8 float16,<br>in most scene, inputs and outputs we actually use float32 in API like forward. **static** False **readonly** False **C++ defination code**: ```cpp tensor::DType dtype ``` #### shape item doc **type** var **brief** Layer shape **static** False **readonly** False **C++ defination code**: ```cpp std::vector<int> shape ``` #### to\\_str ```python def to_str(self) > str ``` item doc **type** func **brief** To string **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### \\_\\_str\\_\\_ ```python def __str__(self) > str ``` item doc **type** func **brief** To string **static** False **C++ defination code**: ```cpp std::string __str__() ``` ### NN item doc **brief** Neural network class **C++ defination code**: ```cpp class NN ``` #### \\_\\_init\\_\\_ ```python def __init__(self, model: str '') > None ``` item doc **type** func **brief** Neural network constructor **param** **model**: direction [in], model file path, model format can be MUD(model universal describe file) file.<br>If model_path set, will load model from file, load failed will raise err.Exception.<br>If model_path not set, you can load model later by load function.<br> **static** False **C++ defination code**: ```cpp NN(const std::string &model \"\") ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file **param** **model**: direction [in], model file path, model format can be MUD(model universal describe file) file.<br> **return** error code, if load success, return err::ERR_NONE **static** False **C++ defination code**: ```cpp err::Err load(const std::string &model) ``` #### loaded ```python def loaded(self) > bool ``` item doc **type** func **brief** Is model loaded **return** true if model loaded, else false **static** False **C++ defination code**: ```cpp bool loaded() ``` #### inputs\\_info ```python def inputs_info(self) > list[LayerInfo] ``` item doc **type** func **brief** Get model input layer info **return** input layer info **static** False **C++ defination code**: ```cpp std::vector<nn::LayerInfo> inputs_info() ``` #### outputs\\_info ```python def outputs_info(self) > list[LayerInfo] ``` item doc **type** func **brief** Get model output layer info **return** output layer info **static** False **C++ defination code**: ```cpp std::vector<nn::LayerInfo> outputs_info() ``` #### extra\\_info ```python def extra_info(self) > dict[str, str] ``` item doc **type** func **brief** Get model extra info define in MUD file **return** extra info, dict type, key value object, attention: key and value are all string type. **static** False **C++ defination code**: ```cpp std::map<std::string, std::string> extra_info() ``` #### forward ```python def forward(self, inputs: maix.tensor.Tensors) > maix.tensor.Tensors ``` item doc **type** func **brief** forward run model, get output of model,\\nthis is specially for MaixPy, not efficient, but easy to use in MaixPy **param** **input**: direction [in], input tensor<br> **return** output tensor. In C++, you should manually delete tensors in return value and return value. **static** False **C++ defination code**: ```cpp tensor::Tensors *forward(tensor::Tensors &inputs) ``` #### forward\\_image ```python def forward_image(self, img: maix.image.Image, mean: list[float] [], scale: list[float] [], fit: maix.image.Fit ..., copy_result: bool True) > maix.tensor.Tensors ``` item doc **type** func **brief** forward model, param is image **param** **img**: input image<br>**mean**: mean value, a list type, e.g. [0.485, 0.456, 0.406], default is empty list means not normalize.<br>**scale**: scale value, a list type, e.g. [1/0.229, 1/0.224, 1/0.225], default is empty list means not normalize.<br>**fit**: fit mode, if the image size of input not equal to model's input, it will auto resize use this fit method,<br>default is image.Fit.FIT_FILL for easy coordinate calculation, but for more accurate result, use image.Fit.FIT_CONTAIN is better.<br>**copy_result**: If set true, will copy result to a new variable; else will use a internal memory, you can only use it until to the next forward.<br>Default true to avoid problems, you can set it to false manually to make speed faster.<br> **return** output tensor. In C++, you should manually delete tensors in return value and return value. **static** False **C++ defination code**: ```cpp tensor::Tensors *forward_image(image::Image &img, std::vector<float> mean std::vector<float>(), std::vector<float> scale std::vector<float>(), image::Fit fit image::Fit::FIT_FILL, bool copy_result true) ``` ### FaceDetector item doc **brief** FaceDetector class **C++ defination code**: ```cpp class FaceDetector ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor of FaceDetector class **param** **model**: model path, default empty, you can load model later by load function.<br> **throw** If model arg is not empty and load failed, will throw err::Exception. **static** False **C++ defination code**: ```cpp FaceDetector(const string &model \"\") ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file **param** **model**: Model path want to load<br> **return** err::Err **static** False **C++ defination code**: ```cpp err::Err load(const string &model) ``` #### detect ```python def detect(self, img: maix.image.Image, conf_th: float 0.5, iou_th: float 0.45, fit: maix.image.Fit ...) > list[...] ``` item doc **type** func **brief** Detect objects from image **param** **img**: Image want to detect, if image's size not match model input's, will auto resize with fit method.<br>**conf_th**: Confidence threshold, default 0.5.<br>**iou_th**: IoU threshold, default 0.45.<br>**fit**: Resize method, default image.Fit.FIT_CONTAIN.<br> **throw** If image format not match model input format, will throw err::Exception. **return** Object list. In C++, you should delete it after use. **static** False **C++ defination code**: ```cpp std::vector<nn::Object> *detect(image::Image &img, float conf_th 0.5, float iou_th 0.45, maix::image::Fit fit maix::image::FIT_CONTAIN) ``` #### input\\_size ```python def input_size(self) > maix.image.Size ``` item doc **type** func **brief** Get model input size **return** model input size **static** False **C++ defination code**: ```cpp image::Size input_size() ``` #### input\\_width ```python def input_width(self) > int ``` item doc **type** func **brief** Get model input width **return** model input size of width **static** False **C++ defination code**: ```cpp int input_width() ``` #### input\\_height ```python def input_height(self) > int ``` item doc **type** func **brief** Get model input height **return** model input size of height **static** False **C++ defination code**: ```cpp int input_height() ``` #### input\\_format ```python def input_format(self) > maix.image.Format ``` item doc **type** func **brief** Get input image format **return** input image format, image::Format type. **static** False **C++ defination code**: ```cpp image::Format input_format() ``` #### mean item doc **type** var **brief** Get mean value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> scale ``` ### Retinaface item doc **brief** Retinaface class **C++ defination code**: ```cpp class Retinaface ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor of Retinaface class **param** **model**: model path, default empty, you can load model later by load function.<br> **throw** If model arg is not empty and load failed, will throw err::Exception. **static** False **C++ defination code**: ```cpp Retinaface(const string &model \"\") ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file **param** **model**: Model path want to load<br> **return** err::Err **static** False **C++ defination code**: ```cpp err::Err load(const string &model) ``` #### detect ```python def detect(self, img: maix.image.Image, conf_th: float 0.5, iou_th: float 0.45, fit: maix.image.Fit ...) > list[...] ``` item doc **type** func **brief** Detect objects from image **param** **img**: Image want to detect, if image's size not match model input's, will auto resize with fit method.<br>**conf_th**: Confidence threshold, default 0.4.<br>**iou_th**: IoU threshold, default 0.45.<br>**fit**: Resize method, default image.Fit.FIT_CONTAIN.<br> **throw** If image format not match model input format, will throw err::Exception. **return** Object list. In C++, you should delete it after use. **static** False **C++ defination code**: ```cpp std::vector<nn::Object> *detect(image::Image &img, float conf_th 0.4, float iou_th 0.45, maix::image::Fit fit maix::image::FIT_CONTAIN) ``` #### input\\_size ```python def input_size(self) > maix.image.Size ``` item doc **type** func **brief** Get model input size **return** model input size **static** False **C++ defination code**: ```cpp image::Size input_size() ``` #### input\\_width ```python def input_width(self) > int ``` item doc **type** func **brief** Get model input width **return** model input size of width **static** False **C++ defination code**: ```cpp int input_width() ``` #### input\\_height ```python def input_height(self) > int ``` item doc **type** func **brief** Get model input height **return** model input size of height **static** False **C++ defination code**: ```cpp int input_height() ``` #### input\\_format ```python def input_format(self) > maix.image.Format ``` item doc **type** func **brief** Get input image format **return** input image format, image::Format type. **static** False **C++ defination code**: ```cpp image::Format input_format() ``` #### mean item doc **type** var **brief** Get mean value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> scale ``` ### Object item doc **brief** Object for detect result **C++ defination code**: ```cpp class Object ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor of Object for detect result **param** **x**: left top x<br>**y**: left top y<br>**w**: width<br>**h**: height<br>**class_id**: class id<br>**score**: score<br> **static** False **C++ defination code**: ```cpp Object(int x 0, int y 0, int w 0, int h 0, int class_id 0, float score 0, std::vector<int> points std::vector<int>()) ``` #### \\_\\_str\\_\\_ ```python def to_str(self) > str ``` item doc **type** func **brief** Object info to string **return** Object info string **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### x item doc **type** var **brief** Object left top coordinate x **static** False **readonly** False **C++ defination code**: ```cpp int x ``` #### y item doc **type** var **brief** Object left top coordinate y **static** False **readonly** False **C++ defination code**: ```cpp int y ``` #### w item doc **type** var **brief** Object width **static** False **readonly** False **C++ defination code**: ```cpp int w ``` #### h item doc **type** var **brief** Object height **static** False **readonly** False **C++ defination code**: ```cpp int h ``` #### class\\_id item doc **type** var **brief** Object class id **static** False **readonly** False **C++ defination code**: ```cpp int class_id ``` #### score item doc **type** var **brief** Object score **static** False **readonly** False **C++ defination code**: ```cpp float score ``` #### points item doc **type** var **brief** keypoints **static** False **readonly** False **C++ defination code**: ```cpp std::vector<int> points ``` ### ObjectFloat item doc **brief** Object for detect result **C++ defination code**: ```cpp class ObjectFloat ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor of Object for detect result **param** **x**: left top x<br>**y**: left top y<br>**w**: width<br>**h**: height<br>**class_id**: class id<br>**score**: score<br> **static** False **C++ defination code**: ```cpp ObjectFloat(float x 0, float y 0, float w 0, float h 0, float class_id 0, float score 0, std::vector<float> points std::vector<float>()) ``` #### \\_\\_str\\_\\_ ```python def to_str(self) > str ``` item doc **type** func **brief** Object info to string **return** Object info string **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### x item doc **type** var **brief** Object left top coordinate x **static** False **readonly** False **C++ defination code**: ```cpp float x ``` #### y item doc **type** var **brief** Object left top coordinate y **static** False **readonly** False **C++ defination code**: ```cpp float y ``` #### w item doc **type** var **brief** Object width **static** False **readonly** False **C++ defination code**: ```cpp float w ``` #### h item doc **type** var **brief** Object height **static** False **readonly** False **C++ defination code**: ```cpp float h ``` #### class\\_id item doc **type** var **brief** Object class id **static** False **readonly** False **C++ defination code**: ```cpp float class_id ``` #### score item doc **type** var **brief** Object score **static** False **readonly** False **C++ defination code**: ```cpp float score ``` #### points item doc **type** var **brief** keypoints **static** False **readonly** False **C++ defination code**: ```cpp std::vector<float> points ```"},"/maixpy/api/maix/image.html":{"title":"maix.image","content":" title: maix.image maix.image module, image related definition and functions > You can use `maix.image` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ### Format item doc **brief** Image formats **attention** for developers, update this enum will also need to update the fmt_size in maix_image.cpp **values** **FMT_RGB888**: RGBRGB...RGB, R at the lowest address<br>**FMT_BGR888**: BGRBGR...BGR, B at the lowest address<br>**FMT_RGBA8888**: RGBARGBA...RGBA, R at the lowest address<br>**FMT_BGRA8888**: BGRABGRA...BGRA, B at the lowest address<br>**FMT_RGB565**: <br>**FMT_BGR565**: <br>**FMT_YUV422SP**: YYY...UVUVUV...UVUV<br>**FMT_YUV422P**: YYY...UUU...VVV<br>**FMT_YVU420SP**: YYY...VUVUVU...VUVU, NV21<br>**FMT_YUV420SP**: YYY...UVUVUV...UVUV, NV12<br>**FMT_YVU420P**: YYY...VVV...UUU<br>**FMT_YUV420P**: YYY...UUU...VVV<br>**FMT_GRAYSCALE**: <br>**FMT_UNCOMPRESSED_MAX**: <br>**FMT_COMPRESSED_MIN**: <br>**FMT_JPEG**: <br>**FMT_PNG**: <br>**FMT_COMPRESSED_MAX**: <br>**FMT_INVALID**: format not valid<br> **C++ defination code**: ```cpp enum Format { FMT_RGB888 0, // RGBRGB...RGB, R at the lowest address FMT_BGR888, // BGRBGR...BGR, B at the lowest address FMT_RGBA8888, // RGBARGBA...RGBA, R at the lowest address FMT_BGRA8888, // BGRABGRA...BGRA, B at the lowest address FMT_RGB565, FMT_BGR565, FMT_YUV422SP, // YYY...UVUVUV...UVUV FMT_YUV422P, // YYY...UUU...VVV FMT_YVU420SP, // YYY...VUVUVU...VUVU, NV21 FMT_YUV420SP, // YYY...UVUVUV...UVUV, NV12 FMT_YVU420P, // YYY...VVV...UUU FMT_YUV420P, // YYY...UUU...VVV FMT_GRAYSCALE, FMT_UNCOMPRESSED_MAX, // compressed format below, not compressed should define upper FMT_COMPRESSED_MIN, FMT_JPEG, FMT_PNG, FMT_COMPRESSED_MAX, FMT_INVALID 0xFF // format not valid } ``` ### Fit item doc **brief** Object fit method **values** **FIT_NONE**: no object fit, keep original<br>**FIT_FILL**: width to new width, height to new height, may be stretch<br>**FIT_CONTAIN**: keep aspect ratio, fill blank area with black color<br>**FIT_COVER**: keep aspect ratio, crop image to fit new size<br>**FIT_MAX**: <br> **C++ defination code**: ```cpp enum Fit { FIT_NONE 1, // no object fit, keep original FIT_FILL 0, // width to new width, height to new height, may be stretch FIT_CONTAIN, // keep aspect ratio, fill blank area with black color FIT_COVER, // keep aspect ratio, crop image to fit new size FIT_MAX } ``` ### ResizeMethod item doc **brief** Resize method **values** **NEAREST**: <br>**BILINEAR**: <br>**BICUBIC**: <br>**AREA**: <br>**LANCZOS**: <br>**HAMMING**: <br>**RESIZE_METHOD_MAX**: <br> **C++ defination code**: ```cpp enum ResizeMethod { NEAREST 0, BILINEAR, BICUBIC, AREA, LANCZOS, HAMMING, RESIZE_METHOD_MAX } ``` ### ApriltagFamilies item doc **brief** Family of apriltag **values** **TAG16H5**: <br>**TAG25H7**: <br>**TAG25H9**: <br>**TAG36H10**: <br>**TAG36H11**: <br>**ARTOOLKIT**: <br> **C++ defination code**: ```cpp enum ApriltagFamilies { TAG16H5 1, TAG25H7 2, TAG25H9 4, TAG36H10 8, TAG36H11 16, ARTOOLKIT 32 } ``` ### TemplateMatch item doc **brief** Template match method **values** **SEARCH_EX**: Exhaustive search<br>**SEARCH_DS**: Diamond search<br> **C++ defination code**: ```cpp enum TemplateMatch { SEARCH_EX, // Exhaustive search SEARCH_DS, // Diamond search } ``` ### CornerDetector item doc **brief** CornerDetector class **values** **CORNER_FAST**: <br>**CORNER_AGAST**: <br> **C++ defination code**: ```cpp enum CornerDetector { CORNER_FAST, CORNER_AGAST } ``` ### EdgeDetector item doc **brief** EdgeDetector class **values** **EDGE_CANNY**: <br>**EDGE_SIMPLE**: <br> **C++ defination code**: ```cpp enum EdgeDetector { EDGE_CANNY, EDGE_SIMPLE, } ``` ## Variable ### fmt\\_size item doc **brief** Image format size in bytes **attention** It's a copy of this variable in MaixPy,<br>so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.<br>So we add const for this var to avoid this mistake. **value** **{<br> 3,<br> 3,<br> 4,<br> 4,<br> 2,<br> 2,<br> 2,<br> 2,<br> 1.5,<br> 1.5,<br> 1.5,<br> 1.5,<br> 1,<br> 0,<br> 0,<br> 0,<br> 0,<br> 0<br> }** **readonly** True **C++ defination code**: ```cpp const std::vector<float> fmt_size { 3, 3, 4, 4, 2, 2, 2, 2, 1.5, 1.5, 1.5, 1.5, 1, 0, 0, 0, 0, 0 } ``` ### fmt\\_names item doc **brief** Image format string **value** **{<br> \"RGB888\",<br> \"BGR888\",<br> \"RGBA8888\",<br> \"BGRA8888\",<br> \"RGB565\",<br> \"BGR565\",<br> \"YUV422SP\",<br> \"YUV422P\",<br> \"YVU420SP\",<br> \"YUV420SP\",<br> \"YVU420P\"<br> \"YUV420P\",<br> \"GRAYSCALE\",<br> \"MAX\"}** **readonly** True **C++ defination code**: ```cpp const std::vector<std::string> fmt_names { \"RGB888\", \"BGR888\", \"RGBA8888\", \"BGRA8888\", \"RGB565\", \"BGR565\", \"YUV422SP\", \"YUV422P\", \"YVU420SP\", \"YUV420SP\", \"YVU420P\" \"YUV420P\", \"GRAYSCALE\", \"MAX\"} ``` ### COLOR\\_WHITE item doc **brief** Predefined color white **value** **image::Color::from_rgb(255, 255, 255)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_WHITE image::Color::from_rgb(255, 255, 255) ``` ### COLOR\\_BLACK item doc **brief** Predefined color black **value** **image::Color::from_rgb(0, 0, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_BLACK image::Color::from_rgb(0, 0, 0) ``` ### COLOR\\_RED item doc **brief** Predefined color red **value** **image::Color::from_rgb(255, 0, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_RED image::Color::from_rgb(255, 0, 0) ``` ### COLOR\\_GREEN item doc **brief** Predefined color green **value** **image::Color::from_rgb(0, 255, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_GREEN image::Color::from_rgb(0, 255, 0) ``` ### COLOR\\_BLUE item doc **brief** Predefined color blue **value** **image::Color::from_rgb(0, 0, 255)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_BLUE image::Color::from_rgb(0, 0, 255) ``` ### COLOR\\_YELLOW item doc **brief** Predefined color yellow **value** **image::Color::from_rgb(255, 255, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_YELLOW image::Color::from_rgb(255, 255, 0) ``` ### COLOR\\_PURPLE item doc **brief** Predefined color purple **value** **image::Color::from_rgb(143, 0, 255)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_PURPLE image::Color::from_rgb(143, 0, 255) ``` ### COLOR\\_ORANGE item doc **brief** Predefined color orange **value** **image::Color::from_rgb(255, 127, 0)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_ORANGE image::Color::from_rgb(255, 127, 0) ``` ### COLOR\\_GRAY item doc **brief** Predefined color gray **value** **image::Color::from_rgb(127, 127, 127)** **readonly** True **C++ defination code**: ```cpp const image::Color COLOR_GRAY image::Color::from_rgb(127, 127, 127) ``` ## Function ### load ```python def load(path: str, format: Format ...) > Image ``` item doc **brief** Load image from file, and convert to Image object **param** **path**: image file path<br>**format**: read as this format, if not match, will convert to this format, by default is RGB888<br> **return** Image object **C++ defination code**: ```cpp image::Image *load(const char *path, image::Format format image::Format::FMT_RGB888) ``` ### from\\_bytes ```python def from_bytes(width: int, height: int, format: Format, data: maix.Bytes(bytes), copy: bool True) > Image ``` item doc **brief** Create image from bytes **param** **width**: image width<br>**height**: image height<br>**format**: image format<br>**data**: image data, if data is None, will malloc memory for image data<br>If the image is in jpeg format, data must be filled in.<br>**copy**: if true and data is not None, will copy data to new buffer, else will use data directly. default is true to avoid memory leak.<br>Use it carefully!!!<br> **return** Image object **C++ defination code**: ```cpp image::Image *from_bytes(int width, int height, image::Format format, Bytes *data, bool copy true) ``` ### load\\_font ```python def load_font(name: str, path: str, size: int 16) > maix.err.Err ``` item doc **brief** Load font from file **param** **name**: font name, used to identify font<br>**path**: font file path, support ttf, ttc, otf<br>**size**: font size, font height, by default is 16<br> **return** error code, err::ERR_NONE is ok, other is error **C++ defination code**: ```cpp err::Err load_font(const std::string &name, const char *path, int size 16) ``` ### set\\_default\\_font item doc **brief** Set default font, if not call this method, default is hershey_plain **param** **name**: font name, supported names can be get by fonts()<br> **return** error code, err::ERR_NONE is ok, other is error **C++ defination code**: ```cpp err::Err set_default_font(const std::string &name) ``` ### fonts ```python def fonts() > list[str] ``` item doc **brief** Get all loaded fonts **return** all loaded fonts, string list type **C++ defination code**: ```cpp std::vector<std::string> *fonts() ``` ### string\\_size ```python def string_size(string: str, scale: float 1, thickness: int 1, font: str '') > Size ``` item doc **brief** Get text rendered width and height **param** **string**: text content<br>**scale**: font scale, by default(value is 1)<br>**thickness**: text thickness(line width), by default(value is 1)<br> **return** text rendered width and height, [width, height] **C++ defination code**: ```cpp image::Size string_size(std::string string, float scale 1, int thickness 1, const std::string &font \"\") ``` ### cv2image item doc **brief** OpenCV Mat(numpy array object) to Image object **param** **array**: numpy array object, must be a 3 dim or 2 dim continuous array with shape hwc or hw<br> **return** Image object **C++ defination code**: ```cpp image::Image *cv2image(py::array_t<uint8_t, py::array::c_style> array, bool bgr true, bool copy true) ``` ### image2cv ```python def image2cv(img: Image, bgr: bool True, copy: bool True) > numpy.ndarray[numpy.uint8] ``` item doc **brief** Image object to OpenCV Mat(numpy array object) **param** **img**: Image object<br> **return** numpy array object **C++ defination code**: ```cpp py::array_t<uint8_t, py::array::c_style> image2cv(image::Image *img, bool bgr true, bool copy true) ``` ## Class ### Size item doc **brief** Image size type **C++ defination code**: ```cpp class Size ``` #### \\_\\_init\\_\\_ ```python def __init__(self, width: int 0, height: int 0) > None ``` item doc **type** func **brief** Construct a new Size object **param** **width**: image width<br>**height**: image height<br> **static** False **C++ defination code**: ```cpp Size(int width 0, int height 0) ``` #### width ```python def width(self, width: int 1) > int ``` item doc **type** func **brief** width of size **param** **width**: set new width, if not set, only return current width<br> **static** False **C++ defination code**: ```cpp int width(int width 1) ``` #### height ```python def height(self, height: int 1) > int ``` item doc **type** func **brief** height of size **param** **height**: set new height, if not set, only return current height<br> **static** False **C++ defination code**: ```cpp int height(int height 1) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index**: 0 for width, 1 for height<br> **return** int& width or height **static** False **C++ defination code**: ```cpp int &operator[](int index) ``` #### \\_\\_str\\_\\_ ```python def __str__(self) > str ``` item doc **type** func **brief** to string **static** False **C++ defination code**: ```cpp std::string __str__() ``` ### Line item doc **brief** Line class **C++ defination code**: ```cpp class Line ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Line constructor **param** **x1**: coordinate x1 of the straight line<br>**y1**: coordinate y1 of the straight line<br>**x2**: coordinate x2 of the straight line<br>**y2**: coordinate y2 of the straight line<br>**magnitude**: magnitude of the straight line after Hough transformation<br>**theta**: angle of the straight line after Hough transformation<br>**rho**: p value of the straight line after Hough transformation<br> **static** False **C++ defination code**: ```cpp Line(int x1, int y1, int x2, int y2, int magnitude 0, int theta 0, int rho 0) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index [0]**: get x1 of line<br>[1] get y1 of line<br>[2] get x2 of line<br>[3] get y2 of line<br>[4] get length of line<br>[5] get magnitude of the straight line after Hough transformation<br>[6] get angle of the straight line after Hough transformation (0 179 degrees)<br>[7] get p value of the straight line after Hough transformation<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### x1 item doc **type** func **brief** get x1 of line **return** return x1 of the line, type is int **static** False **C++ defination code**: ```cpp int x1() ``` #### y1 item doc **type** func **brief** get y1 of line **return** return y1 of the line, type is int **static** False **C++ defination code**: ```cpp int y1() ``` #### x2 item doc **type** func **brief** get x2 of line **return** return x2 of the line, type is int **static** False **C++ defination code**: ```cpp int x2() ``` #### y2 item doc **type** func **brief** get y2 of line **return** return y2 of the line, type is int **static** False **C++ defination code**: ```cpp int y2() ``` #### length item doc **type** func **brief** get length of line **return** return length of the line, type is int **static** False **C++ defination code**: ```cpp int length() ``` #### magnitude item doc **type** func **brief** get magnitude of the straight line after Hough transformation **return** return magnitude, type is int **static** False **C++ defination code**: ```cpp int magnitude() ``` #### theta item doc **type** func **brief** get angle of the straight line after Hough transformation (0 179 degrees) **return** return angle, type is int **static** False **C++ defination code**: ```cpp int theta() ``` #### rho item doc **type** func **brief** get p value of the straight line after Hough transformation **return** return p value, type is int **static** False **C++ defination code**: ```cpp int rho() ``` ### Rect item doc **brief** Rect class **C++ defination code**: ```cpp class Rect ``` #### \\_\\_init\\_\\_ ```python def __init__(self, corners: list[list[int]], x: int, y: int, w: int, h: int, magnitude: int 0) > None ``` item doc **type** func **brief** Rect constructor **param** **corners**: corners of rect<br>**x**: coordinate x of the straight line<br>**y**: coordinate y of the straight line<br>**w**: coordinate w of the straight line<br>**h**: coordinate h of the straight line<br>**magnitude**: magnitude of the straight line after Hough transformation<br> **static** False **C++ defination code**: ```cpp Rect(std::vector<std::vector<int>> &corners, int x, int y, int w, int h, int magnitude 0) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index [0]**: get x of rect<br>[1] get y of rect<br>[2] get w of rect<br>[3] get h of rect<br>[4] get magnitude of the straight line after Hough transformation<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners ```python def corners(self) > list[list[int]] ``` item doc **type** func **brief** get corners of rect **return** return the coordinate of the rect. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect ```python def rect(self) > list[int] ``` item doc **type** func **brief** get rectangle of rect **return** return the rectangle of the rect. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x ```python def x(self) > int ``` item doc **type** func **brief** get x of rect **return** return x of the rect, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y ```python def y(self) > int ``` item doc **type** func **brief** get y of rect **return** return y of the rect, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w ```python def w(self) > int ``` item doc **type** func **brief** get w of rect **return** return w of the rect, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h ```python def h(self) > int ``` item doc **type** func **brief** get h of rect **return** return h of the rect, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### magnitude ```python def magnitude(self) > int ``` item doc **type** func **brief** get magnitude of the straight line after Hough transformation **return** return magnitude, type is int **static** False **C++ defination code**: ```cpp int magnitude() ``` ### Circle item doc **brief** circle class **C++ defination code**: ```cpp class Circle ``` #### \\_\\_init\\_\\_ ```python def __init__(self, x: int, y: int, r: int, magnitude: int) > None ``` item doc **type** func **brief** Circle constructor **param** **x**: coordinate x of the circle<br>**y**: coordinate y of the circle<br>**r**: coordinate r of the circle<br>**magnitude**: coordinate y2 of the straight line<br> **static** False **C++ defination code**: ```cpp Circle(int x, int y, int r, int magnitude) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index [0]**: get x of circle<br>[1] get y of circle<br>[2] get r of circle<br>[3] get magnitude of the circle after Hough transformation<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### x ```python def x(self) > int ``` item doc **type** func **brief** get x of circle **return** return x of the circle, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y ```python def y(self) > int ``` item doc **type** func **brief** get y of circle **return** return y of the circle, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### r ```python def r(self) > int ``` item doc **type** func **brief** get r of circle **return** return r of the circle, type is int **static** False **C++ defination code**: ```cpp int r() ``` #### magnitude ```python def magnitude(self) > int ``` item doc **type** func **brief** get magnitude of the circle after Hough transformation **return** return magnitude, type is int **static** False **C++ defination code**: ```cpp int magnitude() ``` ### Blob item doc **brief** Blob class **C++ defination code**: ```cpp class Blob ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Blob constructor **param** **rect**: blob rect, type is std::vector<int><br>**corners**: blob corners, type is std::vector<std::vector<int>><br>**mini_corners**: blob mini_corners, type is std::vector<std::vector<int>><br>**cx**: blob center x, type is float<br>**cy**: blob center y, type is float<br>**pixels**: blob pixels, type is int<br>**rotation**: blob rotation, type is float<br>**code**: blob code, type is int<br>**count**: blob count, type is int<br>**perimeter**: blob perimeter, type is int<br>**roundness**: blob roundness, type is float<br>**x_hist_bins**: blob x_hist_bins, type is std::vector<int><br>**y_hist_bins**: blob y_hist_bins, type is std::vector<int><br> **static** False **C++ defination code**: ```cpp Blob(std::vector<int> &rect, std::vector<std::vector<int>> &corners, std::vector<std::vector<int>> &mini_corners,float cx, float cy, int pixels, float rotation, int code, int count, int perimeter, float roundness, std::vector<int> &x_hist_bins, std::vector<int> &y_hist_bins) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index [0]**: Returns the blob’s bounding box x coordinate<br>[1] Returns the blob’s bounding box y coordinate<br>[2] Returns the blob’s bounding box w coordinate<br>[3] Returns the blob’s bounding box h coordinate<br>[4] Returns the number of pixels that are part of this blob<br>[5] Returns the centroid x position of the blob<br>[6] Returns the centroid y position of the blob<br> **return** int& width or height **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners item doc **type** func **brief** get blob corners **return** Returns a list of 4 (x,y) tuples of the 4 corners of the object.<br>(x0, y0)___________(x1, y1)<br> <br> <br> <br>___________<br>(x3, y3) (x2, y2)<br>note: the order of corners may change **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### mini\\_corners item doc **type** func **brief** get blob mini corners **return** Returns a list of 4 (x,y) tuples of the 4 corners than bound the min area rectangle of the blob.<br>(x0, y0)___________(x1, y1)<br> <br> <br> <br>___________<br>(x3, y3) (x2, y2)<br>note: the order of corners may change **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> mini_corners() ``` #### rect item doc **type** func **brief** get blob rect **return** Returns the center coordinates and width and height of the rectangle. format is (x, y, w, h)<br>w<br>(x, y) ___________<br> <br> h<br> <br>___________ **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x item doc **type** func **brief** get blob x of the upper left coordinate **return** Returns the x coordinate of the upper left corner of the rectangle. **static** False **C++ defination code**: ```cpp int x() ``` #### y item doc **type** func **brief** get blob y of the upper left coordinate **return** Returns the y coordinate of the upper left corner of the rectangle. **static** False **C++ defination code**: ```cpp int y() ``` #### w item doc **type** func **brief** get blob width **return** Returns the blob’s bounding box w coordinate **static** False **C++ defination code**: ```cpp int w() ``` #### h item doc **type** func **brief** get blob height **return** Returns the blob’s bounding box h coordinate **static** False **C++ defination code**: ```cpp int h() ``` #### pixels item doc **type** func **brief** get blob pixels **return** Returns the number of pixels that are part of this blob. **static** False **C++ defination code**: ```cpp int pixels() ``` #### cx item doc **type** func **brief** get blob center x **return** Returns the centroid x position of the blob **static** False **C++ defination code**: ```cpp int cx() ``` #### cy item doc **type** func **brief** get blob center y **return** Returns the centroid y position of the blob **static** False **C++ defination code**: ```cpp int cy() ``` #### cxf item doc **type** func **brief** get blob center x **return** Returns the centroid x position of the blob **static** False **C++ defination code**: ```cpp float cxf() ``` #### cyf item doc **type** func **brief** get blob center y **return** Returns the centroid y position of the blob **static** False **C++ defination code**: ```cpp float cyf() ``` #### rotation item doc **type** func **brief** get blob rotation **return** Returns the rotation of the blob in radians (float). If the blob is like a pencil or pen this value will be unique for 0 180 degrees. **static** False **C++ defination code**: ```cpp float rotation() ``` #### rotation\\_rad item doc **type** func **brief** get blob rotation_rad **return** Returns the rotation of the blob in radians **static** False **C++ defination code**: ```cpp float rotation_rad() ``` #### rotation\\_deg item doc **type** func **brief** get blob rotation_deg **return** Returns the rotation of the blob in degrees. **static** False **C++ defination code**: ```cpp int rotation_deg() ``` #### code item doc **type** func **brief** get blob code **return** Returns a 32 bit binary number with a bit set in it for each color threshold that’s part of this blob **static** False **C++ defination code**: ```cpp int code() ``` #### count item doc **type** func **brief** get blob count **return** Returns the number of blobs merged into this blob. **static** False **C++ defination code**: ```cpp int count() ``` #### perimeter item doc **type** func **brief** get blob merge_cnt **return** Returns the number of pixels on this blob’s perimeter. **static** False **C++ defination code**: ```cpp int perimeter() ``` #### roundness item doc **type** func **brief** get blob roundness **return** Returns a value between 0 and 1 representing how round the object is **static** False **C++ defination code**: ```cpp float roundness() ``` #### elongation item doc **type** func **brief** get blob elongation **returnReturns** a value between 0 and 1 representing how long (not round) the object is **static** False **C++ defination code**: ```cpp float elongation() ``` #### area item doc **type** func **brief** get blob area **return** Returns the area of the bounding box around the blob **static** False **C++ defination code**: ```cpp int area() ``` #### density item doc **type** func **brief** get blob density **return** Returns the density ratio of the blob **static** False **C++ defination code**: ```cpp float density() ``` #### extent item doc **type** func **brief** Alias for blob.density() **return** Returns the density ratio of the blob **static** False **C++ defination code**: ```cpp float extent() ``` #### compactness item doc **type** func **brief** get blob compactness **return** Returns the compactness ratio of the blob **static** False **C++ defination code**: ```cpp float compactness() ``` #### solidity item doc **type** func **brief** get blob solidity **return** Returns the solidity ratio of the blob **static** False **C++ defination code**: ```cpp float solidity() ``` #### convexity item doc **type** func **brief** get blob convexity **return** Returns a value between 0 and 1 representing how convex the object is **static** False **C++ defination code**: ```cpp float convexity() ``` #### x\\_hist\\_bins item doc **type** func **brief** get blob x_hist_bins **return** Returns the x_hist_bins of the blob **static** False **C++ defination code**: ```cpp std::vector<int> x_hist_bins() ``` #### y\\_hist\\_bins item doc **type** func **brief** get blob y_hist_bins **return** Returns the y_hist_bins of the blob **static** False **C++ defination code**: ```cpp std::vector<int> y_hist_bins() ``` #### major\\_axis\\_line item doc **type** func **brief** get blob major_axis_line **return** Returns a line tuple (x1, y1, x2, y2) of the minor axis of the blob. **static** False **C++ defination code**: ```cpp std::vector<int> major_axis_line() ``` #### minor\\_axis\\_line item doc **type** func **brief** get blob minor_axis_line **return** Returns a line tuple (x1, y1, x2, y2) of the minor axis of the blob. **static** False **C++ defination code**: ```cpp std::vector<int> minor_axis_line() ``` #### enclosing\\_circle item doc **type** func **brief** get blob enclosing_circle **return** Returns a circle tuple (x, y, r) of the circle that encloses the min area rectangle of a blob. **static** False **C++ defination code**: ```cpp std::vector<int> enclosing_circle() ``` #### enclosed\\_ellipse item doc **type** func **brief** get blob enclosed_ellipse **return** Returns an ellipse tuple (x, y, rx, ry, rotation) of the ellipse that fits inside of the min area rectangle of a blob. **static** False **C++ defination code**: ```cpp std::vector<int> enclosed_ellipse() ``` ### QRCode item doc **brief** QRCode class **C++ defination code**: ```cpp class QRCode ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** QRCode constructor **param** **rect**: rect of corners, type is std::vector<int><br>**corners**: corners of QRCode<br>**payload**: payload of the QRCode<br>**version**: version of the QRCode<br>**ecc_level**: ecc_level of the QRCode<br>**mask**: mask of the QRCode<br>**data_type**: data_type of the QRCode<br>**eci**: eci of the QRCode<br> **static** False **C++ defination code**: ```cpp QRCode(std::vector<int> &rect, std::vector<std::vector<int>> &corners, std::string &payload, int version, int ecc_level, int mask, int data_type, int eci) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index [0]**: Returns the qrcode’s bounding box x coordinate<br>[1] Returns the qrcode’s bounding box y coordinate<br>[2] Returns the qrcode’s bounding box w coordinate<br>[3] Returns the qrcode’s bounding box h coordinate<br>[4] Not support this index, try to use payload() method<br>[5] Returns the version of qrcode<br>[6] Returns the error correction level of qrcode<br>[7] Returns the mask of qrcode<br>[8] Returns the datatype of qrcode<br>[9] Returns the eci of qrcode<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners item doc **type** func **brief** get coordinate of QRCode **return** return the coordinate of the QRCode. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect item doc **type** func **brief** get rectangle of QRCode **return** return the rectangle of the QRCode. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x item doc **type** func **brief** get x of QRCode **return** return x of the QRCode, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y item doc **type** func **brief** get y of QRCode **return** return y of the QRCode, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w item doc **type** func **brief** get w of QRCode **return** return w of the QRCode, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h item doc **type** func **brief** get h of QRCode **return** return h of the QRCode, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### payload item doc **type** func **brief** get QRCode payload **return** return area of the QRCode **static** False **C++ defination code**: ```cpp std::string payload() ``` #### version item doc **type** func **brief** get QRCode version **return** return version of the QRCode **static** False **C++ defination code**: ```cpp int version() ``` #### ecc\\_level item doc **type** func **brief** get QRCode error correction level **return** return error correction level of the QRCode **static** False **C++ defination code**: ```cpp int ecc_level() ``` #### mask item doc **type** func **brief** get QRCode mask **return** return mask of the QRCode **static** False **C++ defination code**: ```cpp int mask() ``` #### data\\_type item doc **type** func **brief** get QRCode dataType **return** return mask of the QRCode **static** False **C++ defination code**: ```cpp int data_type() ``` #### eci item doc **type** func **brief** get QRCode eci **return** return data of the QRCode **static** False **C++ defination code**: ```cpp int eci() ``` #### is\\_numeric item doc **type** func **brief** check QRCode is numeric **return** return true if the result type of the QRCode is numeric **static** False **C++ defination code**: ```cpp bool is_numeric() ``` #### is\\_alphanumeric item doc **type** func **brief** check QRCode is alphanumeric **return** return true if the result type of the QRCode is alphanumeric **static** False **C++ defination code**: ```cpp bool is_alphanumeric() ``` #### is\\_binary item doc **type** func **brief** check QRCode is binary **return** return true if the result type of the QRCode is binary **static** False **C++ defination code**: ```cpp bool is_binary() ``` #### is\\_kanji item doc **type** func **brief** check QRCode is kanji **return** return true if the result type of the QRCode is kanji **static** False **C++ defination code**: ```cpp bool is_kanji() ``` ### AprilTag item doc **brief** AprilTag class **C++ defination code**: ```cpp class AprilTag ``` #### \\_\\_init\\_\\_ ```python def __init__(self, rect: list[int], corners: list[list[int]], id: int, famliy: int, centroid_x: float, centroid_y: float, rotation: float, decision_margin: float, hamming: int, goodness: float, x_translation: float, y_translation: float, z_translation: float, x_rotation: float, y_rotation: float, z_rotation: float) > None ``` item doc **type** func **brief** AprilTag constructor **param** **rect**: Inlucdes the top left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector<int><br>**corners**: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector<std::vector<int>><br>**id**: The id of the AprilTag<br>**famliy**: The family of the AprilTag<br>**centroid_x**: The x coordinate of the center of the AprilTag<br>**centroid_y**: The y coordinate of the center of the AprilTag<br>**rotation**: The rotation of the AprilTag<br>**decision_margin**: The decision_margin of the AprilTag<br>**hamming**: The hamming of the AprilTag<br>**goodness**: The goodness of the AprilTag<br>**x_translation**: The x_translation of the AprilTag<br>**y_translation**: The y_translation of the AprilTag<br>**z_translation**: The z_translation of the AprilTag<br>**x_rotation**: The x_rotation of the AprilTag<br>**y_rotation**: The y_rotation of the AprilTag<br>**z_rotation**: The z_rotation of the AprilTag<br> **static** False **C++ defination code**: ```cpp AprilTag(std::vector<int> &rect, std::vector<std::vector<int>> &corners, int id, int famliy, float centroid_x, float centroid_y, float rotation, float decision_margin, int hamming, float goodness, float x_translation, float y_translation, float z_translation, float x_rotation, float y_rotation, float z_rotation) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index [0]**: Returns the apriltag’s bounding box x coordinate<br>[1] Returns the apriltag’s bounding box y coordinate<br>[2] Returns the apriltag’s bounding box w coordinate<br>[3] Returns the apriltag’s bounding box h coordinate<br>[4] Returns the apriltag’s id<br>[5] Returns the apriltag’s family<br>[6] Not support<br>[7] Not support<br>[8] Not support<br>[9] Not support<br>[10] Returns the apriltag’s hamming<br>[11] Not support<br>[12] Not support<br>[13] Not support<br>[14] Not support<br>[15] Not support<br>[16] Not support<br>[17] Not support<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners ```python def corners(self) > list[list[int]] ``` item doc **type** func **brief** get coordinate of AprilTag **return** return the coordinate of the AprilTag. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect ```python def rect(self) > list[int] ``` item doc **type** func **brief** get rectangle of AprilTag **return** return the rectangle of the AprilTag. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x ```python def x(self) > int ``` item doc **type** func **brief** get x of AprilTag **return** return x of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y ```python def y(self) > int ``` item doc **type** func **brief** get y of AprilTag **return** return y of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w ```python def w(self) > int ``` item doc **type** func **brief** get w of AprilTag **return** return w of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h ```python def h(self) > int ``` item doc **type** func **brief** get h of AprilTag **return** return h of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### id ```python def id(self) > int ``` item doc **type** func **brief** get id of AprilTag **return** return id of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int id() ``` #### family ```python def family(self) > int ``` item doc **type** func **brief** get family of AprilTag **return** return family of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int family() ``` #### cx ```python def cx(self) > int ``` item doc **type** func **brief** get cx of AprilTag **return** return cx of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int cx() ``` #### cxf ```python def cxf(self) > float ``` item doc **type** func **brief** get cxf of AprilTag **return** return cxf of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float cxf() ``` #### cy ```python def cy(self) > int ``` item doc **type** func **brief** get cy of AprilTag **return** return cy of the AprilTag, type is int **static** False **C++ defination code**: ```cpp int cy() ``` #### cyf ```python def cyf(self) > float ``` item doc **type** func **brief** get cyf of AprilTag **return** return cyf of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float cyf() ``` #### rotation ```python def rotation(self) > float ``` item doc **type** func **brief** get rotation of AprilTag **return** return rotation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float rotation() ``` #### decision\\_margin ```python def decision_margin(self) > float ``` item doc **type** func **brief** Get decision_margin of AprilTag **return** Returns the quality of the apriltag match (0.0 1.0) where 1.0 is the best. **static** False **C++ defination code**: ```cpp float decision_margin() ``` #### hamming ```python def hamming(self) > int ``` item doc **type** func **brief** get hamming of AprilTag **return** Returns the number of accepted bit errors for this tag.<br>return 0, means 0 bit errors will be accepted.<br>1 is TAG25H7, means up to 1 bit error may be accepted<br>2 is TAG25H9, means up to 3 bit errors may be accepted<br>3 is TAG36H10, means up to 3 bit errors may be accepted<br>4 is TAG36H11, means up to 4 bit errors may be accepted<br>5 is ARTOOLKIT, means 0 bit errors will be accepted **static** False **C++ defination code**: ```cpp int hamming() ``` #### goodness ```python def goodness(self) > float ``` item doc **type** func **brief** get goodness of AprilTag **return** return goodness of the AprilTag, type is float<br>Note: This value is always 0.0 for now. **static** False **C++ defination code**: ```cpp float goodness() ``` #### x\\_translation ```python def x_translation(self) > float ``` item doc **type** func **brief** get x_translation of AprilTag **return** return x_translation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float x_translation() ``` #### y\\_translation ```python def y_translation(self) > float ``` item doc **type** func **brief** get y_translation of AprilTag **return** return y_translation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float y_translation() ``` #### z\\_translation ```python def z_translation(self) > float ``` item doc **type** func **brief** get z_translation of AprilTag **return** return z_translation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float z_translation() ``` #### x\\_rotation ```python def x_rotation(self) > float ``` item doc **type** func **brief** get x_rotation of AprilTag **return** return x_rotation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float x_rotation() ``` #### y\\_rotation ```python def y_rotation(self) > float ``` item doc **type** func **brief** get y_rotation of AprilTag **return** return y_rotation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float y_rotation() ``` #### z\\_rotation ```python def z_rotation(self) > float ``` item doc **type** func **brief** get z_rotation of AprilTag **return** return z_rotation of the AprilTag, type is float **static** False **C++ defination code**: ```cpp float z_rotation() ``` ### DataMatrix item doc **brief** DataMatrix class **C++ defination code**: ```cpp class DataMatrix ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** DataMatrix constructor **param** **rect**: Inlucdes the top left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector<int><br>**corners**: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector<std::vector<int>><br>**payload**: The payload of the DataMatrix<br>**rotation**: The rotation of the DataMatrix<br>**rows**: The rows of the DataMatrix<br>**columns**: The columns of the DataMatrix<br>**capacity**: The capacity of the DataMatrix<br>**padding**: The padding of the DataMatrix<br> **static** False **C++ defination code**: ```cpp DataMatrix(std::vector<int> &rect, std::vector<std::vector<int>> &corners, std::string &payload, float rotation, int rows, int columns, int capacity, int padding) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index [0]**: get x of DataMatrix<br>[1] get y of DataMatrix<br>[2] get w of DataMatrix<br>[3] get h of DataMatrix<br>[4] Not support this index, try to use payload() method<br>[5] Not support this index, try to use rotation() method<br>[6] get rows of DataMatrix<br>[7] get columns of DataMatrix<br>[8] get capacity of DataMatrix<br>[9] get padding of DataMatrix<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners item doc **type** func **brief** get coordinate of DataMatrix **return** return the coordinate of the DataMatrix. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect item doc **type** func **brief** get rectangle of DataMatrix **return** return the rectangle of the DataMatrix. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x item doc **type** func **brief** get x of DataMatrix **return** return x of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y item doc **type** func **brief** get y of DataMatrix **return** return y of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w item doc **type** func **brief** get w of DataMatrix **return** return w of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h item doc **type** func **brief** get h of DataMatrix **return** return h of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### payload item doc **type** func **brief** get payload of DataMatrix **return** return payload of the DataMatrix, type is std::string **static** False **C++ defination code**: ```cpp std::string payload() ``` #### rotation item doc **type** func **brief** get rotation of DataMatrix **return** return rotation of the DataMatrix, type is float **static** False **C++ defination code**: ```cpp float rotation() ``` #### rows item doc **type** func **brief** get rows of DataMatrix **return** return rows of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int rows() ``` #### columns item doc **type** func **brief** get columns of DataMatrix **return** return columns of the DataMatrix, type is int **static** False **C++ defination code**: ```cpp int columns() ``` #### capacity item doc **type** func **brief** get capacity of DataMatrix **return** returns how many characters could fit in this data matrix, type is int **static** False **C++ defination code**: ```cpp int capacity() ``` #### padding item doc **type** func **brief** get padding of DataMatrix **return** returns how many unused characters are in this data matrix, type is int **static** False **C++ defination code**: ```cpp int padding() ``` ### BarCode item doc **brief** BarCode class **C++ defination code**: ```cpp class BarCode ``` #### \\_\\_init\\_\\_ ```python def __init__(self, rect: list[int], corners: list[list[int]], payload: str, type: int, rotation: float, quality: int) > None ``` item doc **type** func **brief** BarCode constructor **param** **rect**: Inlucdes the top left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector<int><br>**corners**: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector<std::vector<int>><br>**payload**: The payload of the BarCode<br>**type**: The type of the BarCode<br>**rotation**: The rotation of the BarCode<br>**quality**: The quality of the BarCode<br> **static** False **C++ defination code**: ```cpp BarCode(std::vector<int> &rect, std::vector<std::vector<int>> &corners, std::string &payload, int type, float rotation, int quality) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index [0]**: get x of BarCode<br>[1] get y of BarCode<br>[2] get w of BarCode<br>[3] get h of BarCode<br>[4] Not support this index, try to use payload() method<br>[5] get type of BarCode<br>[6] Not support this index, try to use rotation() method<br>[7] get quality of BarCode<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### corners ```python def corners(self) > list[list[int]] ``` item doc **type** func **brief** get coordinate of BarCode **return** return the coordinate of the BarCode. **static** False **C++ defination code**: ```cpp std::vector<std::vector<int>> corners() ``` #### rect ```python def rect(self) > list[int] ``` item doc **type** func **brief** get rectangle of BarCode **return** return the rectangle of the BarCode. format is {x, y, w, h}, type is std::vector<int> **static** False **C++ defination code**: ```cpp std::vector<int> rect() ``` #### x ```python def x(self) > int ``` item doc **type** func **brief** get x of BarCode **return** return x of the BarCode, type is int **static** False **C++ defination code**: ```cpp int x() ``` #### y ```python def y(self) > int ``` item doc **type** func **brief** get y of BarCode **return** return y of the BarCode, type is int **static** False **C++ defination code**: ```cpp int y() ``` #### w ```python def w(self) > int ``` item doc **type** func **brief** get w of BarCode **return** return w of the BarCode, type is int **static** False **C++ defination code**: ```cpp int w() ``` #### h ```python def h(self) > int ``` item doc **type** func **brief** get h of BarCode **return** return h of the BarCode, type is int **static** False **C++ defination code**: ```cpp int h() ``` #### payload ```python def payload(self) > str ``` item doc **type** func **brief** get payload of BarCode **return** return payload of the BarCode, type is std::string **static** False **C++ defination code**: ```cpp std::string payload() ``` #### type ```python def type(self) > int ``` item doc **type** func **brief** get type of BarCode **return** return type of the BarCode, type is int **static** False **C++ defination code**: ```cpp int type() ``` #### rotation ```python def rotation(self) > float ``` item doc **type** func **brief** get rotation of BarCode **return** return rotation of the BarCode, type is float. FIXME: always return 0.0 **static** False **C++ defination code**: ```cpp float rotation() ``` #### quality ```python def quality(self) > int ``` item doc **type** func **brief** get quality of BarCode **return** return quality of the BarCode, type is int **static** False **C++ defination code**: ```cpp int quality() ``` ### Statistics item doc **brief** Statistics class **C++ defination code**: ```cpp class Statistics ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Statistics constructor **param** **format**: The statistics source image format<br>**l_statistics**: The statistics of the L channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector<int><br>**a_statistics**: The statistics of the A channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector<int><br>**b_statistics**: The statistics of the B channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector<int><br> **static** False **C++ defination code**: ```cpp Statistics(image::Format format, std::vector<int> &l_statistics, std::vector<int> &a_statistics, std::vector<int> &b_statistics) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index**: array index<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### format item doc **type** func **brief** get format of Statistics source image **return** return format of the Statistics source image, type is image::Format **static** False **C++ defination code**: ```cpp image::Format format() ``` #### l\\_mean item doc **type** func **brief** get L channel mean **return** return L channel mean, type is int **static** False **C++ defination code**: ```cpp int l_mean() ``` #### l\\_median item doc **type** func **brief** get L channel median **return** return L channel median, type is int **static** False **C++ defination code**: ```cpp int l_median() ``` #### l\\_mode item doc **type** func **brief** get L channel mode **return** return L channel mode, type is int **static** False **C++ defination code**: ```cpp int l_mode() ``` #### l\\_std\\_dev item doc **type** func **brief** get L channel std_dev **return** return L channel std_dev, type is int **static** False **C++ defination code**: ```cpp int l_std_dev() ``` #### l\\_min item doc **type** func **brief** get L channel min **return** return L channel min, type is int **static** False **C++ defination code**: ```cpp int l_min() ``` #### l\\_max item doc **type** func **brief** get L channel max **return** return L channel max, type is int **static** False **C++ defination code**: ```cpp int l_max() ``` #### l\\_lq item doc **type** func **brief** get L channel lq **return** return L channel lq, type is int **static** False **C++ defination code**: ```cpp int l_lq() ``` #### l\\_uq item doc **type** func **brief** get L channel uq **return** return L channel uq, type is int **static** False **C++ defination code**: ```cpp int l_uq() ``` #### a\\_mean item doc **type** func **brief** get A channel mean **return** return A channel mean, type is int **static** False **C++ defination code**: ```cpp int a_mean() ``` #### a\\_median item doc **type** func **brief** get A channea median **return** return A channel median, type is int **static** False **C++ defination code**: ```cpp int a_median() ``` #### a\\_mode item doc **type** func **brief** get A channel mode **return** return A channel mode, type is int **static** False **C++ defination code**: ```cpp int a_mode() ``` #### a\\_std\\_dev item doc **type** func **brief** get A channel std_dev **return** return A channel std_dev, type is int **static** False **C++ defination code**: ```cpp int a_std_dev() ``` #### a\\_min item doc **type** func **brief** get A channel min **return** return A channel min, type is int **static** False **C++ defination code**: ```cpp int a_min() ``` #### a\\_max item doc **type** func **brief** get A channel max **return** return A channel max, type is int **static** False **C++ defination code**: ```cpp int a_max() ``` #### a\\_lq item doc **type** func **brief** get A channel lq **return** return A channel lq, type is int **static** False **C++ defination code**: ```cpp int a_lq() ``` #### a\\_uq item doc **type** func **brief** get A channel uq **return** return A channel uq, type is int **static** False **C++ defination code**: ```cpp int a_uq() ``` #### b\\_mean item doc **type** func **brief** get B channel mean **return** return B channel mean, type is int **static** False **C++ defination code**: ```cpp int b_mean() ``` #### b\\_median item doc **type** func **brief** get B channea median **return** return B channel median, type is int **static** False **C++ defination code**: ```cpp int b_median() ``` #### b\\_mode item doc **type** func **brief** get B channel mode **return** return B channel mode, type is int **static** False **C++ defination code**: ```cpp int b_mode() ``` #### b\\_std\\_dev item doc **type** func **brief** get B channel std_dev **return** return B channel std_dev, type is int **static** False **C++ defination code**: ```cpp int b_std_dev() ``` #### b\\_min item doc **type** func **brief** get B channel min **return** return B channel min, type is int **static** False **C++ defination code**: ```cpp int b_min() ``` #### b\\_max item doc **type** func **brief** get B channel max **return** return B channel max, type is int **static** False **C++ defination code**: ```cpp int b_max() ``` #### b\\_lq item doc **type** func **brief** get B channel lq **return** return B channel lq, type is int **static** False **C++ defination code**: ```cpp int b_lq() ``` #### b\\_uq item doc **type** func **brief** get B channel uq **return** return B channel uq, type is int **static** False **C++ defination code**: ```cpp int b_uq() ``` ### Displacement item doc **brief** Displacement class **C++ defination code**: ```cpp class Displacement ``` #### \\_\\_init\\_\\_ ```python def __init__(self, x_translation: float, y_translation: float, rotation: float, scale: float, response: float) > None ``` item doc **type** func **brief** Displacement constructor **param** **x_translation**: The x_translation of the Displacement<br>**y_translation**: The y_translation of the Displacement<br>**rotation**: The rotation of the Displacement<br>**scale**: The scale of the Displacement<br>**response**: The response of the Displacement<br> **static** False **C++ defination code**: ```cpp Displacement(float x_translation, float y_translation, float rotation, float scale, float response) ``` #### \\_\\_getitem\\_\\_ ```python def __getitem__(self, index: int) > int ``` item doc **type** func **brief** Subscript operator **param** **index**: array index<br> **return** int& **static** False **C++ defination code**: ```cpp int &__getitem__(int index) ``` #### x\\_translation ```python def x_translation(self) > float ``` item doc **type** func **brief** get x_translation of Displacement **return** return x_translation of the Displacement, type is float **static** False **C++ defination code**: ```cpp float x_translation() ``` #### y\\_translation ```python def y_translation(self) > float ``` item doc **type** func **brief** get y_translation of Displacement **return** return y_translation of the Displacement, type is float **static** False **C++ defination code**: ```cpp float y_translation() ``` #### rotation ```python def rotation(self) > float ``` item doc **type** func **brief** get rotation of Displacement **return** return rotation of the Displacement, type is float **static** False **C++ defination code**: ```cpp float rotation() ``` #### scale ```python def scale(self) > float ``` item doc **type** func **brief** get scale of Displacement **return** return scale of the Displacement, type is float **static** False **C++ defination code**: ```cpp float scale() ``` #### response ```python def response(self) > float ``` item doc **type** func **brief** get response of Displacement **return** return response of the Displacement, type is float **static** False **C++ defination code**: ```cpp float response() ``` ### LBPKeyPoint item doc **brief** LBPKeyPoint class **C++ defination code**: ```cpp class LBPKeyPoint ``` #### \\_\\_init\\_\\_ ```python def __init__(self, data: list[int]) > None ``` item doc **type** func **brief** LBPKeyPoint constructor **param** **data**: The data of the LBPKeyPoint<br> **static** False **C++ defination code**: ```cpp LBPKeyPoint(std::valarray<uint8_t> &data) ``` ### KeyPoint item doc **brief** KeyPoint class **C++ defination code**: ```cpp class KeyPoint ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** KeyPoint constructor **param** **x**: The x of the KeyPoint<br>**y**: The y of the KeyPoint<br>**score**: The score of the KeyPoint<br>**octave**: The octave of the KeyPoint<br>**angle**: The angle of the KeyPoint<br>**matched**: The matched of the KeyPoint<br>**desc**: The desc of the KeyPoint<br> **static** False **C++ defination code**: ```cpp KeyPoint(uint16_t x, uint16_t y, uint16_t score, uint16_t octave, uint16_t angle, uint16_t matched, std::vector<uint8_t> &desc) ``` ### KPTMatch item doc **brief** KPTMatch class **C++ defination code**: ```cpp class KPTMatch ``` #### \\_\\_init\\_\\_ ```python def __init__(self, cx: int, cy: int, x: int, y: int, w: int, h: int, score: int, theta: int, match: int) > None ``` item doc **type** func **brief** KPTMatch constructor **param** **cx**: The cx of the KPTMatch<br>**cy**: The cy of the KPTMatch<br>**x**: The x of the KPTMatch<br>**y**: The y of the KPTMatch<br>**w**: The w of the KPTMatch<br>**h**: The h of the KPTMatch<br>**score**: The score of the KPTMatch<br>**theta**: The theta of the KPTMatch<br>**match**: The match of the KPTMatch<br> **static** False **C++ defination code**: ```cpp KPTMatch(int cx, int cy, int x, int y, int w, int h, int score, int theta, int match) ``` ### ORBKeyPoint item doc **brief** ORBKeyPoint class **C++ defination code**: ```cpp class ORBKeyPoint ``` #### \\_\\_init\\_\\_ ```python def __init__(self, data: list[KeyPoint], threshold: int, normalized: bool) > None ``` item doc **type** func **brief** ORBKeyPoint constructor **param** **data**: The data of the ORBKeyPoint<br>**threshold**: The threshold of the ORBKeyPoint<br>**normalized**: The normalized of the ORBKeyPoint<br> **static** False **C++ defination code**: ```cpp ORBKeyPoint(std::vector<image::KeyPoint> &data, int threshold, bool normalized) ``` #### get\\_data ```python def get_data(self) > list[KeyPoint] ``` item doc **type** func **brief** get data of ORBKeyPoint **return** return data of the ORBKeyPoint, type is std::vector<KeyPoint> **static** False **C++ defination code**: ```cpp std::vector<image::KeyPoint> get_data() ``` ### HaarCascade item doc **brief** HaarCascade class **C++ defination code**: ```cpp class HaarCascade ``` #### \\_\\_init\\_\\_ ```python def __init__(self) > None ``` item doc **type** func **brief** HaarCascade constructor **param** **data**: The data of the HaarCascade<br>**threshold**: The threshold of the HaarCascade<br>**normalized**: The normalized of the HaarCascade<br> **static** False **C++ defination code**: ```cpp HaarCascade() ``` ### Color item doc **brief** Color class **C++ defination code**: ```cpp class Color ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Color constructor **param** **alpha**: alpha channel, value range: 0 ~ 1<br> **static** False **C++ defination code**: ```cpp Color(uint8_t ch1, uint8_t ch2 0, uint8_t ch3 0, float alpha 0, image::Format format image::FMT_GRAYSCALE) ``` #### r item doc **type** var **brief** Color red channel **static** False **readonly** False **C++ defination code**: ```cpp uint8_t r ``` #### g item doc **type** var **brief** Color green channel **static** False **readonly** False **C++ defination code**: ```cpp uint8_t g ``` #### b item doc **type** var **brief** Color blue channel **static** False **readonly** False **C++ defination code**: ```cpp uint8_t b ``` #### alpha item doc **type** var **brief** Color alpha channel, value from 0.0 to 1.0, float value **static** False **readonly** False **C++ defination code**: ```cpp float alpha ``` #### gray item doc **type** var **brief** Color gray channel **static** False **readonly** False **C++ defination code**: ```cpp uint8_t gray ``` #### format item doc **type** var **brief** Color format **static** False **readonly** False **C++ defination code**: ```cpp image::Format format ``` #### hex item doc **type** func **brief** Get color's hex value **static** False **C++ defination code**: ```cpp uint32_t hex() ``` #### from\\_rgb item doc **type** func **brief** Create Color object from RGB channels **static** True **C++ defination code**: ```cpp static image::Color from_rgb(uint8_t r, uint8_t g, uint8_t b) ``` #### from\\_bgr item doc **type** func **brief** Create Color object from BGR channels **static** True **C++ defination code**: ```cpp static image::Color from_bgr(uint8_t b, uint8_t g, uint8_t r) ``` #### from\\_gray item doc **type** func **brief** Create Color object from gray channel **static** True **C++ defination code**: ```cpp static image::Color from_gray(uint8_t gray) ``` #### from\\_rgba item doc **type** func **brief** Create Color object from RGBA channels **param** **alpha**: alpha channel, float value, value range: 0 ~ 1<br> **static** True **C++ defination code**: ```cpp static image::Color from_rgba(uint8_t r, uint8_t g, uint8_t b, float alpha) ``` #### from\\_bgra item doc **type** func **brief** Create Color object from BGRA channels **param** **alpha**: alpha channel, float value, value range: 0 ~ 1<br> **static** True **C++ defination code**: ```cpp static image::Color from_bgra(uint8_t b, uint8_t g, uint8_t r, float alpha) ``` #### from\\_hex item doc **type** func **brief** Create Color object from hex value **param** **hex**: hex value, e.g. 0x0000FF00, lower address if first channel<br>**format**: color format, @see image::Format<br> **static** True **C++ defination code**: ```cpp static image::Color from_hex(uint32_t hex, image::Format &format) ``` #### to\\_format item doc **type** func **brief** Convert Color format **param** **format**: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE.<br> **static** False **C++ defination code**: ```cpp void to_format(const image::Format &format) ``` #### to\\_format2 item doc **type** func **brief** Convert color format and return a new Color object **param** **format**: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE.<br> **return** new Color object, you need to delete it manually in C++. **static** False **C++ defination code**: ```cpp image::Color *to_format2(const image::Format &format) ``` ### Image item doc **brief** Image class **C++ defination code**: ```cpp class Image ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Image constructor **param** **width**: image width, should > 0<br>**height**: image height, should > 0<br>**format**: image format @see image::Format<br> **static** False **C++ defination code**: ```cpp Image(int width, int height, image::Format format image::Format::FMT_RGB888) ``` #### format item doc **type** func **brief** Get image's format **see** image.Format **static** False **C++ defination code**: ```cpp image::Format format() ``` #### size item doc **type** func **brief** Get image's size, [width, height] **static** False **C++ defination code**: ```cpp image::Size size() ``` #### data\\_size item doc **type** func **brief** Get image's data size **static** False **C++ defination code**: ```cpp int data_size() ``` #### width item doc **type** func **brief** Get image's width **static** False **C++ defination code**: ```cpp int width() ``` #### height item doc **type** func **brief** Get image's height **static** False **C++ defination code**: ```cpp int height() ``` #### data item doc **type** func **brief** Get image's data pointer.\\nIn MaixPy is capsule object. **static** False **C++ defination code**: ```cpp void *data() ``` #### \\_\\_str\\_\\_ item doc **type** func **brief** To string method **static** False **C++ defination code**: ```cpp std::string __str__() ``` #### to\\_str item doc **type** func **brief** To string method **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### get\\_pixel item doc **type** func **brief** Get pixel of image **param** **x**: pixel's coordinate x. x must less than image's width<br>**y**: pixel's coordinate y. y must less than image's height<br>**rgbtuple**: switch return value method. rgbtuple decides whether to split the return or not. default is false.<br> **return** pixel value,<br>According to image format and rgbtuple, return different value:<br>format is FMT_RGB888, rgbtuple is true, return [R, G, B]; rgbtuple is false, return [RGB]<br>foramt is FMT_BGR888, rgbtuple is true, return [B, G, R]; rgbtuple is false, return [BGR]<br>format is FMT_GRAYSCALE, return [GRAY]; **static** False **C++ defination code**: ```cpp std::vector<int> get_pixel(int x, int y, bool rgbtuple false) ``` #### set\\_pixel item doc **type** func **brief** Set pixel of image **param** **x**: pixel's coordinate x. x must less than image's width<br>**y**: pixel's coordinate y. y must less than image's height<br>**pixel**: pixel value, according to image format and size of pixel, has different operation:<br>format is FMT_RGB888, pixel size must be 1 or 3, if size is 1, will split pixel[0] to [R, G, B]; if size is 3, will use pixel directly<br>format is FMT_BGR888, pixel size must be 1 or 3, if size is 1, will split pixel[0] to [B, G, R]; if size is 3, will use pixel directly<br>format is FMT_GRAYSCALE, pixel size must be 1, will use pixel directly<br> **return** error code, Err::ERR_NONE is ok, other is error **static** False **C++ defination code**: ```cpp err::Err set_pixel(int x, int y, std::vector<int> pixel) ``` #### to\\_tensor item doc **type** func **brief** Convert Image object to tensor::Tensor object **param** **chw**: if true, the shape of tensor is [C, H, W], else [H, W, C]<br>**copy**: if true, will alloc memory for tensor data, else will use the memory of Image object<br> **return** tensor::Tensor object pointer, an allocated tensor object **static** False **C++ defination code**: ```cpp tensor::Tensor *to_tensor(bool chw false, bool copy true) ``` #### to\\_bytes item doc **type** func **brief** Get image's data and convert to array bytes **param** **copy**: if true, will alloc memory and copy data to new buffer,<br>else will use the memory of Image object, delete bytes object will not affect Image object，<br>but delete Image object will make bytes object invalid, it may cause program crash !!!!<br>So use this param carefully.<br> **return** image's data bytes, need be delete by caller in C++. **static** False **C++ defination code**: ```cpp Bytes *to_bytes(bool copy true) ``` #### to\\_format item doc **type** func **brief** Convert image to specific format **param** **format**: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE, JPEG.<br> **return** new image object. Need be delete by caller in C++. **throw** err.Exception, if two images' format not support, **or already the format**, will raise exception **static** False **C++ defination code**: ```cpp image::Image *to_format(const image::Format &format) ``` #### to\\_jpeg item doc **type** func **brief** Convert image to jpeg **param** **quality**: the quality of jpg, default is 95. range is (50, 100].<br> **return** new image object. Need be delete by caller in C++. **throw** err.Exception, if two images' format not support, **or already the format**, will raise exception **static** False **C++ defination code**: ```cpp image::Image *to_jpeg(int quality 95) ``` #### draw\\_image item doc **type** func **brief** Draw image on this image **param** **x**: left top corner of image point's coordinate x<br>**y**: left top corner of image point's coordinate y<br>**img**: image object to draw, the caller's channel must < the args' channel,<br>e.g. caller is RGB888, args is RGBA8888, will throw exception, but caller is RGBA8888, args is RGB888 or RGBA8888 is ok<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_image(int x, int y, image::Image &img) ``` #### draw\\_rect item doc **type** func **brief** Fill rectangle color to image **param** **x**: left top corner of rectangle point's coordinate x<br>**y**: left top corner of rectangle point's coordinate y<br>**w**: rectangle width<br>**h**: rectangle height<br>**color**: rectangle color<br>**thickness**: rectangle thickness(line width), by default(value is 1), 1 means fill rectangle<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_rect(int x, int y, int w, int h, const image::Color &color, int thickness 1) ``` #### draw\\_line item doc **type** func **brief** Draw line on image **param** **x1**: start point's coordinate x<br>**y1**: start point's coordinate y<br>**x2**: end point's coordinate x<br>**y2**: end point's coordinate y<br>**color**: line color @see image::Color<br>**thickness**: line thickness(line width), by default(value is 1)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_line(int x1, int y1, int x2, int y2, const image::Color &color, int thickness 1) ``` #### draw\\_circle item doc **type** func **brief** Draw circle on image **param** **x**: circle center point's coordinate x<br>**y**: circle center point's coordinate y<br>**radius**: circle radius<br>**color**: circle color @see image::Color<br>**thickness**: circle thickness(line width), by default(value is 1), 1 means fill circle<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_circle(int x, int y, int radius, const image::Color &color, int thickness 1) ``` #### draw\\_ellipse item doc **type** func **brief** Draw ellipse on image **param** **x**: ellipse center point's coordinate x<br>**y**: ellipse center point's coordinate y<br>**a**: ellipse major axis length<br>**b**: ellipse minor axis length<br>**angle**: ellipse rotation angle<br>**start_angle**: ellipse start angle<br>**end_angle**: ellipse end angle<br>**color**: ellipse color @see image::Color<br>**thickness**: ellipse thickness(line width), by default(value is 1), 1 means fill ellipse<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_ellipse(int x, int y, int a, int b, float angle, float start_angle, float end_angle, const image::Color &color, int thickness 1) ``` #### draw\\_string item doc **type** func **brief** Draw text on image **param** **x**: text left top point's coordinate x<br>**y**: text left top point's coordinate y<br>**string**: text content<br>**color**: text color @see image::Color, default is white<br>**scale**: font scale, by default(value is 1)<br>**thickness**: text thickness(line width), if negative, the glyph is filled, by default(value is 1)<br>**wrap**: if true, will auto wrap text to next line if text width > image width, by default(value is true)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_string(int x, int y, const std::string &textstring, const image::Color &color image::COLOR_WHITE, float scale 1, int thickness 1, bool wrap true, int wrap_space 4, const std::string &font \"\") ``` #### draw\\_cross item doc **type** func **brief** Draw cross on image **param** **x**: cross center point's coordinate x<br>**y**: cross center point's coordinate y<br>**color**: cross color @see image::Color<br>**size**: how long the lines of the cross extend, by default(value is 5). So the line length is `2 * size + thickness`<br>**thickness**: cross thickness(line width), by default(value is 1)<br> **static** False **C++ defination code**: ```cpp image::Image *draw_cross(int x, int y, const image::Color &color, int size 5, int thickness 1) ``` #### draw\\_arrow item doc **type** func **brief** Draw arrow on image **param** **x0**: start coordinate of the arrow x0<br>**y0**: start coordinate of the arrow y0<br>**x1**: end coordinate of the arrow x1<br>**y1**: end coordinate of the arrow y1<br>**color**: cross color @see image::Color<br>**thickness**: cross thickness(line width), by default(value is 1)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_arrow(int x0, int y0, int x1, int y1, const image::Color &color, int thickness 1) ``` #### draw\\_edges item doc **type** func **brief** Draw edges on image **param** **corners**: edges, [[x0, y0], [x1, y1], [x2, y2], [x3, y3]]<br>**color**: edges color @see image::Color<br>**size**: the circle of radius size. TODO: support in the feature<br>**thickness**: edges thickness(line width), by default(value is 1)<br>**fill**: if true, will fill edges, by default(value is false)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_edges(std::vector<std::vector<int>> corners, const image::Color &color, int size 0, int thickness 1, bool fill false) ``` #### draw\\_keypoints item doc **type** func **brief** Draw keypoints on image **param** **keypoints**: keypoints, [x1, y1, x2, y2...] or [x, y, rotation_andle_in_degrees, x2, y2, rotation_andle_in_degrees2](TODO: rotation_andle_in_degrees support in the feature)<br>**color**: keypoints color @see image::Color<br>**size**: size of keypoints<br>**thickness**: keypoints thickness(line width), by default(value is 1 means fill circle)<br> **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_keypoints(std::vector<int> keypoints, const image::Color &color, int size 10, int thickness 1) ``` #### resize item doc **type** func **brief** Resize image, will create a new resized image object **param** **width**: new width, if value is 1, will use height to calculate aspect ratio<br>**height**: new height, if value is 1, will use width to calculate aspect ratio<br>**object_fit**: fill, contain, cover, by default is fill<br>**method**: resize method, by default is bilinear<br> **return** Always return a new resized image object even size not change, So in C++ you should take care of the return value to avoid memory leak.<br>And it's better to judge whether the size has changed before calling this function to make the program more efficient.<br>e.g.<br>if img >width() ! width img >height() ! height:<br>img img >resize(width, height); **static** False **C++ defination code**: ```cpp image::Image *resize(int width, int height, image::Fit object_fit image::Fit::FIT_FILL, image::ResizeMethod method image::ResizeMethod::NEAREST) ``` #### affine item doc **type** func **brief** Affine transform image, will create a new transformed image object **param** **src_points**: three source points, [x1, y1, x2, y2, x3, y3]<br>**dst_points**: three destination points, [x1, y1, x2, y2, x3, y3]<br>**width**: new width, if value is 1, will use height to calculate aspect ratio<br>**height**: new height, if value is 1, will use width to calculate aspect ratio<br>**method**: resize method, by default is bilinear<br> **return** new transformed image object **static** False **C++ defination code**: ```cpp image::Image *affine(std::vector<int> src_points, std::vector<int> dst_points, int width 1, int height 1, image::ResizeMethod method image::ResizeMethod::BILINEAR) ``` #### copy item doc **type** func **brief** Copy image, will create a new copied image object **return** new copied image object **static** False **C++ defination code**: ```cpp image::Image *copy() ``` #### crop item doc **type** func **brief** Crop image, will create a new cropped image object **param** **x**: left top corner of crop rectangle point's coordinate x<br>**y**: left top corner of crop rectangle point's coordinate y<br>**w**: crop rectangle width<br>**h**: crop rectangle height<br> **return** new cropped image object **static** False **C++ defination code**: ```cpp image::Image *crop(int x, int y, int w, int h) ``` #### rotate item doc **type** func **brief** Rotate image, will create a new rotated image object **param** **angle**: anti clock wise rotate angle, if angle is 90 or 270, and width or height is 1, will swap width and height, or will throw exception<br>**width**: new width, if value is 1, will use height to calculate aspect ratio<br>**height**: new height, if value is 1, will use width to calculate aspect ratio<br>**method**: resize method, by default is bilinear<br> **return** new rotated image object **static** False **C++ defination code**: ```cpp image::Image *rotate(float angle, int width 1, int height 1, image::ResizeMethod method image::ResizeMethod::BILINEAR) ``` #### mean\\_pool item doc **type** func **brief** Finds the mean of x_div * y_div squares in the image and returns the modified image composed of the mean of each square. **param** **x_div**: The width of the squares.<br>**y_div**: The height of the squares.<br>**copy**: Select whether to return a new image or modify the original image. default is false.<br>If true, returns a new image composed of the mean of each square; If false, returns the modified image composed of the mean of each square.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mean_pool(int x_div, int y_div, bool copy false) ``` #### midpoint\\_pool item doc **type** func **brief** Finds the midpoint of x_div * y_div squares in the image and returns the modified image composed of the mean of each square. **param** **x_div**: The width of the squares.<br>**y_div**: The height of the squares.<br>**bias**: The bias of the midpoint. default is 0.5.<br>midpoint value is equal to (max * bias + min * (1 bias))<br>**copy**: Select whether to return a new image or modify the original image. default is false.<br>If true, returns a new image composed of the midpoint of each square; If false, returns the modified image composed of the midpoint of each square.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *midpoint_pool(int x_div, int y_div, double bias 0.5, bool copy false) ``` #### compress item doc **type** func **brief** JPEG compresses the image in place, the same as to_jpeg functioin, it's recommend to use to_jpeg instead. **param** **quality**: The quality of the compressed image. default is 95.<br> **return** Returns the compressed JPEG image **static** False **C++ defination code**: ```cpp image::Image *compress(int quality 95) ``` #### clear item doc **type** func **brief** Sets all pixels in the image to zero **param** **mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *clear(image::Image *mask nullptr) ``` #### mask\\_rectange item doc **type** func **brief** Zeros a rectangular part of the image. If no arguments are supplied this method zeros the center of the image. **param** **x**: The x coordinate of the top left corner of the rectangle.<br>**y**: The y coordinate of the top left corner of the rectangle.<br>**w**: The width of the rectangle.<br>**h**: The height of the rectangle.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mask_rectange(int x 1, int y 1, int w 1, int h 1) ``` #### mask\\_circle item doc **type** func **brief** Zeros a circular part of the image. If no arguments are supplied this method zeros the center of the image. **param** **x**: The x coordinate of the center of the circle.<br>**y**: The y coordinate of the center of the circle.<br>**radius**: The radius of the circle.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mask_circle(int x 1, int y 1, int radius 1) ``` #### mask\\_ellipse item doc **type** func **brief** Zeros a ellipse part of the image. If no arguments are supplied this method zeros the center of the image. **param** **x**: The x coordinate of the center of the ellipse.<br>**y**: The y coordinate of the center of the ellipse.<br>**radius_x**: The radius of the ellipse in the x direction.<br>**radius_y**: The radius of the ellipse in the y direction.<br>**rotation_angle_in_degrees**: The rotation angle of the ellipse in degrees.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mask_ellipse(int x 1, int y 1, int radius_x 1, int radius_y 1, float rotation_angle_in_degrees 0) ``` #### binary item doc **type** func **brief** Sets all pixels in the image to black or white depending on if the pixel is inside of a threshold in the threshold list thresholds or not. **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: If true, the thresholds will be inverted before the operation. default is false.<br>**zero**: If zero is true, the image will be set the pixels within the threshold to 0, other pixels remain unchanged. If zero is false, the image will be set to black or white. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br>**to_bitmap**: If true, the image will be converted to a bitmap image before thresholding. default is false. TODO: support in the feature<br>**copy**: Select whether to return a new image or modify the original image. default is false.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *binary(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, bool zero false, image::Image *mask nullptr, bool to_bitmap false, bool copy false) ``` #### invert item doc **type** func **brief** Inverts the image in place. **return** Returns the image after the operation is completed **static** False **C++ defination code**: ```cpp image::Image *invert() ``` #### b\\_and item doc **type** func **brief** Performs a bitwise and operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_and(image::Image *other, image::Image *mask nullptr) ``` #### b\\_nand item doc **type** func **brief** Performs a bitwise nand operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_nand(image::Image *other, image::Image *mask nullptr) ``` #### b\\_or item doc **type** func **brief** Performs a bitwise or operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_or(image::Image *other, image::Image *mask nullptr) ``` #### b\\_nor item doc **type** func **brief** Performs a bitwise nor operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_nor(image::Image *other, image::Image *mask nullptr) ``` #### b\\_xor item doc **type** func **brief** Performs a bitwise xor operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_xor(image::Image *other, image::Image *mask nullptr) ``` #### b\\_xnor item doc **type** func **brief** Performs a bitwise xnor operation between the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *b_xnor(image::Image *other, image::Image *mask nullptr) ``` #### awb item doc **type** func **brief** Performs an auto white balance operation on the image. TODO: support in the feature **param** **max**: if True uses the white patch algorithm instead. default is false.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *awb(bool max false) ``` #### ccm item doc **type** func **brief** Multiples the passed (3x3) or (4x3) floating point color correction matrix with the image.\\nnote: Grayscale format is not support. **param** **matrix**: The color correction matrix to use. 3x3 or 4x3 matrix.<br>Weights may either be positive or negative, and the sum of each column in the 3x3 matrix should generally be 1.<br>example:<br>{<br>1, 0, 0,<br>0, 1, 0,<br>0, 0, 1,<br>}<br>Where the last row of the 4x3 matrix is an offset per color channel. If you add an offset you may wish to make the<br>weights sum to less than 1 to account for the offset.<br>example:<br>{<br>1, 0, 0,<br>0, 1, 0,<br>0, 0, 1,<br>0, 0, 0,<br>}<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *ccm(std::vector<float> &matrix) ``` #### gamma item doc **type** func **brief** Quickly changes the image gamma, contrast, and brightness. Create a array whose size is usually 255,\\nand use the parameters gamma, contrast, and brightness to calculate the value of the array, and then map the\\nimage pixel value through the value of the array.\\nThe calculation method for array is: array[array_idx] (powf((array_idx / 255.0), (1 / gamma)) * contrast + brightness) * scale,\\n`powf` is a function used to calculate floating point power.\\n`array` is the array used for mapping.\\n`array_idx` is the index of the array, the maximum value is determined according to the image format, usually 255.\\n`scale` is a constant, the value is determined by the image format, usually 255.\\nMapping method:\\nAssume that a pixel value in the image is 128, then map the pixel value to the value of array[128]\\nUsers can adjust the value of the array through the gamma, contrast, and brightness parameters. **param** **gamma**: The contrast gamma greater than 1.0 makes the image darker in a non linear manner while less than 1.0 makes the image brighter. default is 1.0.<br>**contrast**: The contrast value greater than 1.0 makes the image brighter in a linear manner while less than 1.0 makes the image darker. default is 1.0.<br>**brightness**: The brightness value greater than 0.0 makes the image brighter in a constant manner while less than 0.0 makes the image darker. default is 0.0.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *gamma(double gamma 1.0, double contrast 1.0, double brightness 0.0) ``` #### gamma\\_corr item doc **type** func **brief** Alias for Image.gamma. **param** **gamma**: The contrast gamma greater than 1.0 makes the image darker in a non linear manner while less than 1.0 makes the image brighter. default is 1.0.<br>**contrast**: The contrast value greater than 1.0 makes the image brighter in a linear manner while less than 1.0 makes the image darker. default is 1.0.<br>**brightness**: The brightness value greater than 0.0 makes the image brighter in a constant manner while less than 0.0 makes the image darker. default is 0.0.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *gamma_corr(double gamma, double contrast 1.0, double brightness 0.0) ``` #### negate item doc **type** func **brief** Flips (numerically inverts) all pixels values in an image **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *negate() ``` #### replace item doc **type** func **brief** Replaces all pixels in the image with the corresponding pixels in the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**hmirror**: If true, the image will be horizontally mirrored before the operation. default is false.<br>**vflip**: If true, the image will be vertically flipped before the operation. default is false.<br>**transpose**: If true, the image can be used to rotate 90 degrees or 270 degrees.<br>hmirror false, vflip false, transpose false, the image will not be rotated.<br>hmirror false, vflip true, transpose true, the image will be rotated 90 degrees.<br>hmirror true, vflip true, transpose false, the image will be rotated 180 degrees.<br>hmirror true, vflip false, transpose true, the image will be rotated 270 degrees.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *replace(image::Image *other nullptr, bool hmirror false, bool vflip false, bool transpose false, image::Image *mask nullptr) ``` #### set item doc **type** func **brief** Alias for Image::replace. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**hmirror**: If true, the image will be horizontally mirrored before the operation. default is false.<br>**vflip**: If true, the image will be vertically flipped before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *set(image::Image *other, bool hmirror false, bool vflip false, bool transpose false, image::Image *mask nullptr) ``` #### add item doc **type** func **brief** Adds the other image to the image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *add(image::Image *other, image::Image *mask nullptr) ``` #### sub item doc **type** func **brief** Subtracts the other image from the image. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**reverse**: If true, the image will be reversed before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *sub(image::Image *other, bool reverse false, image::Image *mask nullptr) ``` #### mul item doc **type** func **brief** Multiplies the image by the other image.\\nNote: This method is meant for image blending and cannot multiply the pixels in the image by a scalar like 2. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**invert**: If true, the image will be change the multiplication operation from a*b to 1/((1/a)*(1/b)).<br>In particular, this lightens the image instead of darkening it (e.g. multiply versus burn operations). default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mul(image::Image *other, bool invert false, image::Image *mask nullptr) ``` #### div item doc **type** func **brief** Divides the image by the other image.\\nThis method is meant for image blending and cannot divide the pixels in the image by a scalar like 2. **param** **other**: The other image should be an image and should be the same size as the image being operated on. TODO: support path?<br>**invert**: If true, the image will be change the division direction from a/b to b/a. default is false.<br>**mod**: If true, the image will be change the division operation to the modulus operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *div(image::Image *other, bool invert false, bool mod false, image::Image *mask nullptr) ``` #### min item doc **type** func **brief** Caculate the minimum of each pixel in the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *min(image::Image *other, image::Image *mask nullptr) ``` #### max item doc **type** func **brief** Caculate the maximum of each pixel in the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *max(image::Image *other, image::Image *mask nullptr) ``` #### difference item doc **type** func **brief** Caculate the absolute value of the difference between each pixel in the image and the other image. **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *difference(image::Image *other, image::Image *mask nullptr) ``` #### blend item doc **type** func **brief** Blends the image with the other image.\\nres alpha * this_img / 256 + (256 alpha) * other_img / 256 **param** **other**: The other image should be an image and should be the same size as the image being operated on.<br>**alpha**: The alpha value of the blend, the value range is [0, 256],default is 128.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *blend(image::Image *other, int alpha 128, image::Image *mask nullptr) ``` #### histeq item doc **type** func **brief** Runs the histogram equalization algorithm on the image. **param** **adaptive**: If true, an adaptive histogram equalization method will be run on the image instead which as generally better results than non adaptive histogram qualization but a longer run time. default is false.<br>**clip_limit**: Provides a way to limit the contrast of the adaptive histogram qualization. Use a small value for this, like 10, to produce good histogram equalized contrast limited images. default is 1.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *histeq(bool adaptive false, int clip_limit 1, image::Image *mask nullptr) ``` #### mean item doc **type** func **brief** Standard mean blurring filter using a box filter.\\nThe parameters offset and invert are valid when threshold is True. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mean(int size, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### median item doc **type** func **brief** Runs the median filter on the image. The median filter is the best filter for smoothing surfaces while preserving edges but it is very slow. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**percentile**: This parameter controls the percentile of the value used in the kernel. You can set this to 0 for a min filter, 0.25 for a lower quartile filter, 0.75 for an upper quartile filter, and 1.0 for a max filter. default is 0.5.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *median(int size, double percentile 0.5, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### mode item doc **type** func **brief** Runs the mode filter on the image by replacing each pixel with the mode of their neighbors. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *mode(int size, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### midpoint item doc **type** func **brief** Runs the midpoint filter on the image.This filter finds the midpoint (max * bias + min * (1 bias)) of each pixel neighborhood in the image. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**bias**: The bias of the midpoint. default is 0.5.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *midpoint(int size, double bias 0.5, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### morph item doc **type** func **brief** Convolves the image by a filter kernel. This allows you to do general purpose convolutions on an image. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**kernel**: The kernel used for convolution. The kernel should be a list of lists of numbers. The kernel should be the same size as the actual kernel size.<br>**mul**: This parameter is used to multiply the convolved pixel results. default is auto.<br>**add**: This parameter is the value to be added to each convolution pixel result. default is 0.0.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *morph(int size, std::vector<int> kernel, float mul 1, float add 0.0, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### gaussian item doc **type** func **brief** Convolves the image by a smoothing guassian kernel. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**unsharp**: If true, this method will perform an unsharp mask operation instead of gaussian filtering operation, this improves the clarity of image edges. default is false.<br>**mul**: This parameter is used to multiply the convolved pixel results. default is auto.<br>**add**: This parameter is the value to be added to each convolution pixel result. default is 0.0.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *gaussian(int size, bool unsharp false, float mul 1, float add 0.0, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### laplacian item doc **type** func **brief** Convolves the image by a edge detecting laplacian kernel. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**sharpen**: If True, this method will sharpen the image instead of an unthresholded edge detection image. Then increase the kernel size to improve image clarity. default is false.<br>**mul**: This parameter is used to multiply the convolved pixel results. default is auto.<br>**add**: This parameter is the value to be added to each convolution pixel result. default is 0.0.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *laplacian(int size, bool sharpen false, float mul 1, float add 0.0, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### bilateral item doc **type** func **brief** Convolves the image by a bilateral filter. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**color_sigma**: Controls how closely colors are matched using the bilateral filter. default is 0.1.<br>**space_sigma**: Controls how closely pixels space wise are blurred with each other. default is 1.<br>**threshold**: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel’s brightness in relation to the brightness of the kernel of pixels around them.<br>default is false.<br>**offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *bilateral(int size, double color_sigma 0.1, double space_sigma 1, bool threshold false, int offset 0, bool invert false, image::Image *mask nullptr) ``` #### linpolar item doc **type** func **brief** Re project’s and image from cartessian coordinates to linear polar coordinates. **param** **reverse**: If true, the image will be reverse polar transformed. default is false.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *linpolar(bool reverse false) ``` #### logpolar item doc **type** func **brief** Re project’s and image from cartessian coordinates to log polar coordinates. **param** **reverse**: If true, the image will be reverse polar transformed. default is false.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *logpolar(bool reverse false) ``` #### lens\\_corr item doc **type** func **brief** Performs a lens correction operation on the image. TODO: support in the feature **param** **strength**: The strength of the lens correction. default is 1.8.<br>**zoom**: The zoom of the lens correction. default is 1.0.<br>**x_corr**: The x correction of the lens correction. default is 0.5.<br>**y_corr**: The y correction of the lens correction. default is 0.5.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *lens_corr(double strength 1.8, double zoom 1.0, double x_corr 0.5, double y_corr 0.5) ``` #### rotation\\_corr item doc **type** func **brief** Performs a rotation correction operation on the image. TODO: support in the feature **param** **x_rotation**: The x rotation of the rotation correction. default is 0.0.<br>**y_rotation**: The y rotation of the rotation correction. default is 0.0.<br>**z_rotation**: The z rotation of the rotation correction. default is 0.0.<br>**x_translation**: The x translation of the rotation correction. default is 0.0.<br>**y_translation**: The y translation of the rotation correction. default is 0.0.<br>**zoom**: The zoom of the rotation correction. default is 1.0.<br>**fov**: The fov of the rotation correction. default is 60.0.<br>**corners**: The corners of the rotation correction. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *rotation_corr(double x_rotation 0.0, double y_rotation 0.0, double z_rotation 0.0, double x_translation 0.0, double y_translation 0.0, double zoom 1.0, double fov 60.0, std::vector<float> corners std::vector<float>()) ``` #### get\\_histogram item doc **type** func **brief** Gets the histogram of the image. **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: If true, the thresholds will be inverted before the operation. default is false.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**bins**: The number of bins to use for the histogram.<br>In GRAYSCALE format, setting range is [2, 256], default is 100.<br>In rgb888 format, setting range is [2, 100], default is 100.<br>**l_bins**: The number of bins to use for the l channel of the histogram. Only valid in RGB888 format.<br>If an invalid value is set, bins will be used instead. The setting range is [2, 100], default is 100.<br>**a_bins**: The number of bins to use for the a channel of the histogram.<br>Only valid in RGB888 format.The setting range is [2, 256], default is 256.<br>**b_bins**: The number of bins to use for the b channel of the histogram.<br>Only valid in RGB888 format. The setting range is [2, 256], default is 256.<br>**difference**: difference may be set to an image object to cause this method to operate on the difference image between the current image and the difference image object.<br>default is None.<br> **return** Returns the histogram of the image **static** False **C++ defination code**: ```cpp std::map<std::string, std::vector<float>> get_histogram(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, std::vector<int> roi std::vector<int>(), int bins 1, int l_bins 100, int a_bins 256, int b_bins 256, image::Image *difference nullptr) ``` #### get\\_statistics item doc **type** func **brief** Gets the statistics of the image. TODO: support in the feature **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**bins**: The number of bins to use for the statistics. default is 1.<br>**l_bins**: The number of bins to use for the l channel of the statistics. default is 1.<br>**a_bins**: The number of bins to use for the a channel of the statistics. default is 1.<br>**b_bins**: The number of bins to use for the b channel of the statistics. default is 1.<br>**difference**: The difference image to use for the statistics. default is None.<br> **return** Returns the statistics of the image **static** False **C++ defination code**: ```cpp image::Statistics get_statistics(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, std::vector<int> roi std::vector<int>(), int bins 1, int l_bins 1, int a_bins 1, int b_bins 1, image::Image *difference nullptr) ``` #### get\\_regression item doc **type** func **brief** Gets the regression of the image. **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**x_stride**: The x stride to use for the regression. default is 2.<br>**y_stride**: The y stride to use for the regression. default is 1.<br>**area_threshold**: The area threshold to use for the regression. default is 10.<br>**pixels_threshold**: The pixels threshold to use for the regression. default is 10.<br>**robust**: If true, the regression will be robust. default is false.<br> **return** Returns the regression of the image **static** False **C++ defination code**: ```cpp std::vector<image::Line> get_regression(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, std::vector<int> roi std::vector<int>(), int x_stride 2, int y_stride 1, int area_threshold 10, int pixels_threshold 10, bool robust false) ``` #### save item doc **type** func **brief** Save image to file **param** **path**: file path<br>**quality**: image quality, by default(value is 95), support jpeg and png format<br> **return** error code, err::ERR_NONE is ok, other is error **static** False **C++ defination code**: ```cpp err::Err save(const char *path, int quality 95) ``` #### flood\\_fill item doc **type** func **brief** Flood fills a region of the image starting from location x, y. **param** **x**: The x coordinate of the seed point.<br>**y**: The y coordinate of the seed point.<br>**seed_threshold**: The seed_threshold value controls how different any pixel in the fill area may be from the original starting pixel. default is 0.05.<br>**floating_threshold**: The floating_threshold value controls how different any pixel in the fill area may be from any neighbor pixels. default is 0.05.<br>**color**: The color to fill the region with. default is white.<br>**invert**: If true, the image will be inverted before the operation. default is false.<br>**clear_background**: If true, the background will be cleared before the operation. default is false.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None. FIXME: the mask image works abnormally<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *flood_fill(int x, int y, float seed_threshold 0.05, float floating_threshold 0.05, image::Color color image::COLOR_WHITE, bool invert false, bool clear_background false, image::Image *mask nullptr) ``` #### erode item doc **type** func **brief** Erodes the image in place. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: The number of pixels in the kernel that are not 0. If it is less than or equal to the threshold, set the center pixel to black. default is (kernel_size 1).<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *erode(int size, int threshold 1, image::Image *mask nullptr) ``` #### dilate item doc **type** func **brief** Dilates the image in place. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: The number of pixels in the kernel that are not 0. If it is greater than or equal to the threshold, set the center pixel to white. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *dilate(int size, int threshold 0, image::Image *mask nullptr) ``` #### open item doc **type** func **brief** Performs erosion and dilation on an image in order. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: As the threshold for erosion and dilation, the actual threshold for erosion is (kernel_size 1 threshold), the actual threshold for dialation is threshold. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *open(int size, int threshold 0, image::Image *mask nullptr) ``` #### close item doc **type** func **brief** Performs dilation and erosion on an image in order. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: As the threshold for erosion and dilation, the actual threshold for erosion is (kernel_size 1 threshold), the actual threshold for dialation is threshold. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *close(int size, int threshold 0, image::Image *mask nullptr) ``` #### top\\_hat item doc **type** func **brief** Returns the image difference of the image and Image.open()’ed image. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: As the threshold for open method. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *top_hat(int size, int threshold 0, image::Image *mask nullptr) ``` #### black\\_hat item doc **type** func **brief** Returns the image difference of the image and Image.close()’ed image. **param** **size**: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).<br>**threshold**: As the threshold for close method. default is 0.<br>**mask**: Mask is another image to use as a pixel level mask for the operation. The mask should be an image with just black or white pixels and should be the same size as the image being operated on.<br>Only pixels set in the mask are modified. default is None.<br> **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *black_hat(int size, int threshold 0, image::Image *mask nullptr) ``` #### find\\_blobs item doc **type** func **brief** Finds all blobs in the image and returns a list of image.Blob class which describe each Blob.\\nPlease see the image.Blob object more more information. **param** **thresholds**: You can define multiple thresholds.<br>For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.<br>For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.<br>Where the upper case L,A,B represent the L,A,B channels of the LAB image format, and min, max represent the minimum and maximum values of the corresponding channels.<br>**invert**: if true, will invert thresholds before find blobs, default is false<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**x_stride**: x stride is the number of x pixels to skip when doing the hough transform. default is 2<br>**y_stride**: y_stride is the number of y pixels to skip when doing the hough transform. default is 1<br>**area_threshold**: area threshold, if the blob area is smaller than area_threshold, the blob is not returned, default is 10<br>**pixels_threshold**: pixels threshold, if the blob pixels is smaller than area_threshold, the blob is not returned,, default is 10.<br>when x_stride and y_stride is equal to 1, pixels_threshold is equivalent to area_threshold<br>**merge**: if True merges all not filtered out blobs whos bounding rectangles intersect each other. default is false<br>**margin**: margin can be used to increase or decrease the size of the bounding rectangles for blobs during the intersection test.<br>For example, with a margin of 1 blobs whos bounding rectangles are 1 pixel away from each other will be merged. default is 0<br>**x_hist_bins_max**: if set to non zero populates a histogram buffer in each blob object with an x_histogram projection of all columns in the object. This value then sets the number of bins for that projection.<br>**y_hist_bins_max**: if set to non zero populates a histogram buffer in each blob object with an y_histogram projection of all rows in the object. This value then sets the number of bins for that projection.<br> **return** Return the blob when found blobs, format is (blob1, blob2, ...), you can use blob class methods to do more operations. **static** False **C++ defination code**: ```cpp std::vector<image::Blob> find_blobs(std::vector<std::vector<int>> thresholds std::vector<std::vector<int>>(), bool invert false, std::vector<int> roi std::vector<int>(), int x_stride 2, int y_stride 1, int area_threshold 10, int pixels_threshold 10, bool merge false, int margin 0, int x_hist_bins_max 0, int y_hist_bins_max 0) ``` #### find\\_lines item doc **type** func **brief** Find lines in image **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**x_stride**: x stride is the number of x pixels to skip when doing the hough transform. default is 2<br>**y_stride**: y_stride is the number of y pixels to skip when doing the hough transform. default is 1<br>**threshold**: threshold threshold controls what lines are detected from the hough transform. Only lines with a magnitude greater than or equal to threshold are returned.<br>The right value of threshold for your application is image dependent. default is 1000.<br>**theta_margin**: theta_margin controls the merging of detected lines. default is 25.<br>**rho_margin**: rho_margin controls the merging of detected lines. default is 25.<br> **return** Return the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations **static** False **C++ defination code**: ```cpp std::vector<image::Line> find_lines(std::vector<int> roi std::vector<int>(), int x_stride 2, int y_stride 1, double threshold 1000, double theta_margin 25, double rho_margin 25) ``` #### find\\_line\\_segments item doc **type** func **brief** Finds all line segments in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**merge_distance**: The maximum distance between two lines to merge them. default is 0.<br>**max_theta_difference**: The maximum difference between two lines to merge them. default is 15.<br> **return** Return the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations **static** False **C++ defination code**: ```cpp std::vector<image::Line> find_line_segments(std::vector<int> roi std::vector<int>(), int merge_distance 0, int max_theta_difference 15) ``` #### find\\_circles item doc **type** func **brief** Find circles in image **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**x_stride**: x stride is the number of x pixels to skip when doing the hough transform. default is 2<br>**y_stride**: y_stride is the number of y pixels to skip when doing the hough transform. default is 1<br>**threshold**: threshold controls what circles are detected from the hough transform. Only circles with a magnitude greater than or equal to threshold are returned.<br>The right value of threshold for your application is image dependent.<br>**x_margin**: x_margin controls the merging of detected circles. Circles which are x_margin, y_margin, and r_margin pixels apart are merged. default is 10<br>**y_margin**: y_margin controls the merging of detected circles. Circles which are x_margin, y_margin, and r_margin pixels apart are merged. default is 10<br>**r_margin**: r_margin controls the merging of detected circles. Circles which are x_margin, y_margin, and r_margin pixels apart are merged. default is 10<br>**r_min**: r_min controls the minimum circle radius detected. Increase this to speed up the algorithm. default is 2<br>**r_max**: r_max controls the maximum circle radius detected. Decrease this to speed up the algorithm. default is min(roi.w / 2, roi.h / 2)<br>**r_step**: r_step controls how to step the radius detection by. default is 2.<br> **return** Return the circle when found circles, format is (circle1, circle2, ...), you can use circle class methods to do more operations **static** False **C++ defination code**: ```cpp std::vector<image::Circle> find_circles(std::vector<int> roi std::vector<int>(), int x_stride 2, int y_stride 1, int threshold 2000, int x_margin 10, int y_margin 10, int r_margin 10, int r_min 2, int r_max 1, int r_step 2) ``` #### find\\_rects item doc **type** func **brief** Finds all rects in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**threshold**: The threshold to use for the rects. default is 10000.<br> **return** Returns the rects of the image **static** False **C++ defination code**: ```cpp std::vector<image::Rect> find_rects(std::vector<int> roi std::vector<int>(), int threshold 10000) ``` #### find\\_qrcodes item doc **type** func **brief** Finds all qrcodes in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br> **return** Returns the qrcodes of the image **static** False **C++ defination code**: ```cpp std::vector<image::QRCode> find_qrcodes(std::vector<int> roi std::vector<int>()) ``` #### find\\_apriltags item doc **type** func **brief** Finds all apriltags in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**families**: The families to use for the apriltags. default is TAG36H11.<br>**fx**: The camera X focal length in pixels, default is 1.<br>**fy**: The camera Y focal length in pixels, default is 1.<br>**cx**: The camera X center in pixels, default is image.width / 2.<br>**cy**: The camera Y center in pixels, default is image.height / 2.<br> **return** Returns the apriltags of the image **static** False **C++ defination code**: ```cpp std::vector<image::AprilTag> find_apriltags(std::vector<int> roi std::vector<int>(), image::ApriltagFamilies families image::ApriltagFamilies::TAG36H11, float fx 1, float fy 1, int cx 1, int cy 1) ``` #### find\\_datamatrices item doc **type** func **brief** Finds all datamatrices in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**effort**: Controls how much time to spend trying to find data matrix matches. default is 200.<br> **return** Returns the datamatrices of the image **static** False **C++ defination code**: ```cpp std::vector<image::DataMatrix> find_datamatrices(std::vector<int> roi std::vector<int>(), int effort 200) ``` #### find\\_barcodes item doc **type** func **brief** Finds all barcodes in the image. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br> **return** Returns the barcodes of the image **static** False **C++ defination code**: ```cpp std::vector<image::BarCode> find_barcodes(std::vector<int> roi std::vector<int>()) ``` #### find\\_displacement item doc **type** func **brief** Finds the displacement between the image and the template. TODO: support in the feature\\nnote: this method must be used on power of 2 image sizes **param** **template_image**: The template image.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**template_roi**: The region of interest rectangle (x, y, w, h) to work in. If not specified, it is equal to the image rectangle.<br>**logpolar**: If true, it will instead find rotation and scale changes between the two images. default is false.<br> **return** Returns the displacement of the image **static** False **C++ defination code**: ```cpp image::Displacement find_displacement(image::Image &template_image, std::vector<int> roi std::vector<int>(), std::vector<int> template_roi std::vector<int>(), bool logpolar false) ``` #### find\\_template item doc **type** func **brief** Finds the template in the image. **param** **template_image**: The template image.<br>**threshold**: Threshold is floating point number (0.0 1.0) where a higher threshold prevents false positives while lowering the detection rate while a lower threshold does the opposite.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image. Only valid in SEARCH_EX mode.<br>**step**: The step size to use for the template. default is 2. Only valid in SEARCH_EX mode<br>**search**: The search method to use for the template. default is SEARCH_EX.<br> **return** Returns a bounding box tuple (x, y, w, h) for the matching location otherwise None. **static** False **C++ defination code**: ```cpp std::vector<int> find_template(image::Image &template_image, float threshold, std::vector<int> roi std::vector<int>(), int step 2, image::TemplateMatch search image::TemplateMatch::SEARCH_EX) ``` #### find\\_features item doc **type** func **brief** Finds the features in the image. TODO: support in the feature **param** **cascade**: The cascade to use for the features. default is CASCADE_FRONTALFACE_ALT.<br>**threshold**: The threshold to use for the features. default is 0.5.<br>**scale**: The scale to use for the features. default is 1.5.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br> **return** Returns the features of the image **static** False **C++ defination code**: ```cpp std::vector<int> find_features(int cascade, float threshold 0.5, float scale 1.5, std::vector<int> roi std::vector<int>()) ``` #### find\\_lbp item doc **type** func **brief** Finds the lbp in the image. TODO: support in the feature. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br> **return** Returns the lbp of the image **static** False **C++ defination code**: ```cpp image::LBPKeyPoint find_lbp(std::vector<int> roi std::vector<int>()) ``` #### find\\_keypoints item doc **type** func **brief** Finds the keypoints in the image. TODO: support in the feature. **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**threshold**: The threshold to use for the keypoints. default is 20.<br>**normalized**: If true, the image will be normalized before the operation. default is false.<br>**scale_factor**: The scale factor to use for the keypoints. default is 1.5.<br>**max_keypoints**: The maximum number of keypoints to use for the keypoints. default is 100.<br>**corner_detector**: The corner detector to use for the keypoints. default is CORNER_AGAST.<br> **return** Returns the keypoints of the image **static** False **C++ defination code**: ```cpp image::ORBKeyPoint find_keypoints(std::vector<int> roi std::vector<int>(), int threshold 20, bool normalized false, float scale_factor 1.5, int max_keypoints 100, image::CornerDetector corner_detector image::CornerDetector::CORNER_AGAST) ``` #### find\\_edges item doc **type** func **brief** Finds the edges in the image. **param** **edge_type**: The edge type to use for the edges. default is EDGE_CANNY.<br>**roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**threshold**: The threshold to use for the edges. default is 20.<br> **return** Returns the edges of the image **static** False **C++ defination code**: ```cpp image::Image* find_edges(image::EdgeDetector edge_type, std::vector<int> roi std::vector<int>(), std::vector<int> threshold std::vector<int>({100, 200})) ``` #### find\\_hog item doc **type** func **brief** Finds the hog in the image. TODO: support in the feature **param** **roi**: The region of interest, input in the format of (x, y, w, h), x and y are the coordinates of the upper left corner, w and h are the width and height of roi.<br>default is None, means whole image.<br>**size**: The size to use for the hog. default is 8.<br> **return** Returns the hog of the image **static** False **C++ defination code**: ```cpp image::Image* find_hog(std::vector<int> roi std::vector<int>(), int size 8) ``` #### match\\_lbp\\_descriptor item doc **type** func **brief** Matches the lbp descriptor of the image. TODO: support in the feature **param** **desc1**: The descriptor to use for the match.<br>**desc2**: The descriptor to use for the match.<br> **return** Returns the match of the image **static** False **C++ defination code**: ```cpp int match_lbp_descriptor(image::LBPKeyPoint &desc1, image::LBPKeyPoint &desc2) ``` #### match\\_orb\\_descriptor item doc **type** func **brief** Matches the orb descriptor of the image. TODO: support in the feature **param** **desc1**: The descriptor to use for the match.<br>**desc2**: The descriptor to use for the match.<br>**threshold**: The threshold to use for the match. default is 95.<br>**filter_outliers**: If true, the image will be filter_outliers before the operation. default is false.<br> **return** Returns the match of the image **static** False **C++ defination code**: ```cpp image::KPTMatch match_orb_descriptor(image::ORBKeyPoint &desc1, image::ORBKeyPoint &desc2, int threshold 95, bool filter_outliers false) ```"}}
\ No newline at end of file
diff --git a/maixpy/static/search_index/index_1.json b/maixpy/static/search_index/index_1.json
index e8ec7a4c..77dbf9d1 100644
--- a/maixpy/static/search_index/index_1.json
+++ b/maixpy/static/search_index/index_1.json
@@ -1 +1 @@
-{"/maixpy/doc/zh/basic/os.html":{"title":"升级和烧录系统","content":" title: 升级和烧录系统 ## 介绍 如果你购买了官方（Sipeed）的带 TF 卡的套餐，一般来说出厂已经烧录好了系统，可以跳过这一步直接使用。 但是为了防止出厂烧录的系统版本过旧，强烈建议先按照教程升级到最新的系统。 ## 如何确认系统是否需要升级 * 在开机后的功能选择界面，点击`设置`，然后点击`设备信息`，可以看到系统的版本号。 * 到[MaixPy 发布历史页面](https://github.com/sipeed/MaixPy/releases)查看更新日志，里面有 MaixPy 固件和系统镜像的更新说明，如果在你的版本后有重要更新，建议升级。 > 如果最新系统和当前系统对比只是 MaixPy 固件的常规更新，也可以不升级，在 `设置` 中的 `更新 MaixPy` 中单独更新 `MaixPy` 即可。 ## 获得最新系统 在 [MaixPy 发布页面](https://github.com/sipeed/MaixPy/releases) 找到最新的系统镜像文件，比如`maixcam_os_20240401_maixpy_v4.1.0.xz`。 备用地址： * [Sourceforge](https://sourceforge.net/projects/maixpy/files/) ## 烧录系统到 MaixCAM 参考 [MaixCAM 系统烧录](https://wiki.sipeed.com/hardware/zh/maixcam/os.html) 教程。"},"/maixpy/doc/zh/basic/python_pkgs.html":{"title":"添加额外的 Python 软件包","content":" title: 添加额外的 Python 软件包 ## 简介 MaixPy 基于 Python 语言，提供了大量方便嵌入式应用开发的功能和 API，除此之外，你也可以使用其它的 Python 包来扩展功能。 ## 安装额外的 Python 包 > 注意可能不是所有 Python 包都支持，一般只支持纯 Python 包，不支持 C 扩展包， C 扩展包可能需要你手动在电脑交叉编译（比较复杂，这里就不介绍了）。 ### 方法一： 使用 Python 代码来安装 在 MaixVision 中使用 Python 代码来安装你需要的包，比如： ```python import os os.system(\"pip install 包名\") ``` 要更新一个包，可以使用： ```python import os os.system(\"pip install upgrade 包名\") ``` ### 方法二： 终端使用 pip 命令安装 使用[Linux 基础](./linux_basic.html)中介绍的终端使用方法，使用 `pip install 包名` 安装你需要的包。"},"/maixpy/doc/zh/basic/app_usage.html":{"title":"应用使用说明","content":" title: 应用使用说明 开机后会自动进入应用选择界面，内置各种应用均发布在 [MaixHub 应用商店](https://maixhub.com/app)， 可以在这里找到对应应用的介绍和使用说明。 上手用得比较多的是 `设置 > 语言`， 以及 `设置 > WiFi`，`应用商店`应用可以用来升级和安装应用，连接上可以连接互联网的 WiFi 后即可在[MaixHub 应用商店](https://maixhub.com/app)扫码安装应用。 另外，你编写的应用也可以上传到[MaixHub 应用商店](https://maixhub.com/app)分享给其他人使用，质量合格和优秀的应用都会得到官方红包打赏，优秀应用也会得到大家的赞同和支持。 无论是小到一个采集传感器的数据小应用还是功能复杂的应用，让我们一起来创造更多有趣的东西吧！"},"/maixpy/doc/zh/basic/maixpy_upgrade.html":{"title":"更新 MaixPy","content":" title: 更新 MaixPy 有两种方法，如果第一次上手使用，为了降低难度，可以直接使用出厂 TF 卡自带的 MaixPy 固件尝试，以后再考虑更新。 不过因为不知道你拿到手的是什么时候出厂的 TF 卡，所以建议都更新一下系统。 ## 直接更新系统 按照 [升级和烧录系统](./os.html) 中的操作升级到最新的系统，里面就包含了最新的 MaixPy 固件。 ## 只更新 MaixPy 固件 在 [MaixPy 仓库 release 页面](https://github.com/sipeed/MaixPy/releases) 看到最新的版本信息和更新日志，其中包含了 MaixPy 固件信息，以及对应版本使用的系统信息。 如果不想更新系统（因为一般系统变动不大，可以看 MaixPy 更新日志中是否有系统改动相关，再决定是否更新系统），则可以只更新 MaixPy 固件。 * 在设置中设置 WiFi， 让系统联网。 * 点击设置应用中的 `更新 MaixPy` 进行更新。 > 如果你会使用终端， 也可以在终端中使用 `pip install MaixPy U` 来更新 MaixPy。"},"/maixpy/doc/zh/pro/compile_os.html":{"title":"","content":""},"/maixpy/doc/zh/vision/ai.html":{"title":"AI 视觉基本知识","content":" title: AI 视觉基本知识 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 如果没有 AI 基础，在学习 AI 前可以先看[什么是人工智能(AI)和机器学习](https://wiki.sipeed.com/ai/zh/basic/what_is_ai.html) 了解一下 AI 的基本概念。 然后我们使用的视觉 AI 一般都是基于`深度神经网络学习`这个方法，有兴趣可以看看[深度神经网络（DNN）基础知识](https://wiki.sipeed.com/ai/zh/basic/dnn_basic.html) ## MaixPy 中使用视觉 AI 在 MaixPy 中使用视觉 AI 很简单，默认提供了常用的 AI 模型，不需要自己训练模型就可以直接使用，在[MaixHub 模型库](https://maixhub.com/model/zoo) 中选择`maixcam` 就可以找到。 并且在底层已经封装好的 API，只需要简单的调用就可以实现。 如果你想训练自己的模型，也可以先从[MaixHub 在线训练](https://maixhub.com/model/training/project) 开始，在线平台只需要点点点就能训练出模型，不需要购买昂贵的机器，不需要搭建复杂的开发环境，也不需要写代码，非常适合入门，也适合懒得翻代码的老手。 一般训练得到了模型文件，直接传输到设备上，调用 MaixPy 的 API 就可以使用了，具体的调用方法看后文。"},"/maixpy/doc/zh/vision/self_learn_detector.html":{"title":"MaixPy 自学习检测器","content":" title: MaixPy 自学习检测器 ## MaixPy 自学习检测器 和自学习分类器类似，不需要训练，直接拍摄几张要检测的物体照片即可实现检测，在简单检测场景下十分好用。 和自学习分类器不同的是因为是检测器，会有物体的坐标和大小。 ## MaixPy 中使用自学习检测器 TODO："},"/maixpy/doc/zh/faq.html":{"title":"MaixPy FAQ(常见问题)","content":" title: MaixPy FAQ(常见问题) 此页面列出了 MaixPy 相关的常见问题和解决方案，如果你遇到了问题，请先在这里找寻答案。 如果这个页面找不到答案，可以到 [MaixHub 讨论版块](https://maixhub.com/discussion) 将问题的详细步骤发贴提问。 如果你使用的是 MaixCAM, 也可以参考 [MaixCAM FAQ](https://wiki.sipeed.com/hardware/zh/maixcam/faq.html) ## MaixVision 无法搜索到设备？ 先确认连接方式是 WiFi 还是 USB 线， **WiFi**: * 确认 WiFi 是否正确连接上并且获取到 IP 地址， 可以在 `设置 >设备信息` 或者`设置 >WiFi` 里面看到 `ip`。 **USB线**: * 确保设备通过 Type C 数据线连接到电脑，设备处于开机状态并且进入了功能选择界面。 * 确保设备驱动已经安装： * Windows 下可以在`设备管理器`中查看是否有 USB 虚拟网卡设备，如果有感叹号则是去动没有安装好，按照[快速开始](./index.html) 中的方法安装驱动即可。 * Linux 下可以通过`ifconfig`或者`ip addr`查看是否有`usb0`设备或者`lsusb`查看所有 USB 设备。 Linux 已经自带去动，所以识别不到检查硬件连接，设备系统是否是最新，以及设备是否已经正常启动即可。 * Mac OS 同 Linux 方法。 * 另外 检查 USB 线缆的质量，换一个高质量的线缆。 * 另外 检查电脑 USB 口的质量，比如实测某些小主机 USB 口 EMI 设计太糟糕，外接一个质量好点的 USB HUB 反而可以使用了，也可以换 USB 口 或者直接换台电脑。 ## MaixVision 运行摄像头例程显示图像卡顿 默认配的 GC4653 摄像头最高帧率为 30 帧，摄像头例程正常情况下 MaixVision 的显示肉眼不会有卡顿感，如果卡顿，首先考虑传输问题： * 检查网络连接质量，比如 WiFi。 * 如果用的 USB 连接，检查 USB 线质量， 电脑 USB 口质量，可以尝试换台电脑或者 USB 口 或者 USB 线缆尝试对比。 ## MaixPy v4 和 v1 v3 有什么区别？ * MaixPy v4 使用 Python 语言，是吸取了 v1 v3 经验的集大成之作，有更好的配套软件和生态，更多的功能，更简单的使用方式和更完善的文档；硬件有很大提升的同时加个和另外两者的硬件价格想当甚至更便宜；另外也做了兼容 K210 的使用体验和 API，方便用户从 v1 快速迁移到 v4。 * v1 使用了 Micropython 语言，有很多局限性，比如第三方库支持有限；同时受限于 Maix I (K210) 的硬件性能，内存不够用，AI 模型支持有限，很多编解码不支持硬件加速等缺点。 * v3 也是使用了 Python 语言，基于 Maix II Dock (v831) 硬件，硬件 AI 模型支持有限，而且全志的基础生态不够开放，API 也不够完善，此版本仅作为 Maix II Dock (v831)上面使用，不会继续更新。 ## MaixPy 目前只支持 MaixCAM 吗，用其它同款芯片的板子行不行？ MaixPy 目前仅支持 MaixCAM 系列板子，其它同款芯片的板子也不支持（包括 Sipeed 的同款芯片板子 比如 LicheeRV Nano），强烈不建议尝试，导致设备损坏（比如冒烟烧屏等）后果自负。 未来 Sipeed 出的 Maix 系列的产品都将继续得到 MaixPy 支持，目前如果 MaixCAM 有什么无法满足的需求，可以到 [MaixHub 讨论版块](https://maixhub.com/discussion) 提出需求或者发送邮件到 support@sipeed.com. ## 可以用除了官方搭配的摄像头或者屏幕以外的自己的摄像头或者屏幕吗？ 不建议这样操作，除非你有够丰富的软硬件知识和经验，否则可能导致设备损坏。 官方搭配的配件对应的软硬件是调教过的，表现效果是最好的，上手即可使用，其它配件可能接口不同，驱动不同，软件不同，需要自己去调教，这是一个非常复杂的过程，不建议尝试。 当然，如果你是大佬，我们也欢迎你提交 PR！ ## 运行模型报错 cvimodel built for xxxcv181x CANNOT run on platform cv181x 解析模型文件失败了，一般情况是模型文件损坏造成的，确保你的模型文件是没有损坏的。 比如： * 如果是从网上下载的，保证下载没有出问题，一般网上的文件提供 sha256sum/md5 校验值，下载下来后可以对比一下，具体方法请自行搜索或者问 ChatGPT。 * 如果是来自压缩包，请确认解压过程没有出错，可以从压缩包重新解压一遍保证中间没有出错。 * 保证传输到设备的过程没有造成文件损坏，可以对比一下设备中的文件和电脑中的文件 sha256sum 值，具体方法请自性搜索或者问 ChatGPT。 ## 上电启动黑屏，屏幕无显示 * 检查是否安装了 TF（micro SD）卡。 * 检查 TF 卡里面是否烧录了最新的系统镜像（强烈推荐烧录到最新的系统镜像），具体烧录方法看文档。 * 检查 TF 卡是否完全插进到了 TF 卡口，确保没有缝隙和松动。 * 检查屏幕和摄像头排线是否正确扣紧了，不能出现松动现象。 * 检查板子上的电源灯（红灯）以及系统运行状态灯（蓝灯）是否亮起，如果红灯不亮则考虑硬件问题，比如无供电或者供电不足或者板子烧坏了。 * 用 USB 转 TTL 连接电脑和板子的串口，电脑打开串口助手，让板子重启，查看启动日志里面是否有报错。 > 如果没有日志输出，可以尝试交换一下 TX 和 RX 接线， 对于 MaixCAM, Type C 转 串口小板插的方向不一样 TX RX 可能反向，即不支持正反插。"},"/maixpy/doc/zh/basic/python.html":{"title":"Python 基础知识","content":" title: Python 基础知识 MaixPy 的教程文档里面就不涉及具体的 Python 语法教程了，因为 Python 的教程实在是太多了，都做得很好，这里只介绍需要学什么，方向和线路指导即可。 ## Python 简介 Python 是一门解释性、面向对象、动态类型的高级编程语言。 * 解释性：不需要编译，直接运行，优点是开发快速，缺点是因为每次运行都要解释一遍代码，运行速度慢一点点，但是往往瓶颈还是开发者写的代码而不是语言本身。 * 面向对象：支持面向对象编程，可以定义类和对象，相比面向过程语言，更容易组织代码。更多自行搜索。 * 动态类型：变量不需要声明类型，可以直接赋值，类型会根据赋值自动确定，这样可以减少代码量，但是也容易出现类型错误，需要开发者自己注意。 总之，对于没有接触过 Python 的开发者来说，Python 非常容易上手，有大量现成的库，开发者群体巨大，开发应用周期短，非常值得学习！ ## Python 环境安装 你可以按照你学习的 Python 教程在电脑上安装 Python； 也可以在 MaixVisioin 上连接设备后使用 MaixVision 编程然后在开发板运行。 ## 使用 MaixPy 需要的 Python 基础有哪些？ * Python 的基本概念。 * 面向对象编程的基本概念。 * Python 的基本语法，包括： * tab 缩进对齐语法 * 变量、函数、类、对象、注释等 * 控制语句比如 if、for、while 等等 * 模块和导入模块 * 基本数据类型比如 int、float、str、list、dict、tuple 等等 * bytes 和 str 的区别和转换 * 异常处理，try except * 常用的内置函数，比如 print、open、len、range 等等 * 常用的内置模块，比如 os、sys、time、random、math 等等 掌握以上的基础知识就可以顺畅使用 MaixPy 编程了，配合后面的教程和例程，在不懂的时候查询搜索引擎或者官方文档，或者问 ChatGPT 就能顺利完成开发。 ## 对于已经有一门面向对象编程语言经验的开发者 如果你已经会一门面向对象语言比如 C++/Java/C# 等等，那只需要快速浏览一下 Python 的语法，就可以开始使用了。 比如 [菜鸟教程](https://www.runoob.com/python3/python3 tutorial.html) 或者 [Python 官方教程](https://docs.python.org/3/tutorial/index.html)。 或者个人开发者的博客，比如 [哇！是 Python](https://neucrack.com/p/59)。 ## 对于没有面向对象编程经验但是有 C 语言经验的开发者 如果只学了 C，缺乏对面向对象的理解，那么可以先学习一下面向对象的概念，然后再学习 Python，也是比较快的，可以自行搜索视频教程入门。 跟着视频教程入门之后可以看看文档教程，比如 [菜鸟教程](https://www.runoob.com/python3/python3 tutorial.html) 或者 [Python 官方教程](https://docs.python.org/3/tutorial/index.html) 就可以开动了！ 在学了入门知识后，就可以按照 MaixPy 的文档和例程开始使用 MaixPy 编程了。 ## 对于编程新手 如果你从未接触过编程，那么你需要重头开始学习 Python，Python 作为入门语言也是比较合适的，具体可以搜一搜视频教程。 在学会了基础语法后，就能按照例程使用 MaixPy 编程了。"},"/maixpy/doc/zh/basic/linux_basic.html":{"title":"Linux 基础知识","content":" title: Linux 基础知识 ## 简介 本章内容对于刚入门的同学来说，可以先跳过此章节，在学会 MaixPy 基础开发后再来学习也是可以的。 最新的 MaixPy 支持的 MaixCAM 硬件支持跑 Linux 系统，所以 MaixPy 底层都是基于 Linux 系统进行开发的。 虽然 Sipeed 开发的 MaixPy 已经为开发者们做了很多工作，即使不知道 Linux 系统知识也能愉快使用，但是以防在某些情况下需要一些底层操作，以及方便未接触过 Linux 的开发者学习，这里写一些 Linux 基础知识。 ## 为什么需要 Linux 系统 具体的原因大家可以自行查阅，这里用通俗的看起来不太专业的话语简单举几个例子方便初学者理解： * 在单片机中，我们的程序是一个死循环程序，用上 Linux 后我们可以同时跑很多程序，每个程序看起来都独立在同时运行，每个程序具体怎么执行的由操作系统实现。 * 基于 Linux 的开发者众多，需要功能和驱动可以很方便地找到，不需要自己再实现一遍。 * 基于 Linux 配套的软件工具丰富，可以很方便地进行开发和调试，比如在本教程没有提到的一些 Linux 通用工具理论上也是可以使用的。 ## 文件系统 什么是文件系统？ * 就像电脑的文件系统一样，Linux 上会将硬件磁盘用文件系统进行管理，这样我们可以很方便地向磁盘读写数据。 * 对于学过单片机没有接触过文件系统开发的同学来讲，可以理解为我们有一个 Flash 或者 TF 卡，我们可以通过 API 读写 Flash 存取数据，断电后也能保存数据，但是 Flash 具有读写寿命，我们往往需要写一套程序去保证 Flash 读写寿命，而文件系统就可以理解成这样一套成熟的程序，文件系统帮我们完成了具体如何管理 Flash 空间和读写，我们只需调用文件系统的 API 即可，大大减少了我们的开发工作量并且用成熟的程序保证了稳定性和安全性。 ## 在电脑和设备（开发板）之间传输文件 既然设备有 Linux 和文件系统，那我们怎么发送文件到设备呢？ 对于 MaixPy 我们配套了 MaixVision， 在后面的版本也会支持文件管理功能，在此之前可以用下面的方法： 这里我们主要介绍通过网络传输的方式，其它方式可自行探索`传输文件到 Linux`： * 确保设备和电脑连接到了同一个局域网，比如： * MaixCAM 的 USB 口连接到电脑会创建一个虚拟网卡，在电脑端的设备管理器就能看到，设备的 IP 可以在设备的`设置 >设备信息`中看到设备名和 IP。 * 也可以在设备`设置 >WiFi`中连接到和电脑相同的局域网。 * 电脑使用 SCP 或者 SFTP 协议传输文件到设备，具体的软件有很多，具体的软件和使用方法可以自行搜索，比如： * 在 Windows 上可以使用 WinSCP 或者 FileZilla，或者 scp 命令等。 * 在 Linux 上可以使用 FileZilla 或者 scp 命令 等。 * 在 Mac 上可以使用 FileZilla 或者 scp 命令 等。 ## 终端和命令行 终端就是通过`终端`这个软件与 Linux 系统进行通信和操作的工具，类似于 Windows 的`cmd`或者`PowerShell`。 比如我们可以在电脑的 Window 系统中的 powershell 或者 Linux系统中的 终端 工具中输入`ssh root@maixcam xxxx.local` 这里具体的名字在设备的`设置 >设备信息`中可以看到，这样我们就可以通过终端连接到设备了(用户名和密码都是`root`)。 然后我们通过输入命令来操作设备，比如`ls`命令可以列出设备文件系统中当前目录下的文件, `cd` 用来切换当前所在的目录（就像电脑文件管理中点击文件夹切换目录一样）， ```shell cd / # 切换到根目录 ls # 显示当前目录（根目录）下的所有文件 ``` 然后会显示类似下面的内容： ```shell bin lib media root tmp boot lib64 mnt run usr dev linuxrc opt sbin var etc lost+found proc sys ``` 更多命令学习请自行搜索`Linux 命令行使用教程`，这里只是为了让初学者知道基本概念，这样有开发者提到时可以知道是什么意思。"},"/maixpy/doc/zh/basic/maixvision.html":{"title":"MaixVision -- MaixPy 编程 + 图形化积木编程","content":" title: MaixVision MaixPy 编程 + 图形化积木编程 ## 简介 MaixVision 是专为 Maix 生态打造的一款开发者编程工具，支持 MaixPy 编程和图形化积木编程，同时支持在线运行和调试，以及实时预览图像，可以同步设备显示屏的图像，方便调试和开发。 以及支持打包应用和安装应用到设备，方便用户一键生成、安装应用。 同时还集成一些方便开发的小工具，比如文件管理，阈值编辑器，二维码生成等等。 ## 使用 MaixPy 编程和在线运行 按照[快速开始](../index.html)的步骤连接设备，我们可以很方便地使用 MaixPy 编程和在线运行。 ## 实时预览图像 MaixPy 提供`display`模块，可以将图像显示到屏幕上，同时，在调用`display`模块的`show`方法时，会将图像发送到 MaixVision 显示，比如代码： ```python from maix import display, camera cam camera.Camera(640, 480) disp display.Display() while 1: disp.show(cam.read()) ``` 这里我们用摄像头读取了图像，然后通过`disp.show()`方法将图像显示到屏幕上，同时也会发送到 MaixVision 显示。 当我们点击了右上角的`暂停`按钮，就会停止发送图像到 MaixVision 显示。 ## 计算图像的直方图 在上一步中我们可以在 MaixVision 中实时看到图像，我们用鼠标框选一个区域，图像下方就能看到这个区域的直方图了，选择不同的颜色表示方法，可以看到不同的颜色通道的直方图。 这个功能方便我们在做某些图像处理算法时找到一些合适的参数。 ## 使用图形化积木编程 开发中，敬请期待。 ## 区分`设备文件系统`和`电脑文件系统` 这里我们有一个比较重要的概念需要掌握：**分清楚`设备文件系统`和`电脑文件系统`**。 * **电脑文件系统**：运行在电脑上，在 MaixVision 中打开文件或者工程都是打开的电脑里面的文件，保存也是自动保存到电脑的文件系统。 * **设备文件系统**：程序运行时会将程序发送到设备上运行，所以代码里面使用的文件都是从设备文件系统读取。 所以常见的问题是有同学在电脑上保存了文件`D:\\data\\a.jpg`，然后在设备上使用这个文件`img image.load(\"D:\\data\\a.jpg\")`，这样当然是找不到文件的，因为设备上没有`D:\\data\\a.jpg`这个文件。 具体如何将电脑的文件发送到设备上，参考下面的章节。 ## 传输文件到设备 开发中，敬请期待。 目前可以用其它工具代替： 先知道设备的 ip 地址或者设备名称，MaixVision 就可以搜索到, 或者在设备`设置 >系统信息`中看到，比如类似 `maixcam xxxx.local` 或者 `192.168.0.123`。 用户名和密码都是 `root`, 使用 `SFTP` 协议传输文件，端口号是 `22`。 然后不同系统下都有很多好用的软件： ### Windows 下 使用 [WinSCP](https://winscp.net/eng/index.php) 或者 [FileZilla](https://filezilla project.org/) 等工具连接设备，将文件传输到设备上，选择 `SFTP` 协议填写设备和账号信息连接即可。 具体不懂的可以自行搜索。 ### Linux 下 终端使用 `scp` 命令传输文件到设备上，比如： ```bash scp /path/to/your/file.py root@maixcam xxxx.local:/root ``` ### Mac 下 * **方法一**：终端使用 `scp` 命令传输文件到设备上，比如： ```bash scp /path/to/your/file.py root@maixcam xxxx.local:/root ``` * **方法二**：使用 [FileZilla](https://filezilla project.org/) 等工具连接设备，将文件传输到设备上，选择 `SFTP` 协议填写设备和账号信息连接即可。"},"/maixpy/doc/zh/basic/app.html":{"title":"应用开发和应用商店","content":" title: 应用开发和应用商店 ## 应用生态简介 为了让开发板做到开箱即用，以及方便用户无门槛地使用，以及方便开发者分享自己的有趣应用，并且能有有效的渠道获取到反馈甚至是收益，我们推出了一个简易的应用框架，包括： * **[应用商店](https://maixhub.com/app)**： 开发者上传分享应用，用户无需开发直接下载使用，开发者可以获取到一定的现金收益（来自 MaixHub 官方以及用户打赏）。 * **出厂内置大量应用**： 官方提供了一些常用的应用，比如找色块、AI 物体检测追踪、找二维码、人脸识别等等，用户可以直接使用，也可以作为串口模块直接使用。 * **MaixPy + MaixCDK** 软件开发包：使用 [MaixPy](https://github.com/sipeed/maixpy) 或者 [MaixCDK](https://github.com/sipeed/MaixCDK) 可以用 Python 或者 C/C++ 语言快速开发嵌入式 AI 视觉听觉应用，超高效率实现你的有趣想法。 * **MaixVision** 配套电脑端开发工具: 全新的电脑端代码开发工具，快速上手、调试、运行、上传代码、安装应用到设备，一键式开发，甚至支持图像化积木式编程，小学生也能轻松上手。 大家可以多多关注应用商店，也可以在应用商店中分享自己的应用，大家一起共建活跃的社区。 ## 打包应用 使用 MaixPy + MaixVison 可以方便地开发、打包、安装应用： * 在 MaixVision 中使用 MaixPy 开发应用程序，可以是单个文件，也可以是一个工程目录。 * 连接设备。 * 点点击 MaixVision 左下角的 安装 按钮，会弹出一个界面填写应用的基本信息，id 是用来判别应用的 id，一个设备不能同时安装相同 id 的不同应用，所以 id 应该与 MaixHub 上面已经有的应用 id 不同，应用名字可以重复。以及图标等。 * 点击打包应用，会将应用打包成一个安装包，如果你要上传到 [MaixHub 应用商店](https://maixhub./com/app)，用这个打包好的文件即可。 * 点击 安装应用，这会将打包好的应用安装到设备。 * 断开与设备的连接，就能看到设备功能选择界面多了一个你的应用，直接点进去就能运行。 > 如果你用 MaixCDK 开发，使用 `maixcdk relrease` 就能打包出来一个应用，具体看 MaixCDK 的文档。 ## 退出应用 如果你只是写了比较简单的应用，没有做界面和返回按钮，默认可以按设备上的功能按键（一般是 USER 或者 FUNC 或者 OK 按钮）或者返回按钮（如果有这个按键，MaixCAM 默认没有这个按键）来退出应用。 ## 应用开发基本准则 * 因为默认都配了触摸屏幕，推荐都写一个简单的界面显示，最好有触摸交互。实现方法可以在例子里面找找参考。 * 界面和按钮不要太小，因为 MaixCAM 默认的屏幕是 2.3寸 552x368分辨率，PPI 比较高屏幕比较小，要让手指能很容易戳到并且不会点错。 * 每个应用实现的主要功能实现一个简单的串口交互，基于[串口协议](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md) （[例程](https://github.com/sipeed/MaixPy/tree/main/examples/communication/protocol)）,这样用户可以直接当成串口模块使用，比如人脸检测应用，可以在检测到人脸后通过串口输出坐标。"},"/maixpy/doc/zh/vision/qrcode.html":{"title":"MaixPy 二维码识别","content":" title: MaixPy 二维码识别 update: date: 2024 04 03 author: lxowalle version: 1.0.0 content: 初版文档 阅读本文前，确保已经知晓如何开发MaixPy，详情请阅读[MaixVision MaixPy 编程 + 图形化积木编程](../basic/maixvision.html) ## 简介 本文介绍如何使用MaixPy来识别二维码 ## 使用 MaixPy 识别二维码 MaixPy的 `maix.image.Image`中提供了`find_qrcodes`方法，用来识别二维码。 ### 如何识别二维码 一个简单的示例，实现识别二维码并画框 ```python from maix import image, camera, display cam camera.Camera(320, 240) disp display.Display() while 1: img cam.read() qrcodes img.find_qrcodes() for qr in qrcodes: corners qr.corners() for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(qr.x(), qr.y() 15, qr.payload(), image.COLOR_RED) disp.show(img) ``` 步骤： 1. 导入image、camera、display模块 ```python from maix import image, camera, display ``` 2. 初始化摄像头和显示 ```python cam camera.Camera(320, 240) # 初始化摄像头，输出分辨率320x240 RGB格式 disp display.Display() ``` 3. 从摄像头获取图片并显示 ```python while 1: img cam.read() disp.show(img) ``` 4. 调用`find_qrcodes`方法识别摄像头中的二维码 ```python qrcodes img.find_qrcodes() ``` `img`是通过`cam.read()`读取到的摄像头图像，当初始化的方式为`cam camera.Camera(320, 240)`时，`img`对象是一张分辨率为320x240的RGB图。 `img.find_qrcodes`用来寻找二维码，并将查询结果保存到`qrocdes`，以供后续处理 5. 处理识别二维码的结果并显示到屏幕上 ```python for qr in qrcodes: corners qr.corners() for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(qr.x(), qr.y() 15, qr.payload(), image.COLOR_RED) ``` `qrcodes`是通过`img.find_qrcodes()`查询二维码的结果，如果找不到二维码则`qrcodes`内部为空 `qr.corners()`用来获取已扫描到的二维码的四个顶点坐标，`img.draw_line()`利用这四个顶点坐标画出二维码的形状 `img.draw_string`用来显示二维码的内容和位置等信息，其中`qr.x()`和`qr.y()`用来获取二维码左上角坐标x和坐标y，`qr.payload()`用来获取二维码的内容 ### 常用参数说明 列举常用参数说明，如果没有找到可以实现应用的参数，则需要考虑是否使用其他算法实现，或者基于目前算法的结果扩展所需的功能 参数 说明 示例 roi 设置算法计算的矩形区域，roi [x, y, w, h]，x，y表示矩形区域左上角坐标，w，h表示矩形区域的宽度和高度，默认为整张图片 计算坐标为(50,50)，宽和高为100的区域<br />```img.find_qrcodes(roi [50, 50, 100, 100])``` 本文介绍常用方法，更多 API 请看 API 文档的 [image](../../../api/maix/image.html) 部分。"},"/maixpy/doc/zh/vision/camera.html":{"title":"MaixPy 摄像头使用","content":" title: MaixPy 摄像头使用 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 对于 MaixCAM 默认搭载了 GC4653 摄像头，或者可选的 OS04A10 摄像头或者全局快门摄像头，甚至是 HDMI 转 MIPI 模块，都可以直接用简单的 API 调用。 ## API 文档 本文介绍常用方法，更多 API 使用参考 [maix.camera](/api/maix/camera.html) 模块的文档。 ## 摄像头切换 不同的摄像头使用不同的驱动，需要在系统中选择正确的驱动。 TODO：如何切换摄像头，比如 GC4653 和 OS04A10 之间的切换。 ## 从摄像头获取图像 使用 MaixPy 轻松获取： ```python from maix import camera cam camera.Camera(640, 480) while 1: img cam.read() print(img) ``` 这里我们从`maix`模块导入`camera`模块，然后创建一个`Camera`对象，指定图像的宽度和高度。然后在一个循环中不断读取图像， 默认出的图为`RGB`格式，如果需要`BGR`格式，其它格式请看 API 文档。 ## 跳过 开头的帧 摄像头初始化的一小段时间，可能图像采集还没稳定出现奇怪的画面，可以通过`skip_frames`函数跳过开头的几帧： ```python cam camera.Camera(640, 480) cam.skip_frames(30) # 跳过开头的30帧 ``` ## 显示图像 MaixPy 提供了`display`模块，可以方便的显示图像： ```python from maix import camera, display cam camera.Camera(640, 480) disp display.Display() while 1: img cam.read() disp.show(img) ```"},"/maixpy/doc/zh/vision/find_blobs.html":{"title":"MaixPy 寻找色块","content":" title: MaixPy 寻找色块 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 date: 2024 04 03 author: lxowalle version: 1.0.1 content: 添加寻找色块的详细用法 阅读本文前，确保已经知晓如何开发MaixPy，详情请阅读[MaixVision MaixPy 编程 + 图形化积木编程](../basic/maixvision.html) ## 简介 本文将介绍如何使用MaixPy来寻找色块，以及如何使用MaixCam的默认应用程序寻找色块。 在视觉应用中，寻找色块是一个非常常见的需求，比如机器人找色块，自动化生产线找色块等等，即需要识别画面中的特定的颜色区域，获取这个区域的位置和大小等信息。 ## 使用 MaixPy 寻找色块 MaixPy的 `maix.image.Image`中提供了`find_blobs`方法，可以方便的找色块。 ### 如何寻找色块 一个简单的示例，实现寻找色块并画框 ```python from maix import image, camera, display cam camera.Camera(320, 240) disp display.Display() # 根据色块颜色选择对应配置 thresholds [[0, 80, 40, 80, 10, 80]] # red # thresholds [[0, 80, 120, 10, 0, 30]] # green # thresholds [[0, 80, 30, 100, 120, 60]] # blue while 1: img cam.read() blobs img.find_blobs(thresholds, pixels_threshold 500) for blob in blobs: img.draw_rect(blob[0], blob[1], blob[2], blob[3], image.COLOR_GREEN) disp.show(img) ``` 步骤： 1. 导入image、camera、display模块 ```python from maix import image, camera, display ``` 2. 初始化摄像头和显示 ```python cam camera.Camera(320, 240)\t# 初始化摄像头，输出分辨率320x240 RGB格式 disp display.Display() ``` 3. 从摄像头获取图片并显示 ```python while 1: img cam.read() disp.show(img) ``` 4. 调用`find_blobs`方法寻找摄像头图片中的色块，并画到屏幕上 ```python blobs img.find_blobs(thresholds, pixels_threshold 500) for blob in blobs: img.draw_rect(blob[0], blob[1], blob[2], blob[3], image.COLOR_GREEN) ``` `img`是通过`cam.read()`读取到的摄像头图像，当初始化的方式为`cam camera.Camera(320, 240)`时，`img`对象是一张分辨率为320x240的RGB图。 `img.find_blobs`用来寻找色块， `thresholds` 是一个颜色阈值列表，每个元素是一个颜色阈值，同时找到多个阈值就传入多个，每个颜色阈值的格式为 `[L_MIN, L_MAX, A_MIN, A_MAX, B_MIN, B_MAX]`，这里的 `L`、`A`、`B` 是`LAB`颜色空间的三个通道，`L` 通道是亮度，`A` 通道是红绿通道，`B` 通道是蓝黄通道。`pixels_threshold`是一个像素点数量的阈值，用来过滤一些不需要的小色块。 `img.draw_rect`用来画色块框，`blob[0]`、`blob[1]`、`blob[1]`、`blob[1]`分别代表色块左上角坐标x，色块左上角坐标y，色块宽度w和色块高度h ### 常用参数说明 列举常用参数说明，如果没有找到可以实现应用的参数，则需要考虑是否使用其他算法实现，或者基于目前算法的结果扩展所需的功能 参数 说明 示例 thresholds 基于lab颜色空间的阈值，threshold [[l_min, l_max, a_min, a_max, b_min, b_max]]，分别表示：<br />亮度范围为[l_min, l_max]\\<br />绿色到红色的分量范围为[l_min, l_max]<br />蓝色到黄色的分量范围为[b_min, b_max]<br />可同时设置多个阈值 设置两个阈值来检测红色和绿色<br />```img.find_blobs(threshold [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```<br />红色阈值为[0, 80, 40, 80, 10, 80]<br />绿色阈值为[0, 80, 120, 10, 0, 30] invert 使能阈值反转，使能后传入阈值与实际阈值相反，默认为False 使能阈值反转<br />```img.find_blobs(invert True)``` roi 设置算法计算的矩形区域，roi [x, y, w, h]，x，y表示矩形区域左上角坐标，w，h表示矩形区域的宽度和高度，默认为整张图片 计算坐标为(50,50)，宽和高为100的区域<br />```img.find_blobs(roi [50, 50, 100, 100])``` area_threshold 过滤像素面积小于area_threshold的色块，单位为像素点，默认为10。该参数可用于过滤一些无用的小色块 过滤面积小于1000的色块<br />```img.find_blobs(area_threshold 1000)``` pixels_threshold 过滤有效像素点小于pixels_threshold的色块，默认为10。该参数可用于过滤一些无用的小色块 过滤有效像素点小于1000的色块<br />```img.find_blobs(pixels_threshold 1000)``` 本文介绍常用方法，更多 API 请看 API 文档的 [image](../../../api/maix/image.html) 部分。 ## 使用寻找色块APP 为了快速验证寻找色块的功能，可以先使用MaixCam提供的寻找色块应用程序来体验寻找色块的效果。 ### 使用方法 打开设备，选择`找色块`应用，然后在下方选择要识别的颜色，或者自定义颜色，即可以识别到对应的颜色了，同时串口也会输出识别到的坐标和颜色信息。 <video src \"/static/video/find_blobs.mp4\" controls \"controls\" width \"100%\" height \"auto\"></video> ### 详细说明 APP界面参考如下： ![](../../../static/image/find_blobs_app.jpg) #### 使用默认配置 寻找色块APP默认提供了`red、green、blue、user`四种配置，其中`red、green和blue`用来`寻找红色、绿色和蓝色的色块`，`user`主要提供给`用户自定义寻找色块`，自定义配置的方法见下文。快速体验时通过`点击`界面下方`按钮`即可切换到对应配置， #### 寻找自定义色块 APP提供两种方式来寻找自定义的色块：通过自适应LAB阈值寻找和手动设置LAB阈值寻找 ##### 1. 自适应LAB阈值寻找色块 操作方法： 1. `点击`左下角`选项图标`，进入配置模式 2. 将`摄像头对准`需要`寻找的物体`，`点击`屏幕上的`目标物体`，此时`左侧`会显示该物体对应颜色的`矩形框`，并显示该物体颜色的LAB值。 3. 点击出现的`矩形框`，系统将会`自动设置`LAB阈值，此时画面将会画出该物体边缘。 ##### 2. 手动设置LAB阈值寻找色块 手动设置可以更精确的找到目标色块。 操作方法： 1. `点击`左下角`选项图标`，进入配置模式 2. 将`摄像头对准`需要`寻找的物体`，`点击`屏幕上的`目标物体`，此时`左侧`会显示该物体对应颜色的`矩形框`，并显示该物体颜色的`LAB值`。 3. 点击下方选项`L Min，L Max，A Min，A Max，B Min，B Max`，点击后右侧会出现滑动条来设置该选项值。这些值分别对应LAB颜色格式的L通道、A通道和B通道的最小值和最大值 4. 参考步骤2计算的物体颜色的`LAB值`，将`L Min，L Max，A Min，A Max，B Min，B Max`调整到合适的值，即可识别到对应的色块。 例如`LAB (20, 50, 80)`，由于`L 20`，为了适配一定范围让`L Min 10`，`L Max 30`;同理，由于`A 50`，让`A Min 40`，`A Max 60`; 由于`B 80`，让`B Min 70`，`B Max 90`。 #### 通过串口协议获取检测数据 寻找色块APP支持通过串口（默认波特率为115200）上报检测到的色块信息。 由于上报信息只有一条，这里直接用示例来说明上报信息的内容。 例如上报信息为： ```shell AA CA AC BB 14 00 00 00 E1 08 EE 00 37 00 15 01 F7 FF 4E 01 19 00 27 01 5A 00 A7 20 ``` `AA CA AC BB`：协议头部，内容固定 `14 00 00 00`：数据长度，除了协议头部和数据长度外的总长度 `E1`：标志位，用来标识串口消息标志 `08`：命令类型，对于寻找色块APP应用该值固定为0x08 `EE 00 37 00 15 01 F7 FF 4E 01 19 00 27 01 5A 00`：已找到色块的四个顶点坐标，每个值用小端格式的2字节表示。`EE 00`和`37 00`表示第一个顶点坐标为(238, 55)，`15 01`和`F7 FF`表示第二个顶点坐标为(277, 9)，`4E 01`和`19 00`表示第三个顶点坐标为(334, 25)，`27 01`和`5A 00`表示第四个顶点坐标为(295, 90)。 `A7 20`：CRC 校验值，用以校验帧数据在传输过程中是否出错 ## 关于LAB颜色空间 LAB颜色空间和RGB颜色空间一样是一种表示颜色的方法，LAB可以表示人眼能看到的所有颜色。如果需要了解LAB可以去网络上搜索相关文章，那样更详细，而对于你应该只需要了解为什么选用LAB对于MaixPy的优势。 LAB对于MaixPy的优势： 1. LAB颜色空间的色域比RGB都要大，因此完全可以替换RGB。 2. LAB颜色空间下，由于L通道是亮度通道，我们常常设置到较大的范围即可（常用[0,80]），而编写代码时主要关注是A通道和B通道，这样可以减少大量的时间在纠结颜色阈值如何选择的问题上。 3. LAB颜色空间的颜色感知更均匀，更容易用代码调试。例如，对于只需要寻找红色色块，可以固定L通道和B通道值，只需要调整A通道的值即可（这是在颜色精度要求不高的情况下）;如果是RGB通道则基本需要R、G、B三个通道同时变动才能找到合适的阈值。"},"/maixpy/doc/zh/vision/classify.html":{"title":"MaixPy 使用 AI 模型进行物体分类","content":" title: MaixPy 使用 AI 模型进行物体分类 ## 物体分类概念 比如眼前有两张图片，一张图里面是苹果，另一张是飞机，物体分类的任务就是把两张图分别依次输入给 AI 模型，模型会依次输出两个结果，一个是苹果，一个是飞机。 ## MaixPy 中使用物体分类 MaixPy 默认提供了 `imagenet` 数据集训练得到的 `1000`分类模型，可以直接使用： ```python from maix import camera, display, image, nn classifier nn.Classifier(model \"/root/models/mobilenetv2.mud\") cam camera.Camera(classifier.input_width(), classifier.input_height(), classifier.input_format()) dis display.Display() while 1: img cam.read() res classifier.classify(img) max_idx, max_prob res[0] msg f\"{max_prob:5.2f}: {classifier.labels[max_idx]}\" img.draw_string(10, 10, msg, image.COLOR_RED) dis.show(img) ``` 效果视频: <video playsinline controls autoplay loop muted preload src \"https://wiki.sipeed.com/maixpy/static/video/classifier.mp4\" type \"video/mp4\"> Classifier Result video </video> 这里使用了摄像头拍摄图像，然后传给 `classifier`进行识别，得出结果后，将结果显示在屏幕上。 更多 API 使用参考 [maix.nn](/api/maix/nn.html) 模块的文档。 ## 训练自己的分类模型 请到[MaixHub](https://maixhub.com) 学习并训练分类模型，创建项目时选择`分类模型`即可。"},"/maixpy/doc/zh/vision/image_ops.html":{"title":"MaixPy 图像基础操作","content":" title: MaixPy 图像基础操作 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 视觉应用中图像占据非常重要的位置，不管是图片还是视频，因为视频本质上就是一帧帧的图像，所以图像处理是视觉应用的基础。 ## API 文档 本文介绍常用方法， 更多 API 参考 [maix.image](/api/maix/image.html) 模块的文档。 ## 图像格式 MaixPy 提供基础图像模块`image`，里面最重要的就是`image.Image`类，用于图像的创建以及各种图像基础操作，以及图像加载和保存等。 图像格式有很多，一般我们用`image.Format.FMT_RGB888` 或者 `image.Format.FMT_RGBA8888` 或者 `image.Format.FMT_GRAYSCALE`或者`image.Format.FMT_BGR888`等。 大家知道 `RGB` 三色可以合成任意颜色，所以一般情况下我们使用 `image.Format.FMT_RGB888`就足够， `RGB888` 在内存中是 `RGB packed` 排列，即在内存中的排列： `像素1_红色, 像素1_绿色, 像素1_蓝色, 像素2_红色, 像素2_绿色, 像素2_蓝色, ...` 依次排列。 ## 创建图像 创建图像很简单，只需要指定图像的宽度和高度以及图像格式即可： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) print(img) print(img.width(), img.height(), img.format()) ``` `320` 是图像的宽度，`240` 是图像的高度，`image.Format.FMT_RGB888` 是图像的格式，格式参数可以省略，默认是`image.Format.FMT_RGB888`。 这里通过`img.width()`、`img.height()`、`img.format()`可以获取图像的宽度、高度和格式。 ## 显示到屏幕 MaixPy 提供了`maix.display.Display`类，可以方便的显示图像： ```python from maix import image, display disp display.Display() img image.Image(320, 240, image.Format.FMT_RGB888) disp.show(img) ``` 注意这里因为没有图像数据，所以显示的是黑色的图像，修改画面看后文。 ## 从文件系统读取图像 MaixPy 提供了`maix.image.load`方法，可以从文件系统读取图像： ```python from maix import image img image.load(\"/root/image.jpg\") print(img) ``` 注意这里`/root/image.jpg` 是提前传输到了板子上的，方法可以看前面的教程。 可以支持 `jpg` 和 `png` 格式的图像。 ## 保存图像到文件系统 MaixPy 的`maix.image.Image`提供了`save`方法，可以保存图像到文件系统： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) # do something with img img.save(\"/root/image.jpg\") ``` ## 画框 `image.Image`提供了`draw_rect`方法，可以在图像上画框： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_rect(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0)) ``` 这里的参数依次是：`x`, `y`, `w`, `h`, `color`，`x` 和 `y` 是框的左上角坐标，`w` 和 `h` 是框的宽度和高度，`color` 是框的颜色，可以使用`image.Color.from_rgb`方法创建颜色。 可以用`thickness`指定框的线宽，默认是`1`， 也可以画实心框，传参 `thickness 1` 即可： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_rect(10, 10, 100, 100, (255, 0, 0), thickness 1) ``` ## 写字符串 `image.Image`提供了`draw_string`方法，可以在图像上写字： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_string(10, 10, \"Hello MaixPy\", image.Color.from_rgb(255, 0, 0)) ``` 这里的参数依次是：`x`, `y`, `text`, `color`，`x` 和 `y` 是文字的左上角坐标，`text` 是要写的文字，`color` 是文字的颜色，可以使用`image.Color.from_rgb`方法创建颜色。 还可以放大字体，传参 `scale` 即可： ```python img.draw_string(10, 10, \"Hello MaixPy\", image.Color.from_rgb(255, 0, 0), scale 2) ``` 获取字体的宽度和高度： ```python w, h img.string_size(\"Hello MaixPy\", scale 2) print(w, h) ``` **注意**这里`scale`是放大倍数，默认是`1`，和`draw_string`应该保持一致。 ## 画线 `image.Image`提供了`draw_line`方法，可以在图像上画线： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_line(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0)) ``` 这里的参数依次是：`x1`, `y1`, `x2`, `y2`, `color`，`x1` 和 `y1` 是线的起点坐标，`x2` 和 `y2` 是线的终点坐标，`color` 是线的颜色，可以使用`image.Color.from_rgb`方法创建颜色。 ## 画圆 `image.Image`提供了`draw_circle`方法，可以在图像上画圆： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_circle(100, 100, 50, image.Color.from_rgb(255, 0, 0)) ``` 这里的参数依次是：`x`, `y`, `r`, `color`，`x` 和 `y` 是圆心坐标，`r` 是半径，`color` 是圆的颜色，可以使用`image.Color.from_rgb`方法创建颜色。 ## 缩放图像 `image.Image`提供了`resize`方法，可以缩放图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.resize(160, 120) print(img, img_new) ``` 注意这里`resize`方法返回一个新的图像对象，原图像不变。 ## 剪裁图像 `image.Image`提供了`crop`方法，可以剪裁图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.crop(10, 10, 100, 100) print(img, img_new) ``` 注意这里`crop`方法返回一个新的图像对象，原图像不变。 ## 旋转图像 `image.Image`提供了`rotate`方法，可以旋转图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.rotate(90) print(img, img_new) ``` 注意这里`rotate`方法返回一个新的图像对象，原图像不变。 ## 拷贝图像 `image.Image`提供了`copy`方法，可以拷贝一份独立的图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.copy() print(img, img_new) ``` ## 仿射变换 `image.Image`提供了`affine`方法，可以进行仿射变换，即提供当前图中三个及以上的点坐标，以及目标图中对应的点坐标，可以自动进行图像的旋转、缩放、平移等操作变换到目标图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.affine([(10, 10), (100, 10), (10, 100)], [(10, 10), (100, 20), (20, 100)]) print(img, img_new) ``` 更多参数和用法请参考 API 文档。 ## 画关键点 `image.Image`提供了`draw_keypoints`方法，可以在图像上画关键点： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) keypoints [(10, 10), (100, 10), (10, 100)] img.draw_keypoints(keypoints, image.Color.from_rgb(255, 0, 0), size 10, thickness 1, fill False) ``` 在坐标`(10, 10)`、`(100, 10)`、`(10, 100)`画三个红色的关键点，关键点的大小是`10`，线宽是`1`，不填充。 ## 画十字 `image.Image`提供了`draw_cross`方法，可以在图像上画十字： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_cross(100, 100, image.Color.from_rgb(255, 0, 0), size 5, thickness 1) ``` 在坐标`(100, 100)`画一个红色的十字，十字的延长大小是`5`，所以线段长度为`2 * size + thickness`, 线宽是`1`。 ## 画箭头 `image.Image`提供了`draw_arrow`方法，可以在图像上画箭头： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_arrow(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0), thickness 1) ``` 在坐标`(10, 10)`画一个红色的箭头，箭头的终点是`(100, 100)`，线宽是`1`。 ## 画图 `image.Image`提供了`draw_image`方法，可以在图像上画图： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img2 image.Image(100, 100, image.Format.FMT_RGB888) img2.draw_rect(10, 10, 90, 90, image.Color.from_rgb(255, 0, 0)) img.draw_image(10, 10, img2) ``` ## 转换格式 `image.Image`提供了`to_format`方法，可以转换图像格式： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.to_format(image.Format.FMT_BGR888) print(img, img_new) img_jpg img.to_format(image.Format.FMT_JPEG) print(img, img_new) ``` 注意这里`to_format`方法返回一个新的图像对象，原图像不变。 ## 和 Numpy/OpenCV 格式互相转换 另外还可以转换成`numpy`数组，这样就能给`numpy`和`opencv`等库使用： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_np image.image2cv(img) img2 image.cv2image(img_np) print(type(img_np), img_np, img_np.shape) print(type(img2), img2) ``` ## 和 bytes 数据互相转换 `image.Image`提供了`to_bytes`方法，可以转换图像为`bytes`数据： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) data img.to_bytes() print(type(data), len(data), img.data_size()) img2 image.Image(320, 240, image.Format.FMT_RGB888, data) print(img2) ``` 这里`to_bytes`获得一个新的`bytes`对象，是独立的内存，不会影响原图。 `image.Image`构造函数中传入`data`参数可以直接从`bytes`数据构造图像对象，注意新的图像也是独立的内存，不会影响到`data`。 因为涉及到内存拷贝，所以这个方法比较耗时，不建议频繁使用。 > 如果你想用不拷贝的方式优化程序（不建议轻易使用，写不好代码会导致程序容易崩溃，），请看 API 文档。 ## 更多基础 API 使用方法 更多 API 使用方法请参考 [maix.image](/api/maix/image.html) 模块的文档。"},"/maixpy/doc/zh/vision/maixhub_train.html":{"title":"使用 MaixHub 在线训练 AI 模型给 MaixPy 使用","content":" title: 使用 MaixHub 在线训练 AI 模型给 MaixPy 使用 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 MaixHub 提供了在线训练 AI 模型的功能，可以直接在浏览器中训练模型，不需要购买昂贵的机器，不需要搭建复杂的开发环境，也不需要写代码，非常适合入门，也适合懒得翻代码的老手。 ## 使用 MaixHub 训练模型的基本步骤 ### 确认要识别的数据类型和模型类型 要训练一个 AI 模型，需要先确定是什么数据和模型，目前 MaixHub（2024.4）提供了图像数据的`物体分类模型`和`物体检测模型`，都是图像识别模型， `物体分类模型` 比 `物体检测模型` 更简单，因为物体检测需要标注物体在图中的位置，会比较麻烦，物体分类则只需要给出图像中是什么，不需要坐标，所以更简单， 如果是初学者建议先从物体分类开始。 ### 采集数据 如前面的 AI 基础所说，要训练模型，必须准备训练用的数据集让 AI 学习，对于图像训练，我们需要创建一个数据集，并且上传图片到数据集。 保证设备已经连接网络（WiFi）。 打开设备上的 MaixHub 应用选择 采集数据 来拍照并一键上传到 MaixHub。需要先在 MaixHub 创建数据集，然后点击 设备 上传数据，会出现一个 二维码，设备扫描二维码来与MaixHub 建立连接。 注意要分清训练集和验证集的区别，要想实机运行的效果和训练效果相当，验证集的数据一定要和实机运行拍摄的图像质量一样，训练集也建议用设备拍摄的，如果要用网上的图片，一定只能用在训练集，不要用在验证集，因为数据量小，数据集与实机运行越接近越好。 ### 标注数据 对于分类模型，在上传的时候就顺便已经标注好了，即上传时选择好了图片属于那个分类。 对于目标检测模型，上传完成后需要进行手动标注，即在每一张图中框出要被识别物体的坐标大小和分类。 这个标注过程你也可以选择自己在自己的电脑中离线用比如 labelimg 这样的软件标注完毕后使用数据集中的导入功能导入到 MaixHub。 标注时善用快捷键标注起来会更快，后面MaixHub 也会增加更多辅助标注和自动标注工具（目前在上传视频处有自动标注工具也可以尝试使用）。 ### 训练模型 选择训练参数训练，选择对应的设备平台，选择 maixcam，等待排队训练，可以实时看到训练进度，等待完成即可。 ### 部署模型 训练完成后，可以设备的 MaixHub 应用中选择 部署 功能，扫码进行部署。 设备开会自动下载模型并且运行起来，模型会被存在本地，后面也能选择再次运行。 如果你觉得识别效果很不错，可以一键分享到模型库让更多人使用。 ## 使用方法 请到 [MaixHub](https://maixhub.com) 注册账号，然后登录，主页有视频教程，学习即可。 注意教程如果是使用了 M2dock 这个开发板，和 MaixCAM也是类似的，只是设备（板子）上使用的 MaixHub 应用可能稍微有点区别，大体上是相同的，请注意举一反三。"},"/maixpy/doc/zh/index.html":{"title":"MaixPy 快速开始","content":" title: MaixPy 快速开始 <div style \"font size: 1.2em;border: 2px solid green; border color:#c33d45;padding:1em; text align:center; background: #c33d45; color: white\"> <div> <span>MaixPy 唯一官网:</span> <a target \"_blank\" style \"color: #ffe0e0\" href \"https://wiki.sipeed.com/maixpy\"> wiki.sipeed.com/maixpy </a> <br> <div style \"height:0.4em\"></div> <span>MaixPy 例程和源码:</span> <a target \"_blank\" style \"color: #ffe0e0\" href \"https://github.com/sipeed/MaixPy\"> github.com/sipeed/MaixPy </a> </div> <div style \"padding: 1em 0 0 0\"> <a target \"_blank\" style \"color: white; font size: 0.9em; border radius: 0.3em; padding: 0.5em; background color: #a80202\" href \"https://item.taobao.com/item.htm?id 784724795837\">淘宝</a> <a target \"_blank\" style \"color: white; font size: 0.9em; border radius: 0.3em; padding: 0.5em; background color: #a80202\" href \"https://www.aliexpress.com/store/911876460\">速卖通</a> </div> </div> <br> > 关于 MaixPy 介绍请看 [MaixPy 官网首页](../../index.html) ## 获得 MaixCAM 设备 在 [Sipeed 淘宝](https://item.taobao.com/item.htm?id 784724795837) 或者 [Sipeed 速卖通](https://www.aliexpress.com/store/911876460) 店铺购买 <a href \"https://wiki.sipeed.com/maixcam\" target \"_blank\">MaixCAM</a> 开发板。 **建议购买带 `TF 卡`、`摄像头`、`2.3寸触摸屏`、`外壳`、`Type C 数据线`、 `Type C一转二小板`、`4P串口座子+线`的套餐**，方便后续使用和开发，**后面的教程都默认你已经有了这些配件**（包括屏幕）。 如果你没有购买 TF 卡，则你需要**自备**一个 **TF 读卡器**用来烧录系统。 >! 注意，目前只支持 MaixCAM 开发板，其它同型号芯片的开发板均不支持，包括 Sipeed 的同型号芯片开发板，请注意不要买错造成不必要的时间和金钱浪费。 ## 上手配置 ### 准备 TF 镜像卡和插入到设备 如果你买的套餐里面有 TF 卡，里面已经有出厂镜像了，如果出厂时 TF 卡没有安装到设备，需要先小心打开外壳（注意里面有排线连接不要扯断了），然后插入 TF 卡。另外因为出厂的固件可能比较老旧，可以插按照[升级和烧录系统](https://wiki.sipeed.com/maixpy/doc/zh/basic/os.html)先将系统升级到最新版本。 如果没买 TF 卡，则需要将系统烧录进自备的 TF 卡中，烧录方法请看[升级和烧录系统](./basic/os.html)，然后再安装到板子。 ### 上电开机 使用 `Type C` 数据线连接 `MaixCAM` 设备给设备供电，等待设备开机，开机会进入功能选择界面。 ![maixcam_font](../../static/image/maixcam_font.png) 如果屏幕没有显示 * 请确认购买了配套的 TF 卡，如果确认有 TF 卡，并且已经插入到设备，可以**尝试[更新到最新的系统](./basic/os.html)**。 * 如果你没有购买 TF 卡套餐，你需要按照[升级和烧录系统](./basic/os.html)的方法烧录最新的系统到 TF 卡。 * 另外请确认屏幕和摄像头的排线没有松动，屏幕的排线在拆开外壳时很容易脱落，需要注意。 ### 联网 首次运行需要连接网络，后面会激活设备和使用 IDE 会用到。 * 设备上点击 `设置`(`Settings`)，选择`WiFi`，点击 `扫描` 按钮开始扫描周围 `WiFi`， 可以多次点击刷新列表。 * 找到你的 WiFi 热点，如果没有路由器可以用手机开一个热点。 * 输入密码点击`连接`按钮进行连接。 * 等待获取到 `IP` 地址，这可能需要 `10` 到 `30` 秒，如果界面没有刷新可以退出`WiFi`功能重新进入查看，或者在`设置` > `设备信息` 中也可以看到 `IP` 信息。 ### 升级运行库 **这一步很重要 ！！！** 这一步如果不做好，其它应用和功能可能无法运行（比如闪退等）。 * 首先保证上一步连接 WiFi 已经完成，并且获取到 IP 地址能访问公网。 * 设备上点击 `设置`(`Settings`)，选择`安装运行库`。 * 安装完成后可以看到更新到了最新版本，然后退出即可。 如果显示`Request failed` 或者`请求失败`，请先检查网络是否已经连接，需要能连接到互联网，如果还不行，请拍照联系客服处理即可。 ### 使用内置应用 内置了很多应用，比如 找色块，AI 检测器，巡线等等，找色块举例： <video playsinline controls autoplay loop muted preload class \"pl 6 pb 4 self end\" src \"/static/video/find_blobs.mp4\" type \"video/mp4\"> Classifier Result video </video> 其它的请自行摸索，以后还会更新更多应用，使用文档以及应用更新请看 [MaixHub 应用商店](https://maixhub.com/app) 。 **注意：应用只包含了 MaixPy 能实现的一部分功能，使用 MaixPy 能创造更多功能**。 ## 作为串口模块使用 > 如果是想把设备当成主控使用（或者你还不懂什么是串口模块）可以跳过这一步。 内置的各种应用可以直接当成串口模块使用，比如`找色块`、`找人脸`、`找二维码`等等， 使用方法： * 硬件连接： 可以给设备接上`Type C一转二小板`，这样我们就能将设备通过串口连接到你的主控上了，比如`Arduino`、`树莓派`、`STM32`等等。 * 打开你想用的应用，比如二维码识别，当设备扫描到二维码就会通过串口把结果发送给你的主控了。 > 发送的串口波特率是 `115200`，数据格式是 `8N1`，协议遵循 [Maix 串口通信协议标准](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md)，可以在[MaixHub APP](https://maixhub.com/app) 找到对应的应用介绍查看协议。 ## 准备连接电脑和设备 为了后面电脑（PC）能和 设备（MaixCAM）通信，我们要让它们在同一个局域网内，提供了两种方式： * **方法一 (强烈推荐)**：无线连接， 设备使用 WiFi 连接到电脑连接的同一个路由器或者 WiFi 热点下： 在设备的`设置 > WiFi 设置`中连接到你的 WiFi 即可。 * **方法二**：有线连接， 设备通过 USB 线连接到电脑，设备会虚拟成一个 USB 网卡，这样和电脑就通过 USB 在同一局域网了。 > 方案二因为要用 USB 和驱动，可能会遇到一些问题，所以推荐直接用 WiFi 开始，可以在 [FAQ](./faq.html) 中找常见问题。 .. details::方案二在不同电脑系统中有不同设置方法，点击展开 * **Linux**: 无需额外设置，插上 USB 线即可， 使用 `ifconfig` 或者 `ip addr` 查看到 `usb0` 网卡，**注意** 这里看到的 ip 比如 `10.131.167.100` 是电脑的 ip, 设备的 ip 是最后一位改为`1` 即 `10.131.167.1`。 * **Windows**: 可以先确认`网络适配器`里面是否多了一个 RNDIS 设备，如果有就直接能用。否则需要手动安装 RNDIS 网卡驱动： * 打开电脑的`设备管理器`。 * 然后在`其它设备`里面找个一个带问号的 RNDIS 设备，右键选择`更新驱动程序`。 * 选择`浏览计算机以查找驱动程序`，然后选择`让我从计算机上的可用驱动程序列表中选择`。 * 选择`网络适配器`，然后点击`下一步`。 * 左边选择`Microsoft`，右边选择`远程 NDIS 兼容设备`，然后点击`下一步`, 选择`是`。 * 装好后的效果 ![RNDIS](../../static/image/rndis_windows.jpg) * **MacOS**: 无需额外设置，插上 USB 线即可， 使用 `ifconfig` 或者 `ip addr` 查看到 `usb0` 网卡，**注意** 这里看到的 ip 比如 `10.131.167.100` 是电脑的 ip, 设备的 ip 是最后一位改为`1` 即 `10.131.167.1`。 ## 开发环境准备 * 下载 [MaixVision](https://wiki.sipeed.com/maixvision) 并安装。 * 使用 Type C 连接设备和电脑，打开 MaixVision，点击左下角的`“连接”`按钮，会自动搜索设备，稍等一下就能看到设备，点击设备有点的连接按钮以连接设备。 如果**没有扫描到设备**，你也可以在**设备**的 `设置 > 设备信息` 中查看设备的 IP 地址手动输入， 也可以在 [FAQ](./faq.html) 中找到解决方法。 **连接成功后，设备的功能选择界面会消失，屏幕会黑屏，释放了所有硬件资源，如果仍然有画面显示，可以断开连接重连。** 这里有 MaixVision 的使用示例视频: <video style \"width:100%\" controls muted preload src \"/static/video/maixvision.mp4\"></video> ## 运行例程 点击 MaixVision 左侧的`示例代码`，选择一个例程，点击左下角`运行`按钮将代码发送到设备上运行。 比如： * `hello_maix.py`，点击`运行`按钮，就能看到 MaixVision 终端有来自设备打印的消息，以及右上角出现了图像。 * `camera_display.py`，这个例程会打开摄像头并在屏幕上显示摄像头的画面。 ```python from maix import camera, display, app disp display.Display() # 构造一个显示对象，并初始化屏幕 cam camera.Camera(640, 480) # 构造一个摄像头对象，手动设置了分辨率为 640x480, 并初始化摄像头 while not app.need_exit(): # 一直循环，直到程序退出（可以通过按下设备的功能按键退出或者 MaixVision 点击停止按钮退出） img cam.read() # 读取摄像头画面保存到 img 变量，可以通过 print(img) 来打印 img 的详情 disp.show(img) # 将 img 显示到屏幕上 ``` * `yolov5.py` 会检测摄像头画面中的物体框出来并显示到屏幕上，支持 80 种物体的检测，具体请看[YOLOv5 物体检测](./vision/yolov5.html)。 其它例程可以自行尝试。 > 如果你使用相机例程遇到了图像显示卡顿，可能是网络不通畅，或者 USB 线质量或者主机 USB 质量太差造成，可以更换连接方式或者更换线缆、主机 USB 口或者电脑等。 ## 安装应用到设备 上面是在设备中运行代码，`MaixVision` 断开后代码就会停止运行，如果想让代码出现在开机菜单中，可以打包成应用安装到设备上。 点击 `MaixVision` 左下侧的安装应用按钮，填写应用信息，会将应用安装到设备上，然后在设备上就能看到应用了。 也可以选择打包应用，将你的应用分享到[MaixHub 应用商店](https://maixhub.com/app)。 > 默认例程没有显式编写退出功能，进入应用后按下设备的功能按键即可退出应用。（对于 MaixCAM 是 user 键） 如果想让程序开机自启动，可以在 `设置 > 开机启动` 中设置。 ## 下一步 看到这里，如果你觉得不错，**请务必来 [github](https://github.com/sipeed/MaixPy) 给 MaixPy 开源项目点一个 star（需要先登录 github）, 你的 star 和认同是我们不断维护和添加新功能的动力！** 到这里你已经体验了一遍使用和开发流程了，接下来可以学习 `MaixPy` 语法和功能相关的内容，请按照左边的目录进行学习，如果遇到 `API` 使用问题，可以在[API 文档](/api/)中查找。 学习前最好带着自己学习的目的学，比如做一个有趣的小项目，这样学习效果会更好，项目和经验都可以分享到[MaixHub 分享广场](https://maixhub.com/share)，会获得现金奖励哦！ ## 分享交流 * **[MaixHub 项目和经验分享](https://maixhub.com/share)** ：分享你的项目和经验，获得现金打赏，获得官方打赏的基本要求： * **可复现型**：较为完整的项目制作复现过程。 * **炫耀型**：无详细的项目复现过程，但是项目展示效果吸引人。 * Bug 解决经验型：解决了某个难题的过程和具体解决方法分享。 * [MaixPy 官方论坛](https://maixhub.com/discussion/maixpy)（提问和交流） * QQ 群： （建议在 QQ 群提问前先发个帖，方便群友快速了解你需要了什么问题，复现过程是怎样的） * MaixPy (v4) AI 视觉交流大群: 862340358 * Telegram: [MaixPy](https://t.me/maixpy) * MaixPy 源码问题: [MaixPy issue](https://github.com/sipeed/MaixPy/issues) * 商业合作或批量购买请联系 support@sipeed.com 。"},"/maixpy/doc/zh/video/jpeg_streaming.html":{"title":"MaixPy 视频流 JPEG 推流 / 发送图片到服务器","content":" title: MaixPy 视频流 JPEG 推流 / 发送图片到服务器 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 有时需要将图像发送到服务器，或者将摄像头的视频推送到服务器，这里提供一个最简单的方法，即压缩成 `JPEG` 图片，然后一张一张地发送到服务器。 注意，这是一种最简单的方法，不算很正规的视频推流方法，也不适合高分辨率高帧率的视频流，因为这只是一张一张发送图片，如果要高效推送视频流，请使用后文的 `RTSP` 或者 `RTMP` 模块。 ## 使用方法 ```python from maix import image import requests # create image img image.Image(640, 480, image.Format.FMT_RGB) # draw something img.draw_rect(60, 60, 80, 80, image.Color.from_rgb(255, 0, 0)) # convert to jpeg jpeg img.to_format(image.Format.FMT_JPEG) # image.Format.FMT_PNG # get jpeg bytes jpeg_bytes jpeg.to_bytes() # faster way, borrow memory from jpeg object, # but be carefully, when jpeg object is deleted, jpeg_bytes object MUST NOT be used, or program will crash # jpeg_bytes jpeg.to_bytes(copy False) # send image binary bytes to server url \"http://192.168.0.123:8080/upload\" res requests.post(url, data jpeg_bytes) print(res.status_code) print(res.text) ``` 可以看到，先将图片转换成了 `JPEG` 格式，然后将 `JPEG` 图片的二进制数据通过`TCP`发送到服务器。"},"/maixpy/doc/zh/source_code/faq.html":{"title":"MaixPy 源代码常见问题","content":"MaixPy 源代码常见问题 ## subprocess.CalledProcessError: Command '('lsb_release', ' a')' returned non zero exit status 1. 以 root 身份编辑 `/usr/bin/lsb_release`，将第一行从 `#!/usr/bin/python3` 更改为 `python3`。 然后重新编译,应该就可以工作了。 ## ImportError: arg(): could not convert default argument 'format: maix::image::Format' in method '<class 'maix._maix.camera.Camera'>.**init**' into a Python object (type not registered yet?) Pybind11 需要你先注册 `image::Format`，然后才能在 `camera::Camera` 中使用它,所以我们必须先在生成的 `build/maixpy_wrapper.cpp` 源文件中定义 `image::Format`。 要实现这一点,请编辑 `components/maix/headers_priority.txt`,被依赖的应该放在依赖它的前面。 例如: ``` maix_image.hpp maix_camera.hpp ```"},"/maixpy/doc/zh/source_code/build.html":{"title":"MaixPy 开发源代码指南","content":" title: MaixPy 开发源代码指南 ## 获取源代码 ```shell git clone https://github.com/sipeed/MaixPy cd MaixPy ``` ## 构建并打包成 wheel 文件 ```shell python setup.py bdist_wheel maixcam ``` `maixcam` 可以被替换为其他板卡配置, 请查看 [setup.py]([./configs](https://github.com/sipeed/MaixPy/blob/main/setup.py)) 中的 `platform_names` 变量。 构建成功后, 你会在 `dist` 目录中找到 wheel 文件, 使用 `pip install U MaixPy****.wheel` 在你的设备上安装或升级。 > `python setup.py bdist_wheel maixcam skip build` 不会执行构建命令, 只会打包 wheel 文件, 因此你可以先使用 `maixcdk menuconfig` 和 `maixcdk build` 来自定义构建。 ## 手动构建 ```shell maixcdk build ``` ## 修改源代码后运行测试 * 首先, 构建源代码 ```shell maixcdk build ``` * 如果为 PC 自身构建(平台 `linux`): 然后执行 `./run.sh your_test_file_name.py` 来运行 Python 脚本。 ```shell cd test ./run.sh examples/hello_maix.py ``` * 如果为板卡交叉编译: * 最快的方式是将 `maix` 目录复制到设备的 `/usr/lib/python3.11/site packages/` 目录, 然后在设备上运行脚本。 * 或者打包 wheel 文件并在设备上使用 `pip install U MaixPy****.wheel` 安装, 然后在设备上运行脚本。 ## 本地预览文档 文档位于 [docs](https://github.com/sipeed/MaixPy/tree/main/docs) 目录, 使用 `Markdown` 格式, 你可以使用 [teedoc](https://github.com/teedoc/teedoc) 来生成网页版本的文档。 API 文档会在构建 MaixPy 固件时生成, **如果你没有构建 MaixPy, API 文档将会是空的**。 ```shell pip install teedoc U cd docs teedoc install i https://pypi.tuna.tsinghua.edu.cn/simple teedoc serve ``` 然后访问 `http://127.0.0.1:2333` 在网页浏览器中预览文档。 ## 对于想要贡献的开发者 请查看 [MaixPy 开发源代码指南](./contribute.html) 如果在使用源代码时遇到任何问题, 请先参考 [FAQ](./faq.html)。"},"/maixpy/doc/zh/source_code/maixcdk.html":{"title":"切换到 MaixCDK 使用 C/C++ 开发应用","content":" title: 切换到 MaixCDK 使用 C/C++ 开发应用 除了使用 MaixPy 开发，还有对应的 C/C++ SDK 可以使用，项目名称为 [MaixCDK](https://github.com/sipeed/MaixCDK)。 ## MaixCDK 介绍 MaixPy 基于 MaixCDK 构建，MaixPy 的大多数 API 都是基于 MaixCDK 的 API 自动生成的，所以 MaixPy 有的功能 MaixCDK 都包含。 如果你更熟悉 C/C++ 编程，或者需要更高的性能，可以使用 MaixCDK 进行开发。 ## MaixCDK 使用 MaixCDK 代码仓库地址：[github.com/sipeed/MaixCDK](https://github.com/sipeed/MaixCDK), 你可以在这里找到 MaixCDK 的代码和文档。"},"/maixpy/doc/zh/peripheral/gpio.html":{"title":"","content":""},"/maixpy/doc/zh/peripheral/uart.html":{"title":"","content":""},"/maixpy/doc/zh/peripheral/pwm.html":{"title":"","content":""},"/maixpy/doc/zh/vision/yolov5.html":{"title":"MaixPy 使用 YOLOv5 模型进行目标检测","content":" title: MaixPy 使用 YOLOv5 模型进行目标检测 ## 目标检测概念 目标检测是指在图像或视频中检测出目标的位置和类别，比如在一张图中检测出苹果、飞机等物体，并且标出物体的位置。 和分类不同的是多了一个位置信息，所以目标检测的结果一般是一个矩形框，框出物体的位置。 ## MaixPy 中使用目标检测 MaixPy 默认提供了 `YOLOv5` 模型，可以直接使用： ```python from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.5, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{detector.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` 效果视频: <video playsinline controls autoplay loop muted preload src \"https://wiki.sipeed.com/maixpy/static/video/detector.mp4\" type \"video/mp4\"> 这里使用了摄像头拍摄图像，然后传给 `detector`进行检测，得出结果后，将结果(分类名称和位置)显示在屏幕上。 更多 API 使用参考 [maix.nn](/api/maix/nn.html) 模块的文档。 ## 训练自己的目标检测模型 请到[MaixHub](https://maixhub.com) 学习并训练目标检测模型，创建项目时选择`目标检测模型`即可。"},"/maixpy/doc/zh/source_code/add_c_module.html":{"title":"给 MaixPy 添加一个 C/C++ 模块","content":" title: 给 MaixPy 添加一个 C/C++ 模块 ## 简介 有时候需要高效地执行某个函数， Python 的速度无法满足时，就可以使用 C/C++ 或者其它编译型语言来实现。 ## 通用函数封装 如果你想封装的函数实现的功能不依赖 MaixPy 的其它功能，直接使用 Python 使用 C/C++ 添加模块的通用方法，具体方法可以自行百度，比如 ffi， ctype 等 > 欢迎 PR 添加方法 ## 如果你的模块还想依赖 MaixPy 的其它基础 API 你需要先学会编译使用 [MaixCDK](https://github.com/sipeed/MaixCDK)， 因为 MaixPy 就是从 MaixCDK 生成的 API， MaixPy 里面有的功能 MaixCDK 里面也有， 然后 。。。TODO"},"/maixpy/doc/zh/source_code/contribute.html":{"title":"参与 MaixPy 文档修改和贡献代码","content":" title: 参与 MaixPy 文档修改和贡献代码 ## 参与 MaixPy 文档修改 * 点击要修改的文档右上角的`编辑本页`按钮，进入 github 源文档页面。 * 保证已经登录了 GitHub 账号。 * 在 github 预案文档页面点击右上角铅笔按钮修改文档内容。 * github 会提示需要 fork 一份到自己的仓库，点击 fork 按钮。 > 这一步就是将 MaixPy 源码仓库复刻一份到你自己的账号下，这样你就可以自由修改了。 * 修改文档内容，然后在页面底部填写修改说明，点击提交修改。 * 然后在你的仓库中找到 Pull requests 按钮，点击创建一个 Pull requests。 * 然后在弹出的页面中填写修改说明，点击提交 Pull requests，其它人和管理员就可以在[Pull requests 页面](https://github.com/sipeed/MaixPy/pulls)看到你的修改了。 * 等待管理员审核通过后，你的修改就会合并到 MaixPy 源码仓库中了。 * 合并成功后，文档会自动更新到 [MaixPy 官方文档](https://wiki.sipeed.com/maixpy)。 > 文档经过 CDN 缓存了的，可能需要等待一段时间才能看到更新，紧急更新可以联系管理员手动刷新。 > 也可以访问 [en.wiki.sipeed.com/maixpy](https://en.wiki.sipeed.com/maixpy) 查看 github pages 服务版本，这个是没有缓存实时更新的。 ## 参与 MaixPy 代码贡献 * 访问 MaixPy 代码仓库地址：[github.com/sipeed/MaixPy](https://github.com/sipeed/MaixPy) * 在修改代码前最好先创建一个 [issue](https://github.com/sipeed/MaixPy/issues) ，描述你要修改的内容让大家知道你的想法和计划，这样大家可以参与修改讨论，以免重复劳动。 * 点击右上角的 fork 按钮，将 MaixPy 代码仓库复刻一份到你自己的账号下。 * 然后在你的账号下 clone 一份代码到本地。 * 修改代码后提交到你的仓库中。 * 然后在你的仓库中找到 Pull requests 按钮，点击创建一个 Pull requests。 * 然后在弹出的页面中填写修改说明，点击提交 Pull requests，其它人和管理员就可以在[Pull requests 页面](https://github.com/sipeed/MaixPy/pulls)看到你的修改了。 * 等待管理员审核通过后，你的修改就会合并到 MaixPy 源码仓库中了。 > 需要注意的是 MaixPy 的代码大多数是从 [MaixCDK](https://github.com/sipeed/MaixCDK) 自动生成的，所以如果你修改 C/C++ 源码，很有可能你需要先修改这个仓库。"},"/maixpy/doc/zh/peripheral/wdt.html":{"title":"","content":""},"/maixpy/doc/zh/peripheral/spi.html":{"title":"","content":""},"/maixpy/doc/zh/peripheral/i2c.html":{"title":"","content":""},"/maixpy/doc/zh/vision/apriltag.html":{"title":"MaixPy 识别Apriltag标签","content":" title: MaixPy 识别Apriltag标签 update: date: 2024 04 03 author: lxowalle version: 1.0.0 content: 初版文档 阅读本文前，确保已经知晓如何开发MaixPy，详情请阅读[MaixVision MaixPy 编程 + 图形化积木编程](../basic/maixvision.html) ## 简介 本文介绍如何使用MaixPy来识别Apriltag标签 ## 使用 MaixPy 识别Apriltag标签 MaixPy的 `maix.image.Image`中提供了`find_apriltags`方法，可以可以识别apriltag标签。 ### 如何识别Apriltag标签 一个简单的示例，实现识别apriltag标签并画框 ```python from maix import image, camera, display cam camera.Camera() disp display.Display() families image.ApriltagFamilies.TAG36H11 x_scale cam.width() / 160 y_scale cam.height() / 120 while 1: img cam.read() new_img img.resize(160, 120) apriltags new_img.find_apriltags(families families) for a in apriltags: corners a.corners() for i in range(4): corners[i][0] int(corners[i][0] * x_scale) corners[i][1] int(corners[i][1] * y_scale) x int(a.x() * x_scale) y int(a.y() * y_scale) w int(a.w() * x_scale) h int(a.h() * y_scale) for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(x + w, y, \"id: \" + str(a.id()), image.COLOR_RED) img.draw_string(x + w, y + 15, \"family: \" + str(a.family()), image.COLOR_RED) disp.show(img) ``` 步骤： 1. 导入image、camera、display模块 ```python from maix import image, camera, display ``` 2. 初始化摄像头和显示 ```python cam camera.Camera() disp display.Display() ``` 3. 从摄像头获取图片并显示 ```python while 1: img cam.read() disp.show(img) ``` 4. 调用`find_apriltags`方法识别摄像头图片中的apriltag标签 ```python new_img img.resize(160, 120) apriltags new_img.find_apriltags(families families) ``` `img`是通过`cam.read()`读取到的摄像头图像 `img.resize(160, 120)`是用来将图像缩放得更小，用更小的图像来让算法计算得更快 `new_img.find_apriltags(families families)`用来寻找apriltag标签，并将查询结果保存到`apriltags`，以供后续处理。其中families用来选择apriltag族，默认为`image.ApriltagFamilies.TAG36H11` 5. 处理识别标签的结果并显示到屏幕上 ```python for a in apriltags: # 获取位置信息（并映射坐标到原图） x int(a.x() * x_scale) y int(a.y() * y_scale) w int(a.w() * x_scale) corners a.corners() for i in range(4): corners[i][0] int(corners[i][0] * x_scale) corners[i][1] int(corners[i][1] * y_scale) # 显示 for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(x + w, y, \"id: \" + str(a.id()), image.COLOR_RED) img.draw_string(x + w, y + 15, \"family: \" + str(a.family()), image.COLOR_RED) img.draw_string(x + w, y + 30, \"rotation : \" + str(180 * a.rotation() // 3.1415), image.COLOR_RED) ``` 遍历`apriltags`的成员，`apriltags`是通过`img.find_apriltags()`扫描apriltag标签的结果，如果找不到标签则`apriltags`的成员为空 `x_scale`和`y_scale`用来映射坐标，由于`new_img`是缩放后的图像，计算apriltag的坐标时需要经过映射后才能正常的画在原图`img`上 `a.corners()`用来获取已扫描到的标签的四个顶点坐标，`img.draw_line()`利用这四个顶点坐标画出标签的形状 `img.draw_string`用来显示标签的内容，其中`a.x()`和`a.y()`用来获取标签左上角坐标x和坐标y，`a.id()`用来获取标签的id，`a.family()`用来获取标签族类型，`a.rotation()`用来获取标签的旋转角度。 ### 常用参数说明 列举常用参数说明，如果没有找到可以实现应用的参数，则需要考虑是否使用其他算法实现，或者基于目前算法的结果扩展所需的功能 参数 说明 示例 roi 设置算法计算的矩形区域，roi [x, y, w, h]，x，y表示矩形区域左上角坐标，w，h表示矩形区域的宽度和高度，默认为整张图片 计算坐标为(50,50)，宽和高为100的区域<br />```img.find_apriltags(roi [50, 50, 100, 100])``` families apriltag标签家族类型 扫描TAG36H11家族的标签<br />```img.find_apriltags(families image.ApriltagFamilies.TAG36H11)``` 本文介绍常用方法，更多 API 请看 API 文档的 [image](../../../api/maix/image.html) 部分。"},"/maixpy/doc/zh/vision/custmize_model.html":{"title":"MaixPy 自定义（离线训练） AI 模型和运行","content":" title: MaixPy 自定义（离线训练） AI 模型和运行 update: date: 2024 4 23 version: v1.0 author: dragonforward content: 加入了YOLOv5s部署 > 本文来自社区用户 dragonforward 的贡献 > 本博客将向你展示零基础一步步的部署好自己的yolov5s模型（博主展示的是安全帽模型），训练就引用我自己之前写过的，已经训练好的可以跳过该部分，其中有部分不一样。 ## 获得自定义训练得到的yolov5s onnx模型 ### 准备自定义数据集（博主用的是VOC数据集） `数据集目录结构`如下： ``` └─VOC2028:\t\t自定义数据集 ├─Annotations\t存放的是数据集标签文件，xml格式 ├─ImageSets\t\t数据集的划分文件 │ └─Main ├─JPEGImages\t存放的是数据集图片 ``` `分割数据集` 在split_train_val.py文件路径下执行`python3 split_train_val.py`会得到一下目录结构： ``` └─VOC2028:\t\t自定义数据集 ├─Annotations\t存放的是数据集标签文件，xml格式 ├─ImageSets\t\t数据集的划分文件 │ └─Main test.txt └─test.txt └─train.txt └─val.txt ├─JPEGImages\t存放的是数据集图片 ├─split_train_val.py\t分割数据集的py文件 ``` `split_train_val.py文件代码如下`： ``` # * coding: utf 8 * \"\"\" Author:dragonforward 简介：分训练集、验证集和测试集，按照 8：1：1 的比例来分，训练集8，验证集1，测试集1 \"\"\" import os import random import argparse parser argparse.ArgumentParser() # xml文件的地址，根据自己的数据进行修改 xml一般存放在Annotations下 parser.add_argument(' xml_path', default 'Annotations/', type str, help 'input xml label path') # 数据集的划分，地址选择自己数据下的ImageSets/Main parser.add_argument(' txt_path', default 'ImageSets/Main/', type str, help 'output txt label path') opt parser.parse_args() train_percent 0.8 # 训练集所占比例 val_percent 0.1 # 验证集所占比例 test_persent 0.1 # 测试集所占比例 xmlfilepath opt.xml_path txtsavepath opt.txt_path total_xml os.listdir(xmlfilepath) if not os.path.exists(txtsavepath): os.makedirs(txtsavepath) num len(total_xml) list list(range(num)) t_train int(num * train_percent) t_val int(num * val_percent) train random.sample(list, t_train) num1 len(train) for i in range(num1): list.remove(train[i]) val_test [i for i in list if not i in train] val random.sample(val_test, t_val) num2 len(val) for i in range(num2): list.remove(val[i]) file_train open(txtsavepath + '/train.txt', 'w') file_val open(txtsavepath + '/val.txt', 'w') file_test open(txtsavepath + '/test.txt', 'w') for i in train: name total_xml[i][: 4] + '\\n' file_train.write(name) for i in val: name total_xml[i][: 4] + '\\n' file_val.write(name) for i in list: name total_xml[i][: 4] + '\\n' file_test.write(name) file_train.close() file_val.close() file_test.close() ``` `voc转label得到label文件` 目录结构如下： ``` └─VOC2028:\t\t自定义数据集 ├─Annotations\t存放的是数据集标签文件，xml格式 ├─ImageSets\t\t数据集的划分文件 │ └─Main ├─JPEGImages\t存放的是数据集图片 └─labels\t\tyolov5将此文件夹当作训练的标注文件夹 └─voc_label.py ``` `voc_label.py文件代码如下`： ``` # * coding: utf 8 * import xml.etree.ElementTree as ET import os sets ['train', 'val', 'test'] # 如果你的Main文件夹没有test.txt，就删掉'test' classes [\"hat\", \"people\"] # 改成自己的类别，VOC数据集有以下20类别 # classes [\"brickwork\", \"coil\",\"rebar\"] # 改成自己的类别，VOC数据集有以下20类别 # classes [\"aeroplane\", 'bicycle', 'bird', 'boat', 'bottle', 'bus', 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog', # 'horse', 'motorbike', 'person', 'pottedplant', 'sheep', 'sofa', 'train', 'tvmonitor'] # class names # abs_path os.getcwd() /root/yolov5/data/voc_label.py abs_path '/root/yolov5/data/' def convert(size, box): dw 1. / (size[0]) dh 1. / (size[1]) x (box[0] + box[1]) / 2.0 1 y (box[2] + box[3]) / 2.0 1 w box[1] box[0] h box[3] box[2] x x * dw w w * dw y y * dh h h * dh return x, y, w, h def convert_annotation(image_id): in_file open(abs_path + '/VOC2028/Annotations/%s.xml' % (image_id), encoding 'UTF 8') out_file open(abs_path + '/VOC2028/labels/%s.txt' % (image_id), 'w') tree ET.parse(in_file) root tree.getroot() size root.find('size') w int(size.find('width').text) h int(size.find('height').text) for obj in root.iter('object'): difficult obj.find('difficult').text # difficult obj.find('Difficult').text cls obj.find('name').text if cls not in classes or int(difficult) 1: continue cls_id classes.index(cls) xmlbox obj.find('bndbox') b (float(xmlbox.find('xmin').text), float(xmlbox.find('xmax').text), float(xmlbox.find('ymin').text), float(xmlbox.find('ymax').text)) b1, b2, b3, b4 b # 标注越界修正 if b2 > w: b2 w if b4 > h: b4 h b (b1, b2, b3, b4) bb convert((w, h), b) out_file.write(str(cls_id) + \" \" + \" \".join([str(a) for a in bb]) + '\\n') for image_set in sets: if not os.path.exists(abs_path + '/VOC2028/labels/'): os.makedirs(abs_path + '/VOC2028/labels/') image_ids open(abs_path + '/VOC2028/ImageSets/Main/%s.txt' % (image_set)).read().strip().split() list_file open(abs_path + '/VOC2028/%s.txt' % (image_set), 'w') for image_id in image_ids: list_file.write(abs_path + '/VOC2028/JPEGImages/%s.jpg\\n' % (image_id)) # 要么自己补全路径，只写一半可能会报错 convert_annotation(image_id) list_file.close() ``` ![picture 0](./assets/custmize_model8.png) ### 训练模型 配置环境 ``` git clone https://github.com/ultralytics/yolov5 cd yolov5 pip install r requirements.txt pip install onnx ``` 下载预训练权重（博主尝试了v7.0的和v6.0的pt都可以） ``` https://github.com/ultralytics/yolov5/releases/download/v7.0/yolov5s.pt ``` ![picture 1](./assets/custmize_model11.png) 训练（博主使用的是学校的集群进行训练） ``` python3 train.py weights weights/yolov5s.pt cfg models/yolov5s.yaml data data/safthat.yaml epochs 150 batch size 16 multi scale device 0 ``` ![picture 2](./assets/custmize_model9.png) ``` python3 detect.py source /root/yolov5/data/images/000000.jpg weights /root/yolov5/runs/train/exp13/weights/best.pt conf thres 0.25 ``` ![picture 3](./assets/custmize_model10.png) 导出onnx模型，由于学校服务器目前去教学上课去了，他们上完课才能分配我就用电脑本机的conda环境导出 下面为啥使用` imgsz 224 320`,原因就是比较适配屏幕，加上我尝试640*640的，摄像头报错，提示是640*480这样，然后我就看到sipeed那个yolov5s是320*224的，我也就和他保持一致吧 ``` python export.py weights yolov5s_hat.pt include onnx opset 16 imgsz 224 320 ``` ![picture 4](./assets/custmize_model5.png) 模型查看通过网址输入netron.app查看三个输出： ![picture 5](./assets/custmize_model2.png) 下面是博主的三个输出 ``` onnx::Shape_329 onnx::Shape_384 onnx::Shape_439 ``` ## 模型转化（关键） ### 安装docker环境（已安装过的可以跳过） ``` 安装docker依赖的基础软件 sudo apt get update sudo apt get install apt transport https ca certificates curl gnupg agent software properties common 添加官方来源 curl fsSL https://download.docker.com/linux/ubuntu/gpg sudo apt key add sudo add apt repository \"deb [arch amd64] https://download.docker.com/linux/ubuntu $(lsb_release cs) stable\" 安装 docker sudo apt get update sudo apt get install docker ce docker ce cli containerd.io ``` ### 开始量化模型实操（！！！） ### 准备工作 ``` https://github.com/sophgo/tpu mlir/releases/tag/v1.7 上面网址下载 tpu mlir resource.tar 和 tpu_mlir 1.7 py3 none any.whl ``` ![picture 6](./assets/custmize_model3.png) 为什么拉取最新版，因为我用3.1版本失败了，工具在一直更新，最好保持最新，可以看下面图片我使用3.1版本也试过 ![picture 7](./assets/custmize_model7.png) ``` docker pull sophgo/tpuc_dev:latest 进入容器后将上面的准备的两个文件拷贝到workspace目录 root@3d517bc7f51f:/workspace/model_yolov5s# cd .. root@3d517bc7f51f:/workspace# ls model_yolov5s tpu mlir resource tpu mlir resource.tar tpu_mlir 1.7 py3 none any.whl root@3d517bc7f51f:/workspace# 下面两个二选一，我建议是第二个，离线安装 pip install tpu_mlir[all]或者pip install tpu_mlir * py3 none any.whl[all] 博主是选的第二个 pip install tpu_mlir 1.7 py3 none any.whl 以及安装它的全部依赖 pip install tpu_mlir 1.7 py3 none any.whl[all] 解压 tar xvf tpu mlir resource.tar 修改文件夹名字 mv regression/ tpu mlir resource/ mkdir model_yolov5s && cd model_yolov5s cp rf ../tpu_mlir_resource/dataset/COCO2017 . cp rf ../tpu_mlir_resource/image . 把之前准备好的图片100张一集一张测试图片和onnx模型传递到如下 root@3d517bc7f51f:/workspace# cd model_yolov5s/ root@3d517bc7f51f:/workspace/model_yolov5s# ls COCO2017 image workspace yolov5n_hat.onnx yolov5s_hat.onnx root@3d517bc7f51f:/workspace/model_yolov5s# cd COCO2017/ root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls 000000.jpg 000011.jpg 000022.jpg 000032.jpg 000042.jpg 000053.jpg 000066.jpg 000076.jpg 000086.jpg 000096.jpg 000002.jpg 000012.jpg 000023.jpg 000033.jpg 000043.jpg 000054.jpg 000067.jpg 000077.jpg 000087.jpg 000101.jpg 000003.jpg 000013.jpg 000024.jpg 000034.jpg 000044.jpg 000055.jpg 000068.jpg 000078.jpg 000088.jpg 000102.jpg 000004.jpg 000014.jpg 000025.jpg 000035.jpg 000045.jpg 000058.jpg 000069.jpg 000079.jpg 000089.jpg 000103.jpg 000005.jpg 000015.jpg 000026.jpg 000036.jpg 000046.jpg 000059.jpg 000070.jpg 000080.jpg 000090.jpg 000104.jpg 000006.jpg 000016.jpg 000027.jpg 000037.jpg 000048.jpg 000061.jpg 000071.jpg 000081.jpg 000091.jpg 000105.jpg 000007.jpg 000017.jpg 000028.jpg 000038.jpg 000049.jpg 000062.jpg 000072.jpg 000082.jpg 000092.jpg 000106.jpg 000008.jpg 000019.jpg 000029.jpg 000039.jpg 000050.jpg 000063.jpg 000073.jpg 000083.jpg 000093.jpg 000107.jpg 000009.jpg 000020.jpg 000030.jpg 000040.jpg 000051.jpg 000064.jpg 000074.jpg 000084.jpg 000094.jpg 000108.jpg 000010.jpg 000021.jpg 000031.jpg 000041.jpg 000052.jpg 000065.jpg 000075.jpg 000085.jpg 000095.jpg 000109.jpg root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls l grep \"^ \" wc l 100 root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls l grep \"^ \" wc l可以查看一下图片多少个，COCO2017文件下的图片博主替换了安全帽的100张图片以及测试图片同样 回到 model_yolov5s root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# cd .. root@3d517bc7f51f:/workspace/model_yolov5s# ls COCO2017 image workspace yolov5n_hat.onnx yolov5s_hat.onnx root@3d517bc7f51f:/workspace/model_yolov5s# 接着 mkdir workspace && cd workspace 执行下面命令ONNX 转 MLIR（记得output_names换为自己的） model_transform \\ model_name yolov5s \\ model_def ../yolov5s_hat.onnx \\ input_shapes [[1,3,224,320]] \\ mean 0.0,0.0,0.0 \\ scale 0.0039216,0.0039216,0.0039216 \\ keep_aspect_ratio \\ pixel_format rgb \\ output_names onnx::Shape_329,onnx::Shape_439,onnx::Shape_384 \\ test_input ../image/hat.jpg \\ test_result yolov5s_top_outputs.npz \\ mlir yolov5s.mlir 执行下面命令MLIR 转 INT8 模型，转 INT8 模型前需要跑 calibration, 得到校准表 run_calibration yolov5s.mlir \\ dataset ../COCO2017 \\ input_num 100 \\ o yolov5s_cali_table 接着执行下面 model_deploy \\ mlir yolov5s.mlir \\ quantize INT8 \\ calibration_table yolov5s_cali_table \\ processor cv181x \\ test_input yolov5s_in_f32.npz \\ test_reference yolov5s_top_outputs.npz \\ tolerance 0.85,0.45 \\ model yolov5s_cv181x_int8_sym.cvimodel 最后你会得到如下： root@3d517bc7f51f:/workspace/model_yolov5s/workspace# ls _weight_map.csv yolov5s_cv181x_int8_sym.cvimodel yolov5s_origin.mlir build_flag.json yolov5s_cv181x_int8_sym_final.mlir yolov5s_top_f32_all_origin_weight.npz final_opt.onnx yolov5s_cv181x_int8_sym_tensor_info.txt yolov5s_top_f32_all_weight.npz yolov5s.mlir yolov5s_cv181x_int8_sym_tpu.mlir yolov5s_top_outputs.npz yolov5s_cali_table yolov5s_in_f32.npz yolov5s_tpu_addressed_cv181x_int8_sym_weight.npz yolov5s_cv181x_int8_sym yolov5s_opt.onnx.prototxt yolov5s_tpu_addressed_cv181x_int8_sym_weight_fix.npz root@3d517bc7f51f:/workspace/model_yolov5s/workspace# ``` 通过上述步骤，你就可以得到量化后的可以部署到开发板上的模型的 解答： 上面为什么会是cv181x，因为我自己先用了一个实验了一下，然后报错如下： ``` [I] load cvimodel from: /root/models/yolov5n.cvimodel cvimodel built for cv180x CANNOT run on platform cv181x failed to parse cvimodel ``` ### 实机运行 `yolov5s_hat.mud内容如下`如下： ``` [basic] type cvimodel model yolov5s_hat_cv181x_int8_sym.cvimodel [extra] model_type yolov5 input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 anchors 10,13, 16,30, 33,23, 30,61, 62,45, 59,119, 116,90, 156,198, 373,326 labels hat,person ``` 运行代码 ``` from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s_hat.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() print(\"www\") print(detector.input_width(),detector.input_height(), detector.input_format()) while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.5, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{detector.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` ![picture 8](./assets/custmize_model4.png) 其中10.84.117.1就是ip地址，将cvmodel和mud上传到`/root/models/` 路径下 ![picture 9](./assets/custmize_model1.png) 打包完成后安装应用然后运行就行，也可以ide运行 ![picture 10](./assets/custmize_model6.png) 视频链接： ``` https://www.bilibili.com/video/BV1xz421S7Rx/?spm_id_from 333.999.0.0&vd_source b1fff0f773136d7d05331087929c7739 ``` ## 感谢 感谢`谁说现在是冬天呢 `一些思路"},"/maixpy/doc/zh/vision/self_learn_classifier.html":{"title":"MaixPy 自学习分类器","content":" title: MaixPy 自学习分类器 ## MaixPy 自学习分类器介绍 一般情况下我们要识别新的类别，需要在电脑端重新采集数据集并训练，步骤很麻烦，难度较高，这里提供一种不需要电脑端训练，而是直接在设备端就能秒学习新的物体，适合场景不太复杂的使用场景。 比如眼前有饮料瓶和手机，使用设备分别拍一张它们的照片作为两个分类的依据，然后再采集几张他们各个角度的照片，提取它们的特征保存，然后识别时根据图像的特征值分别和保存的特征值进行对比，和保存的哪个更相近就认为是对应的分类。 ## MaixPy 中使用自学习分类器 步骤： * 采集 n 张分类图。 * 采集 n*m 张图，每个分类采集 m 张，顺序无所谓。 * 启动学习。 * 识别图像输出结果。 简洁版本代码，完整版本请看例程里面的完整代码。 ```python from maix import nn, image classifier nn.SelfLearnClassifier(model \"/root/models/mobilenetv2.mud\", feature_layer None) img1 image.load(\"/root/1.jpg\") img2 image.load(\"/root/2.jpg\") img3 image.load(\"/root/3.jpg\") sample_1 image.load(\"/root/sample_1.jpg\") sample_2 image.load(\"/root/sample_2.jpg\") sample_3 image.load(\"/root/sample_3.jpg\") sample_4 image.load(\"/root/sample_4.jpg\") sample_5 image.load(\"/root/sample_5.jpg\") sample_6 image.load(\"/root/sample_6.jpg\") classifier.add_class(img1) classifier.add_class(img2) classifier.add_class(img3) classifier.add_sample(sample_1) classifier.add_sample(sample_2) classifier.add_sample(sample_3) classifier.add_sample(sample_4) classifier.add_sample(sample_5) classifier.add_sample(sample_6) classifier.learn() img image.load(\"/root/test.jpg\") max_idx, max_score classifier.classify(img) print(maix_idx, max_score) ```"},"/maixpy/doc/zh/vision/face_recognition.html":{"title":"MaixPy 人脸识别","content":" title: MaixPy 人脸识别 ## 人脸识别简介 人脸识别就是识别当前画面中的人脸的位置以及是谁。 所以人脸识别除了要检测到人脸，一般会有一个库来保存认识的人和不认识的人。 ## 识别原理 * 使用 AI 模型检测人脸，获得坐标和五官的坐标。 * 利用五官的坐标仿射变换将图中的脸拉正对其到标准脸的样子，方便模型提取脸的特征。 * 使用特征提取模型提取脸的特征值。 * 与库中记录的人脸特征值进行对比（计算保存的和当前画面中的脸的特征值的余弦距离，得出最小的距离的库中的人脸，小于设定的阈值就认为当前画面中就是这个库中的人） ## MaixPy 使用 MaixPy maix.nn 模块中提供了人脸识别的 API， 可以直接使用，模型也内置了，也可以到 [MaixHub 模型库](https://maixhub.com/model/zoo) 下载（筛选选则对应的硬件平台，比如 maixcam）。 识别： ```python from maix import nn recognizer nn.Face_Recognizer(model \"/root/models/face_recognizer.mud\") if os.path.exists(\"/root/faces.bin\"): recognizer.load_faces(\"/root/faces.bin\") cam camera.Camera(recognizer.input_width(), recognizer.input_height(), recognizer.input_format()) dis display.Display() while 1: img cam.read() faces recognizer.recognize(img) for obj in faces: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{recognizer.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` 第一次运行这个代码会发现能检测到人脸，但是都不认识，需要我们进入添加人脸模式学习人脸才行。 比如可以在用户按下按键的时候学习人脸： ```python faces recognizer.detect_faces(img) for face in faces: print(face) # 这里考虑到了一个画面中有多个人脸的情况 # 可以在这里根据 face 的坐标决定要不要添加到库里面 recognizer.add_face(face) recognizer.save_(faces)(\"/too/faces.bin\") ```"},"/maixpy/doc/zh/vision/object_track.html":{"title":"","content":""},"/maixpy/doc/zh/vision/display.html":{"title":"MaixPy 屏幕使用","content":" title: MaixPy 屏幕使用 update: date: 2024 03 31 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 MaixPy 提供了`display`模块，可以将图像显示到屏幕上，同时，也可以将图像发送到 MaixVision 显示，方便调试和开发。 ## API 文档 本文介绍常用方法，更多 API 请看 API 文档的 [display](/api/maix/display.html) 部分。 ## 使用屏幕 * 导入`display`模块： ```python from maix import display ``` * 创建一个`Display`对象： ```python disp display.Display() ``` * 显示图像： ```python disp.show(img) ``` 这里`img`对象是`maix.image.Image`对象，可以通过`camera`模块的`read`方法获取，也可以通过`image`模块的`load`方法加载文件系统中的图像，也可以通过`image`模块的`Image`类创建一个空白图像。 比如： ```python from maix import image, display disp display.Display() img image.load(\"/root/dog.jpg\") disp.show(img) ``` 这里需要先把`dog.jpg`文件传到设备的`/root`目录下。 显示文字： ```python from maix import image, display disp display.Display() img image.Image(320, 240) img.draw_rectangle(0, 0, disp.width(), disp.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rectangle(10, 10, 100, 100, color image.Color.from_rgb(255, 0, 0)) img.draw_string(10, 10, \"Hello MaixPy!\", color image.Color.from_rgb(255, 255, 255)) disp.show(img) ``` 从摄像头读取图像并显示： ```python from maix import camera, display, app disp display.Display() cam camera.Camera(320, 240) while not app.need_exit(): img cam.read() disp.show(img) ``` > 这里用了一个`while not app.need_exit():` 是方便程序在其它地方调用`app.set_exit_flag()`方法后退出循环。 ## 调整背光亮度 在系统的`设置`应用中可以手动调整背光亮度，如果你想在程序中调整背光亮度，可以使用`set_backlight`方法，参数就是亮度百分比，取值范围是 0 100： ```python disp.set_backlight(50) ``` 注意，程序退出回到应用选择界面后会自动恢复到系统设置的背光亮度。 ## 显示到 MaixVision 在使用 MaixVision 运行代码时，能够将图像显示到 MaixVision 上，方便调试和开发。 在调用`show`方法时，会自动压缩图像并发送到 MaixVision 显示。 当然，如果你没有屏幕，或者为了节省内存不想初始化屏幕，也可以直接调用`image.Image`对象的`send_to_maixvision`方法发送图像到 MaixVision 显示。 ```python from maix import image img image.Image(320, 240) img.draw_rectangle(0, 0, img.width(), img.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rectangle(10, 10, 100, 100, color image.Color.from_rgb(255, 0, 0)) img.draw_string(10, 10, \"Hello MaixPy!\", color image.Color.from_rgb(255, 255, 255)) img.send_to_maixvision() ```"},"/maixpy/doc/zh/vision/body_key_points.html":{"title":"MaixPy 检测人体关键点姿态检测","content":" title: MaixPy 检测人体关键点姿态检测 ## 简介 使用 MaixPy 可以轻松检测人体关节的关键点的坐标，用在姿态检测比如坐姿检测，体感游戏输入等。 ## 使用 使用 MaixPy 的 maix.nn.BodyKeyPoints 类可以轻松实现： ```python from maix import nn, image, display detector nn.BodyKeyPoints(model \"/root/models/body_key_points.mud\") cam camera.Camera(recognizer.input_width(), recognizer.input_height(), recognizer.input_format()) dis display.Display() while 1: img cam.read() points detector.detect(img) for point in points: img.draw_circle(point[0], point[1], 3, color image.COLOR_RED, thickness 1) dis.show(img) ```"},"/maixpy/doc/zh/modules/thermal_cam.html":{"title":"","content":""},"/maixpy/doc/zh/modules/tof.html":{"title":"","content":""},"/maixpy/doc/zh/modules/acc.html":{"title":"","content":""},"/maixpy/doc/zh/audio/recognize.html":{"title":"","content":""}}
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+{"/maixpy/doc/zh/basic/maixvision.html":{"title":"MaixVision -- MaixPy 编程 IDE + 图形化积木编程","content":" title: MaixVision MaixPy 编程 IDE + 图形化积木编程 ## 简介 [MaixVision](https://wiki.sipeed.com/maixvision) 是专为 Maix 生态打造的一款开发者编程工具，支持 MaixPy 编程和图形化积木编程，同时支持在线运行和调试，以及实时预览图像，可以同步设备显示屏的图像，方便调试和开发。 以及支持打包应用和安装应用到设备，方便用户一键生成、安装应用。 同时还集成一些方便开发的小工具，比如文件管理，阈值编辑器，二维码生成等等。 ## 下载 访问 [MaixVision 主页](https://wiki.sipeed.com/maixvision) 下载。 ## 使用 MaixPy 编程和在线运行 按照[快速开始](../index.html)的步骤连接设备，我们可以很方便地使用 MaixPy 编程和在线运行。 ## 实时预览图像 MaixPy 提供`display`模块，可以将图像显示到屏幕上，同时，在调用`display`模块的`show`方法时，会将图像发送到 MaixVision 显示，比如代码： ```python from maix import display, camera cam camera.Camera(640, 480) disp display.Display() while 1: disp.show(cam.read()) ``` 这里我们用摄像头读取了图像，然后通过`disp.show()`方法将图像显示到屏幕上，同时也会发送到 MaixVision 显示。 当我们点击了右上角的`暂停`按钮，就会停止发送图像到 MaixVision 显示。 ## 代码自动补全 代码提示依赖电脑本地的 Python 包，为了实现代码提示，我们需要在电脑中安装 Python，并且安装需要提示的 Python 包。 * 安装 Python 请访问 [Python 官网](https://python.org/)安装。 * 安装需要提示的包，比如对于 MaixPy， 你需要在电脑也安装一份 MaixPy 包，在电脑使用`pip install MaixPy`即可安装好，如果`MaixPy`更新了，你也需要在电脑和设备更新到`MaixPy`，电脑手动在终端执行`pip install MaixPy U`即可，设备更新直接在`设置`应用中更新即可。 > 中国国内用户可以使用国内镜像`pip install i https://pypi.tuna.tsinghua.edu.cn/simple MaixPy`。 * 重启 MaixVision 就能够看到代码提示了。 > 如果仍然不能提示，可以手动在设置中设置 python 可执行文件的路径后重启。 >! 注意在电脑安装 Python 包这里只是为了用作代码提示，实际代码运行还是在设备（开发板）上，设备上也要有对应的包才能正常运行。 > 另外，虽然你在电脑上安装了 MaixPy 包，但是由于我们精力有限，我们不确保你能直接在电脑的 Python 导入 maix 包进行使用，请在支持的设备上运行。 ## 计算图像的直方图 在上一步中我们可以在 MaixVision 中实时看到图像，我们用鼠标框选一个区域，图像下方就能看到这个区域的直方图了，选择不同的颜色表示方法，可以看到不同的颜色通道的直方图。 这个功能方便我们在做某些图像处理算法时找到一些合适的参数。 ## 区分`设备文件系统`和`电脑文件系统` 这里我们有一个比较重要的概念需要掌握：**分清楚`设备文件系统`和`电脑文件系统`**。 * **电脑文件系统**：运行在电脑上，在 MaixVision 中打开文件或者工程都是打开的电脑里面的文件，保存也是自动保存到电脑的文件系统。 * **设备文件系统**：程序运行时会将程序发送到设备上运行，所以代码里面使用的文件都是从设备文件系统读取。 所以常见的问题是有同学在电脑上保存了文件`D:\\data\\a.jpg`，然后在设备上使用这个文件`img image.load(\"D:\\data\\a.jpg\")`，这样当然是找不到文件的，因为设备上没有`D:\\data\\a.jpg`这个文件。 具体如何将电脑的文件发送到设备上，参考下面的章节。 ## 传输文件到设备 先连接设备，然后点击浏览设备文件系统的按钮，有两个入口，如下图，然后就能上传文件到设备，或者从设备下载文件到电脑了。 ![maixvision_browser2](../../assets/maixvision_browser2.jpg) ![maixvision_browser](../../assets/maixvision_browser.jpg) .. details::也可以用其它工具代替，点击展开 先知道设备的 ip 地址或者设备名称，MaixVision 就可以搜索到, 或者在设备`设置 >系统信息`中看到，比如类似 `maixcam xxxx.local` 或者 `192.168.0.123`。 用户名和密码都是 `root`, 使用 `SFTP` 协议传输文件，端口号是 `22`。 然后不同系统下都有很多好用的软件： ### Windows 下 使用 [WinSCP](https://winscp.net/eng/index.php) 或者 [FileZilla](https://filezilla project.org/) 等工具连接设备，将文件传输到设备上，选择 `SFTP` 协议填写设备和账号信息连接即可。 具体不懂的可以自行搜索。 ### Linux 下 终端使用 `scp` 命令传输文件到设备上，比如： ```bash scp /path/to/your/file.py root@maixcam xxxx.local:/root ``` ### Mac 下 * **方法一**：终端使用 `scp` 命令传输文件到设备上，比如： ```bash scp /path/to/your/file.py root@maixcam xxxx.local:/root ``` * **方法二**：使用 [FileZilla](https://filezilla project.org/) 等工具连接设备，将文件传输到设备上，选择 `SFTP` 协议填写设备和账号信息连接即可。 ## 使用图形化积木编程 开发中，敬请期待。"},"/maixpy/doc/zh/basic/app.html":{"title":"应用开发和应用商店","content":" title: 应用开发和应用商店 ## 应用生态简介 为了让开发板做到开箱即用，以及方便用户无门槛地使用，以及方便开发者分享自己的有趣应用，并且能有有效的渠道获取到反馈甚至是收益，我们推出了一个简易的应用框架，包括： * **[应用商店](https://maixhub.com/app)**： 开发者上传分享应用，用户无需开发直接下载使用，开发者可以获取到一定的现金收益（来自 MaixHub 官方以及用户打赏）。 * **出厂内置大量应用**： 官方提供了一些常用的应用，比如找色块、AI 物体检测追踪、找二维码、人脸识别等等，用户可以直接使用，也可以作为串口模块直接使用。 * **MaixPy + MaixCDK** 软件开发包：使用 [MaixPy](https://github.com/sipeed/maixpy) 或者 [MaixCDK](https://github.com/sipeed/MaixCDK) 可以用 Python 或者 C/C++ 语言快速开发嵌入式 AI 视觉听觉应用，超高效率实现你的有趣想法。 * **MaixVision** 配套电脑端开发工具: 全新的电脑端代码开发工具，快速上手、调试、运行、上传代码、安装应用到设备，一键式开发，甚至支持图像化积木式编程，小学生也能轻松上手。 大家可以多多关注应用商店，也可以在应用商店中分享自己的应用，大家一起共建活跃的社区。 ## 打包应用 使用 MaixPy + MaixVison 可以方便地开发、打包、安装应用： * 在 MaixVision 中使用 MaixPy 开发应用程序，可以是单个文件，也可以是一个工程目录。 * 连接设备。 * 点点击 MaixVision 左下角的 安装 按钮，会弹出一个界面填写应用的基本信息，id 是用来判别应用的 id，一个设备不能同时安装相同 id 的不同应用，所以 id 应该与 MaixHub 上面已经有的应用 id 不同，应用名字可以重复。以及图标等。 * 点击打包应用，会将应用打包成一个安装包，如果你要上传到 [MaixHub 应用商店](https://maixhub./com/app)，用这个打包好的文件即可。 * 点击 安装应用，这会将打包好的应用安装到设备。 * 断开与设备的连接，就能看到设备功能选择界面多了一个你的应用，直接点进去就能运行。 > 如果你用 MaixCDK 开发，使用 `maixcdk relrease` 就能打包出来一个应用，具体看 MaixCDK 的文档。 ## 退出应用 如果你只是写了比较简单的应用，没有做界面和返回按钮，默认可以按设备上的功能按键（一般是 USER 或者 FUNC 或者 OK 按钮）或者返回按钮（如果有这个按键，MaixCAM 默认没有这个按键）来退出应用。 ## 应用开发基本准则 * 因为默认都配了触摸屏幕，推荐都写一个简单的界面显示，最好有触摸交互。实现方法可以在例子里面找找参考。 * 界面和按钮不要太小，因为 MaixCAM 默认的屏幕是 2.3寸 552x368分辨率，PPI 比较高屏幕比较小，要让手指能很容易戳到并且不会点错。 * 每个应用实现的主要功能实现一个简单的串口交互，基于[串口协议](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md) （[例程](https://github.com/sipeed/MaixPy/tree/main/examples/communication/protocol)）,这样用户可以直接当成串口模块使用，比如人脸检测应用，可以在检测到人脸后通过串口输出坐标。"},"/maixpy/doc/zh/basic/os.html":{"title":"升级和烧录系统","content":" title: 升级和烧录系统 ## 介绍 如果你购买了官方（Sipeed）的带 TF 卡的套餐，一般来说出厂已经烧录好了系统，可以跳过这一步直接使用。 但是为了防止出厂烧录的系统版本过旧，强烈建议先按照教程升级到最新的系统。 ## 如何确认系统是否需要升级 * 在开机后的功能选择界面，点击`设置`，然后点击`设备信息`，可以看到系统的版本号。 * 到[MaixPy 发布历史页面](https://github.com/sipeed/MaixPy/releases)查看更新日志，里面有 MaixPy 固件和系统镜像的更新说明，如果在你的版本后有重要更新，建议升级。 > 如果最新系统和当前系统对比只是 MaixPy 固件的常规更新，也可以不升级，在 `设置` 中的 `更新 MaixPy` 中单独更新 `MaixPy` 即可。 ## 获得最新系统 在 [MaixPy 发布页面](https://github.com/sipeed/MaixPy/releases) 找到最新的系统镜像文件，比如`maixcam_os_20240401_maixpy_v4.1.0.xz`。 备用地址： * [Sourceforge](https://sourceforge.net/projects/maixpy/files/) ## 烧录系统到 MaixCAM 参考 [MaixCAM 系统烧录](https://wiki.sipeed.com/hardware/zh/maixcam/os.html) 教程。"},"/maixpy/doc/zh/basic/python_pkgs.html":{"title":"添加额外的 Python 软件包","content":" title: 添加额外的 Python 软件包 ## 简介 MaixPy 基于 Python 语言，提供了大量方便嵌入式应用开发的功能和 API，除此之外，你也可以使用其它的 Python 包来扩展功能。 ## 安装额外的 Python 包 > 注意可能不是所有 Python 包都支持，一般只支持纯 Python 包，不支持 C 扩展包， C 扩展包可能需要你手动在电脑交叉编译（比较复杂，这里就不介绍了）。 ### 方法一： 使用 Python 代码来安装 在 MaixVision 中使用 Python 代码来安装你需要的包，比如： ```python import os os.system(\"pip install 包名\") ``` 要更新一个包，可以使用： ```python import os os.system(\"pip install upgrade 包名\") ``` ### 方法二： 终端使用 pip 命令安装 使用[Linux 基础](./linux_basic.html)中介绍的终端使用方法，使用 `pip install 包名` 安装你需要的包。"},"/maixpy/doc/zh/basic/app_usage.html":{"title":"应用使用说明","content":" title: 应用使用说明 开机后会自动进入应用选择界面，内置各种应用均发布在 [MaixHub 应用商店](https://maixhub.com/app)， 可以在这里找到对应应用的介绍和使用说明。 上手用得比较多的是 `设置 > 语言`， 以及 `设置 > WiFi`，`应用商店`应用可以用来升级和安装应用，连接上可以连接互联网的 WiFi 后即可在[MaixHub 应用商店](https://maixhub.com/app)扫码安装应用。 另外，你编写的应用也可以上传到[MaixHub 应用商店](https://maixhub.com/app)分享给其他人使用，质量合格和优秀的应用都会得到官方红包打赏，优秀应用也会得到大家的赞同和支持。 无论是小到一个采集传感器的数据小应用还是功能复杂的应用，让我们一起来创造更多有趣的东西吧！"},"/maixpy/doc/zh/peripheral/spi.html":{"title":"MaixPy 使用 SPI","content":" title: MaixPy 使用 SPI TODO:"},"/maixpy/doc/zh/peripheral/i2c.html":{"title":"MaixPy 使用 I2C","content":" title: MaixPy 使用 I2C 对于 MaixCAM，由于引脚资源比较紧张，引出的 I2C 引脚和 WiFi 模块（SDIO1）重合了，所以 WiFi 和硬件 I2C 只能二选一使用。 所以推荐使用 IO 模拟 I2C。 > 注意需要 MaixPy 镜像和固件 > 4.1.2(不包含) ## IO 模拟 I2C 模拟 `I2C` 只需要引脚使用 `GPIO` 功能即可，在 `MaixCAM` 上，模拟 `I2C` 被固定在引脚`A15`(`SCL`)，`A27`(`SDA`)，并且`i2c`编号为`5`， 要使用，只需要: ```python from maix import i2c, pinmap # pinmap.set_pin_function(\"A15\", \"GPIOA23\") # pinmap.set_pin_function(\"A27\", \"GPIOA24\") bus1 i2c.I2C(5, i2c.Mode.MASTER) slaves bus1.scan() print(\"find slaves:\", slaves) ``` 更多 API 看 [i2c API 文档](https://wiki.sipeed.com/maixpy/api/maix/peripheral/i2c.html) ## 硬件 I2C 如上面所说， 对于 `MaixCAM` 硬件 `I2C` 和 `WiFi` 只能二选一，如果一定要用，需要禁用`WiFi`，使用`pinmap`模块设置引脚功能为 `I2C`，在使用`maix.i2c`模块操作。 > TODO: 提供禁用 WiFi 的方法（需要系统里面禁用掉 WiFi 驱动，比较复杂） 硬件`I2C`及对应的引脚看图： ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) ```python from maix import i2c, pinmap pinmap.set_pin_function(\"P18\", \"I2C1_SCL\") pinmap.set_pin_function(\"P21\", \"I2C1_SDA\") bus1 i2c.I2C(1, i2c.Mode.MASTER) slaves bus1.scan() print(\"find slaves:\", slaves) ```"},"/maixpy/doc/zh/peripheral/gpio.html":{"title":"MaixPy 使用 GPIO","content":" title: MaixPy 使用 GPIO ## 简介 使用 GPIO 可以控制引脚输入或者输出高低电平，用来读取信号或者输出控制信号，十分常用。 ## MaixPy 中使用 GPIO > MaixPy 固件版本应该 > 4.1.2(不包含) 首先我们需要知道设备有哪些引脚和 GPIO，对于 MaixCAM 每个引脚都对应了一个 GPIO 控制器，如图： ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) 需要注意的是，引脚除了作为 GPIO 使用，还能用作其它功能比如 PWM 使用，使用前我们需要设置一下引脚的功能为 GPIO。 比如在 MaixCAM 上有些引脚默认已经被其它功能占用，比如 UART0， WiFi(SDIO1 + A26), 不建议使用它们，其它的可以使用，另外 A14 引脚连接到了板载的 LED，默认是作为系统的负载提示灯，如果初始化它会自动取消系统提示灯功能作为普通 GPIO 被使用(注意`A14`只能作为输出)，这样你就能控制这颗 LED 的亮灭了。 ```python from maix import gpio, pinmap, time pinmap.set_pin_function(\"A14\", \"GPIOA14\") led gpio.GPIO(\"A14\", gpio.Mode.OUT) led.value(0) while 1: led.toggle() time.sleep_ms(500) ``` 这里先使用`pinmap`设置了`A14`引脚的功能为`GPIO`，当然，对于`A14`因为只有`GPIO`功能，可以不设置，为了程序通用起见，其它引脚可能需要设置，所以这里例程设置了。 更多 API 请看 [GPIO API 文档](https://wiki.sipeed.com/maixpy/api/maix/peripheral/gpio.html) ## GPIO 作为输入模式 ```python from maix import gpio, pinmap, time pinmap.set_pin_function(\"A19\", \"GPIOA19\") led gpio.GPIO(\"A19\", gpio.Mode.IN) while 1: print(led.value()) time.sleep_ms(1) # sleep to make cpu free ```"},"/maixpy/doc/zh/peripheral/uart.html":{"title":"MaixPy UART 串口使用介绍","content":" title: MaixPy UART 串口使用介绍 ## 串口简介 串口是一种通信方式，包含了硬件和通信协议的定义。 * 硬件包括： * 3 个引脚： `GND`， `RX`， `TX`，通信双发交叉连接 RX TX， 即一方 TX 发送到另一方的 RX， 双方 GND 连接到一起。 * 控制器，一般在芯片内部，也叫 UART 外设，一般一个芯片有一个或者多个 UART 控制器，每个控制器有相对应的引脚。 * 通信协议： 为了让双方能顺利通信，规定了一套协议，具体可以自行学习，常见的参数有 波特率 校验位等，波特率是我们用得最多的参数。 通过板子的串口，可以和其它单片机或者 SOC 进行数据通信，比如可以在 MaixCAM 上实现人体检测功能，检测到坐标后通过串口发送给 STM32 单片机。 ## MaixPy 中使用串口 对于 MaixCAM 默认从 USB 口引出了一个串口，可以插上配套的 Type C 转接小板，就能直接使用上面的串口引脚， 也可以不用转接板，直接使用板子上的 `A16(TX)` 和 `A17(RX)`引脚, 和 USB 口引出的是同样的引脚，是等效的。 对于 MaixCAM 使用 USB 引出的串口时需要**注意**，Typc C 正插和反插，转接小板上的 `RX` 和 `TX`会交换，所以当你发现无法通信时，有可能就是 RX TX 反了，可以尝试将 Type C 翻转一面插再看看通信是否正常。这个算是设计缺陷，不过一般也不会经常拔插所以适应一下也能接受。 将两个通信的板子双方连接好后（通信双发交叉连接 RX TX， 即一方 TX 发送到另一方的 RX， 双方 GND 连接到一起），就可以使用软件了。 通过 MaixPy 使用串口很简单： ```python from maix import uart devices uart.list_devices() serial uart.UART(devices[0], 115200) serial.write_str(\"hello world\") print(\"received:\", serial.read(timeout 2000)) ``` 先列出了系统的所有串口设备，然后这里使用了第一个，也就是上面说的 Type C 出 引出的串口。 更多串口的 API 请看 [UART API 文档](../../../api/maix/peripheral/uart.html) ## 其它写法，以及使用其它串口 ```python from maix import app, uart, pinmap, time import sys # pinmap.set_pin_function(\"A16\", \"UART0_TX\") # pinmap.set_pin_function(\"A17\", \"UART0_RX\") device \"/dev/ttyS0\" serial0 uart.UART(device, 115200) serial0.write(\"hello 1\\r\\n\".encode()) serial0.write_str(\"hello 2\\r\\n\") while not app.need_exit(): data serial0.read() if data: print(\"Received, type: {}, len: {}, data: {}\".format(type(data), len(data), data)) serial0.write(data) time.sleep_ms(1) # sleep 1ms to make CPU free ``` 这里先设置了引脚映射，特别是如果你要使用除了 UART0 以外的串口，根据图中的引脚号和 UART 使用`pinmap.set_pin_function`来设置 ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) 另外，这里循环里面加了一个 `sleep_ms` 是简单地释放一下 CPU，以达到程序不会占满 CPU 的效果，当然也有其它方式，这种方式最简单粗暴。"},"/maixpy/doc/zh/peripheral/pwm.html":{"title":"MaixPy 使用 PWM","content":" title: MaixPy 使用 PWM ## 简介 在 MaixPy (v4) 中使用 `PWM`，先使用`pinmap`设置引脚的功能为 `PWM`，在使用。 以及每个 `PWM` 有对应的引脚，根据 MaixCAM 的引脚图可以看到: ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) 这里我们推荐使用`PWM6` 和 `PWM7`。 对于 `MaixCAM` 因为`WiFi` 使用了`SDIO1`的所有引脚，所以`PWM4~9`只能和`WiFi`二选一使用。 > TODO: 提供禁用 WiFi 的方法（需要系统里面禁用掉 WiFi 驱动，比较复杂） ## MaixPy 使用 PWM 控制舵机 这里我们以控制舵机为例， 使用`MaixCAM`的`PWM7`和`A19`引脚： ```python from maix import pwm, time, pinmap SERVO_PERIOD 50 # 50Hz 20ms SERVO_MIN_DUTY 2.5 # 2.5% > 0.5ms SERVO_MAX_DUTY 12.5 # 12.5% > 2.5ms # Use PWM7 pwm_id 7 # !! set pinmap to use PWM7 pinmap.set_pin_function(\"A19\", \"PWM7\") def angle_to_duty(percent): return (SERVO_MAX_DUTY SERVO_MIN_DUTY) * percent / 100.0 + SERVO_MIN_DUTY out pwm.PWM(pwm_id, freq SERVO_PERIOD, duty angle_to_duty(0), enable True) for i in range(100): out.duty(angle_to_duty(i)) time.sleep_ms(100) for i in range(100): out.duty(angle_to_duty(100 i)) time.sleep_ms(100) ``` 这里的功能是控制舵机从最小角度旋转到最大角度再旋转回最小角度。"},"/maixpy/doc/zh/faq.html":{"title":"MaixPy FAQ(常见问题)","content":" title: MaixPy FAQ(常见问题) 此页面列出了 MaixPy 相关的常见问题和解决方案，如果你遇到了问题，请先在这里找寻答案。 如果这个页面找不到答案，可以到 [MaixHub 讨论版块](https://maixhub.com/discussion) 将问题的详细步骤发贴提问。 如果你使用的是 MaixCAM, 也可以参考 [MaixCAM FAQ](https://wiki.sipeed.com/hardware/zh/maixcam/faq.html) ## MaixVision 无法搜索到设备？ 先确认连接方式是 WiFi 还是 USB 线， **WiFi**: * 确认 WiFi 是否正确连接上并且获取到 IP 地址， 可以在 `设置 >设备信息` 或者`设置 >WiFi` 里面看到 `ip`。 **USB线**: * 确保设备通过 Type C 数据线连接到电脑，设备处于开机状态并且进入了功能选择界面。 * 确保设备驱动已经安装： * Windows 下可以在`设备管理器`中查看是否有 USB 虚拟网卡设备，如果有感叹号则是去动没有安装好，按照[快速开始](./index.html) 中的方法安装驱动即可。 * Linux 下可以通过`ifconfig`或者`ip addr`查看是否有`usb0`设备或者`lsusb`查看所有 USB 设备。 Linux 已经自带去动，所以识别不到检查硬件连接，设备系统是否是最新，以及设备是否已经正常启动即可。 * Mac OS 同 Linux 方法。 * 另外 检查 USB 线缆的质量，换一个高质量的线缆。 * 另外 检查电脑 USB 口的质量，比如实测某些小主机 USB 口 EMI 设计太糟糕，外接一个质量好点的 USB HUB 反而可以使用了，也可以换 USB 口 或者直接换台电脑。 ## MaixVision 运行摄像头例程显示图像卡顿 默认配的 GC4653 摄像头最高帧率为 30 帧，摄像头例程正常情况下 MaixVision 的显示肉眼不会有卡顿感，如果卡顿，首先考虑传输问题： * 检查网络连接质量，比如 WiFi。 * 如果用的 USB 连接，检查 USB 线质量， 电脑 USB 口质量，可以尝试换台电脑或者 USB 口 或者 USB 线缆尝试对比。 ## MaixPy v4 和 v1 v3 有什么区别？ * MaixPy v4 使用 Python 语言，是吸取了 v1 v3 经验的集大成之作，有更好的配套软件和生态，更多的功能，更简单的使用方式和更完善的文档；硬件有很大提升的同时加个和另外两者的硬件价格想当甚至更便宜；另外也做了兼容 K210 的使用体验和 API，方便用户从 v1 快速迁移到 v4。 * v1 使用了 Micropython 语言，有很多局限性，比如第三方库支持有限；同时受限于 Maix I (K210) 的硬件性能，内存不够用，AI 模型支持有限，很多编解码不支持硬件加速等缺点。 * v3 也是使用了 Python 语言，基于 Maix II Dock (v831) 硬件，硬件 AI 模型支持有限，而且全志的基础生态不够开放，API 也不够完善，此版本仅作为 Maix II Dock (v831)上面使用，不会继续更新。 ## MaixPy 目前只支持 MaixCAM 吗，用其它同款芯片的板子行不行？ MaixPy 目前仅支持 MaixCAM 系列板子，其它同款芯片的板子也不支持（包括 Sipeed 的同款芯片板子 比如 LicheeRV Nano），强烈不建议尝试，导致设备损坏（比如冒烟烧屏等）后果自负。 未来 Sipeed 出的 Maix 系列的产品都将继续得到 MaixPy 支持，目前如果 MaixCAM 有什么无法满足的需求，可以到 [MaixHub 讨论版块](https://maixhub.com/discussion) 提出需求或者发送邮件到 support@sipeed.com. ## 可以用除了官方搭配的摄像头或者屏幕以外的自己的摄像头或者屏幕吗？ 不建议这样操作，除非你有够丰富的软硬件知识和经验，否则可能导致设备损坏。 官方搭配的配件对应的软硬件是调教过的，表现效果是最好的，上手即可使用，其它配件可能接口不同，驱动不同，软件不同，需要自己去调教，这是一个非常复杂的过程，不建议尝试。 当然，如果你是大佬，我们也欢迎你提交 PR！ ## 运行模型报错 cvimodel built for xxxcv181x CANNOT run on platform cv181x 解析模型文件失败了，一般情况是模型文件损坏造成的，确保你的模型文件是没有损坏的。 比如： * 如果是从网上下载的，保证下载没有出问题，一般网上的文件提供 sha256sum/md5 校验值，下载下来后可以对比一下，具体方法请自行搜索或者问 ChatGPT。 * 如果是来自压缩包，请确认解压过程没有出错，可以从压缩包重新解压一遍保证中间没有出错。 * 保证传输到设备的过程没有造成文件损坏，可以对比一下设备中的文件和电脑中的文件 sha256sum 值，具体方法请自性搜索或者问 ChatGPT。 ## 上电启动黑屏，屏幕无显示 * 检查是否安装了 TF（micro SD）卡。 * 检查 TF 卡里面是否烧录了最新的系统镜像（强烈推荐烧录到最新的系统镜像），具体烧录方法看文档。 * 检查 TF 卡是否完全插进到了 TF 卡口，确保没有缝隙和松动。 * 检查屏幕和摄像头排线是否正确扣紧了，不能出现松动现象。 * 检查板子上的电源灯（红灯）以及系统运行状态灯（蓝灯）是否亮起，如果红灯不亮则考虑硬件问题，比如无供电或者供电不足或者板子烧坏了。 * 用 USB 转 TTL 连接电脑和板子的串口，电脑打开串口助手，让板子重启，查看启动日志里面是否有报错。 > 如果没有日志输出，可以尝试交换一下 TX 和 RX 接线， 对于 MaixCAM, Type C 转 串口小板插的方向不一样 TX RX 可能反向，即不支持正反插。"},"/maixpy/doc/zh/projects/line_tracking_robot.html":{"title":"MaixPy 小车巡线","content":" title: MaixPy 小车巡线 update: date: 2024 05 09 author: lxowalle version: 1.0.0 content: 初版文档 阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读[快速开始](../index.html) ## 简介 本文将介绍如何使用MaixPy实现寻线小车 ## 如何使用MaixPy实现寻线小车 1. 准备MaixCAM与小车 2. 实现寻线功能 3. 实现小车控制功能 ### 准备MaixCAM与小车 TODO ### 实现寻线功能 使用`image`模块的`get_regression`可以快速寻找到直线，详情见[寻找直线](./line_tracking.html) 代码实现： ```python from maix import camera, display, image cam camera.Camera(320, 240) disp display.Display() # thresholds [[0, 80, 40, 80, 10, 80]] # red thresholds [[0, 80, 120, 10, 0, 30]] # green # thresholds [[0, 80, 30, 100, 120, 60]] # blue while 1: img cam.read() lines img.get_regression(thresholds, area_threshold 100) for a in lines: img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2) theta a.theta() rho a.rho() if theta > 90: theta 270 theta else: theta 90 theta img.draw_string(0, 0, \"theta: \" + str(theta) + \", rho: \" + str(rho), image.COLOR_BLUE) disp.show(img) ``` 上述代码实现了寻线功能， 上述参数中需注意： 设置合适的thresholds值来寻找到对应的直线 设置合适的area_threshold值来过滤环境干扰，可以过滤一些面积小的直线 使用`a.theta()`获取直线的角度 使用`a.rho()`获取直线与原点(原点在左上角)的距离 根据实际环境调试好寻线参数后， 就可以利用`a.theta()`和`a.rho()`控制小车方向了。 ### 实现小车控制功能 TODO"},"/maixpy/doc/zh/projects/index.html":{"title":"MaixPy 项目实战 介绍和汇总","content":" title: MaixPy 项目实战 介绍和汇总 ## 简介 这里提供一些常见的项目实战示例，方便社区成员可以参考复现使用，也方便激发大家的灵感做出更多更好的应用和项目出来。 要找到用 MaixPy 实现的相关的项目，有几种方式： ## MaixPy 官方文档 也就是本文档左边目录可以找到的项目实战，比如`小车巡线`。 如果你有好的项目，或者好的项目推荐，也可以贡献文档添加进来。 ## MaixHub 项目分享广场 在[MaixHub 项目分享](https://maixhub.com/share?type project) 栏目可以找到项目分享。 有高质量的分享也会被链接到 MaixPy 官方文档。 你也可以分享你的项目制作方法，会获得官方（必获得）以及社区成员的现金打赏（通常高质量能解决急需需求的更容易被打赏）。 推荐项目： * maixcam部署yolov5s 自定义模型: https://maixhub.com/share/23 ## MaixHub 应用分享 除了项目分享以外，还可以在[MaixHub 应用商店](https://maixhub.com/app) 找到可以直接运行的应用，有部分应用可能是用 MaixPy 编写的，如果作者提供了源码或者写了详细的教程也都可以参考。 推荐项目： * 简易HTTP串流服务器: https://maixhub.com/app/19 * 桌面电脑性能监视器: https://maixhub.com/app/13 * 安全帽检测模型应用: https://maixhub.com/app/10"},"/maixpy/doc/zh/basic/python.html":{"title":"Python 基础知识","content":" title: Python 基础知识 MaixPy 的教程文档里面就不涉及具体的 Python 语法教程了，因为 Python 的教程实在是太多了，都做得很好，这里只介绍需要学什么，方向和线路指导即可。 ## Python 简介 Python 是一门解释性、面向对象、动态类型的高级编程语言。 * 解释性：不需要编译，直接运行，优点是开发快速，缺点是因为每次运行都要解释一遍代码，运行速度慢一点点，但是往往瓶颈还是开发者写的代码而不是语言本身。 * 面向对象：支持面向对象编程，可以定义类和对象，相比面向过程语言，更容易组织代码。更多自行搜索。 * 动态类型：变量不需要声明类型，可以直接赋值，类型会根据赋值自动确定，这样可以减少代码量，但是也容易出现类型错误，需要开发者自己注意。 总之，对于没有接触过 Python 的开发者来说，Python 非常容易上手，有大量现成的库，开发者群体巨大，开发应用周期短，非常值得学习！ ## Python 环境安装 你可以按照你学习的 Python 教程在电脑上安装 Python； 也可以在 MaixVisioin 上连接设备后使用 MaixVision 编程然后在开发板运行。 ## 使用 MaixPy 需要的 Python 基础有哪些？ * Python 的基本概念。 * 面向对象编程的基本概念。 * Python 的基本语法，包括： * tab 缩进对齐语法 * 变量、函数、类、对象、注释等 * 控制语句比如 if、for、while 等等 * 模块和导入模块 * 基本数据类型比如 int、float、str、list、dict、tuple 等等 * bytes 和 str 的区别和转换 * 异常处理，try except * 常用的内置函数，比如 print、open、len、range 等等 * 常用的内置模块，比如 os、sys、time、random、math 等等 掌握以上的基础知识就可以顺畅使用 MaixPy 编程了，配合后面的教程和例程，在不懂的时候查询搜索引擎或者官方文档，或者问 ChatGPT 就能顺利完成开发。 ## 对于已经有一门面向对象编程语言经验的开发者 如果你已经会一门面向对象语言比如 C++/Java/C# 等等，那只需要快速浏览一下 Python 的语法，就可以开始使用了。 比如 [菜鸟教程](https://www.runoob.com/python3/python3 tutorial.html) 或者 [Python 官方教程](https://docs.python.org/3/tutorial/index.html)。 或者个人开发者的博客，比如 [哇！是 Python](https://neucrack.com/p/59)。 ## 对于没有面向对象编程经验但是有 C 语言经验的开发者 如果只学了 C，缺乏对面向对象的理解，那么可以先学习一下面向对象的概念，然后再学习 Python，也是比较快的，可以自行搜索视频教程入门。 跟着视频教程入门之后可以看看文档教程，比如 [菜鸟教程](https://www.runoob.com/python3/python3 tutorial.html) 或者 [Python 官方教程](https://docs.python.org/3/tutorial/index.html) 就可以开动了！ 在学了入门知识后，就可以按照 MaixPy 的文档和例程开始使用 MaixPy 编程了。 ## 对于编程新手 如果你从未接触过编程，那么你需要重头开始学习 Python，Python 作为入门语言也是比较合适的，具体可以搜一搜视频教程。 在学会了基础语法后，就能按照例程使用 MaixPy 编程了。"},"/maixpy/doc/zh/basic/linux_basic.html":{"title":"Linux 基础知识","content":" title: Linux 基础知识 ## 简介 本章内容对于刚入门的同学来说，可以先跳过此章节，在学会 MaixPy 基础开发后再来学习也是可以的。 最新的 MaixPy 支持的 MaixCAM 硬件支持跑 Linux 系统，所以 MaixPy 底层都是基于 Linux 系统进行开发的。 虽然 Sipeed 开发的 MaixPy 已经为开发者们做了很多工作，即使不知道 Linux 系统知识也能愉快使用，但是以防在某些情况下需要一些底层操作，以及方便未接触过 Linux 的开发者学习，这里写一些 Linux 基础知识。 ## 为什么需要 Linux 系统 具体的原因大家可以自行查阅，这里用通俗的看起来不太专业的话语简单举几个例子方便初学者理解： * 在单片机中，我们的程序是一个死循环程序，用上 Linux 后我们可以同时跑很多程序，每个程序看起来都独立在同时运行，每个程序具体怎么执行的由操作系统实现。 * 基于 Linux 的开发者众多，需要功能和驱动可以很方便地找到，不需要自己再实现一遍。 * 基于 Linux 配套的软件工具丰富，可以很方便地进行开发和调试，比如在本教程没有提到的一些 Linux 通用工具理论上也是可以使用的。 ## 文件系统 什么是文件系统？ * 就像电脑的文件系统一样，Linux 上会将硬件磁盘用文件系统进行管理，这样我们可以很方便地向磁盘读写数据。 * 对于学过单片机没有接触过文件系统开发的同学来讲，可以理解为我们有一个 Flash 或者 TF 卡，我们可以通过 API 读写 Flash 存取数据，断电后也能保存数据，但是 Flash 具有读写寿命，我们往往需要写一套程序去保证 Flash 读写寿命，而文件系统就可以理解成这样一套成熟的程序，文件系统帮我们完成了具体如何管理 Flash 空间和读写，我们只需调用文件系统的 API 即可，大大减少了我们的开发工作量并且用成熟的程序保证了稳定性和安全性。 ## 在电脑和设备（开发板）之间传输文件 既然设备有 Linux 和文件系统，那我们怎么发送文件到设备呢？ 对于 MaixPy 我们配套了 MaixVision， 在后面的版本也会支持文件管理功能，在此之前可以用下面的方法： 这里我们主要介绍通过网络传输的方式，其它方式可自行探索`传输文件到 Linux`： * 确保设备和电脑连接到了同一个局域网，比如： * MaixCAM 的 USB 口连接到电脑会创建一个虚拟网卡，在电脑端的设备管理器就能看到，设备的 IP 可以在设备的`设置 >设备信息`中看到设备名和 IP。 * 也可以在设备`设置 >WiFi`中连接到和电脑相同的局域网。 * 电脑使用 SCP 或者 SFTP 协议传输文件到设备，具体的软件有很多，具体的软件和使用方法可以自行搜索，比如： * 在 Windows 上可以使用 WinSCP 或者 FileZilla，或者 scp 命令等。 * 在 Linux 上可以使用 FileZilla 或者 scp 命令 等。 * 在 Mac 上可以使用 FileZilla 或者 scp 命令 等。 ## 终端和命令行 终端就是通过`终端`这个软件与 Linux 系统进行通信和操作的工具，类似于 Windows 的`cmd`或者`PowerShell`。 比如我们可以在电脑的 Window 系统中的 powershell 或者 Linux系统中的 终端 工具中输入`ssh root@maixcam xxxx.local` 这里具体的名字在设备的`设置 >设备信息`中可以看到，这样我们就可以通过终端连接到设备了(用户名和密码都是`root`)。 然后我们通过输入命令来操作设备，比如`ls`命令可以列出设备文件系统中当前目录下的文件, `cd` 用来切换当前所在的目录（就像电脑文件管理中点击文件夹切换目录一样）， ```shell cd / # 切换到根目录 ls # 显示当前目录（根目录）下的所有文件 ``` 然后会显示类似下面的内容： ```shell bin lib media root tmp boot lib64 mnt run usr dev linuxrc opt sbin var etc lost+found proc sys ``` 更多命令学习请自行搜索`Linux 命令行使用教程`，这里只是为了让初学者知道基本概念，这样有开发者提到时可以知道是什么意思。"},"/maixpy/doc/zh/vision/yolov5.html":{"title":"MaixPy 使用 YOLOv5 模型进行目标检测","content":" title: MaixPy 使用 YOLOv5 模型进行目标检测 ## 目标检测概念 目标检测是指在图像或视频中检测出目标的位置和类别，比如在一张图中检测出苹果、飞机等物体，并且标出物体的位置。 和分类不同的是多了一个位置信息，所以目标检测的结果一般是一个矩形框，框出物体的位置。 ## MaixPy 中使用目标检测 MaixPy 默认提供了 `YOLOv5` 模型，可以直接使用： ```python from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.5, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{detector.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` 效果视频: <video playsinline controls autoplay loop muted preload src \"https://wiki.sipeed.com/maixpy/static/video/detector.mp4\" type \"video/mp4\"> 这里使用了摄像头拍摄图像，然后传给 `detector`进行检测，得出结果后，将结果(分类名称和位置)显示在屏幕上。 更多 API 使用参考 [maix.nn](/api/maix/nn.html) 模块的文档。 ## 训练自己的目标检测模型 请到[MaixHub](https://maixhub.com) 学习并训练目标检测模型，创建项目时选择`目标检测模型`即可。"},"/maixpy/doc/zh/vision/camera.html":{"title":"MaixPy 摄像头使用","content":" title: MaixPy 摄像头使用 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 对于 MaixCAM 默认搭载了 GC4653 摄像头，或者可选的 OS04A10 摄像头或者全局快门摄像头，甚至是 HDMI 转 MIPI 模块，都可以直接用简单的 API 调用。 ## API 文档 本文介绍常用方法，更多 API 使用参考 [maix.camera](/api/maix/camera.html) 模块的文档。 ## 摄像头切换 不同的摄像头使用不同的驱动，需要在系统中选择正确的驱动。 TODO：如何切换摄像头，比如 GC4653 和 OS04A10 之间的切换。 ## 从摄像头获取图像 使用 MaixPy 轻松获取： ```python from maix import camera cam camera.Camera(640, 480) while 1: img cam.read() print(img) ``` 这里我们从`maix`模块导入`camera`模块，然后创建一个`Camera`对象，指定图像的宽度和高度。然后在一个循环中不断读取图像， 默认出的图为`RGB`格式，如果需要`BGR`格式，其它格式请看 API 文档。 ## 跳过 开头的帧 摄像头初始化的一小段时间，可能图像采集还没稳定出现奇怪的画面，可以通过`skip_frames`函数跳过开头的几帧： ```python cam camera.Camera(640, 480) cam.skip_frames(30) # 跳过开头的30帧 ``` ## 显示图像 MaixPy 提供了`display`模块，可以方便的显示图像： ```python from maix import camera, display cam camera.Camera(640, 480) disp display.Display() while 1: img cam.read() disp.show(img) ```"},"/maixpy/doc/zh/vision/find_blobs.html":{"title":"MaixPy 寻找色块","content":" title: MaixPy 寻找色块 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 date: 2024 04 03 author: lxowalle version: 1.0.1 content: 添加寻找色块的详细用法 阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读[快速开始](../index.html) ## 简介 本文将介绍如何使用MaixPy来寻找色块，以及如何使用MaixCam的默认应用程序寻找色块。 在视觉应用中，寻找色块是一个非常常见的需求，比如机器人找色块，自动化生产线找色块等等，即需要识别画面中的特定的颜色区域，获取这个区域的位置和大小等信息。 ## 使用 MaixPy 寻找色块 MaixPy的 `maix.image.Image`中提供了`find_blobs`方法，可以方便的找色块。 ### 如何寻找色块 一个简单的示例，实现寻找色块并画框 ```python from maix import image, camera, display cam camera.Camera(320, 240) disp display.Display() # 根据色块颜色选择对应配置 thresholds [[0, 80, 40, 80, 10, 80]] # red # thresholds [[0, 80, 120, 10, 0, 30]] # green # thresholds [[0, 80, 30, 100, 120, 60]] # blue while 1: img cam.read() blobs img.find_blobs(thresholds, pixels_threshold 500) for blob in blobs: img.draw_rect(blob[0], blob[1], blob[2], blob[3], image.COLOR_GREEN) disp.show(img) ``` 步骤： 1. 导入image、camera、display模块 ```python from maix import image, camera, display ``` 2. 初始化摄像头和显示 ```python cam camera.Camera(320, 240)\t# 初始化摄像头，输出分辨率320x240 RGB格式 disp display.Display() ``` 3. 从摄像头获取图片并显示 ```python while 1: img cam.read() disp.show(img) ``` 4. 调用`find_blobs`方法寻找摄像头图片中的色块，并画到屏幕上 ```python blobs img.find_blobs(thresholds, pixels_threshold 500) for blob in blobs: img.draw_rect(blob[0], blob[1], blob[2], blob[3], image.COLOR_GREEN) ``` `img`是通过`cam.read()`读取到的摄像头图像，当初始化的方式为`cam camera.Camera(320, 240)`时，`img`对象是一张分辨率为320x240的RGB图。 `img.find_blobs`用来寻找色块， `thresholds` 是一个颜色阈值列表，每个元素是一个颜色阈值，同时找到多个阈值就传入多个，每个颜色阈值的格式为 `[L_MIN, L_MAX, A_MIN, A_MAX, B_MIN, B_MAX]`，这里的 `L`、`A`、`B` 是`LAB`颜色空间的三个通道，`L` 通道是亮度，`A` 通道是红绿通道，`B` 通道是蓝黄通道。`pixels_threshold`是一个像素点数量的阈值，用来过滤一些不需要的小色块。 `img.draw_rect`用来画色块框，`blob[0]`、`blob[1]`、`blob[1]`、`blob[1]`分别代表色块左上角坐标x，色块左上角坐标y，色块宽度w和色块高度h ### 常用参数说明 列举常用参数说明，如果没有找到可以实现应用的参数，则需要考虑是否使用其他算法实现，或者基于目前算法的结果扩展所需的功能 参数 说明 示例 thresholds 基于lab颜色空间的阈值，threshold [[l_min, l_max, a_min, a_max, b_min, b_max]]，分别表示：<br />亮度范围为[l_min, l_max]\\<br />绿色到红色的分量范围为[a_min, a_max]<br />蓝色到黄色的分量范围为[b_min, b_max]<br />可同时设置多个阈值 设置两个阈值来检测红色和绿色<br />```img.find_blobs(threshold [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```<br />红色阈值为[0, 80, 40, 80, 10, 80]<br />绿色阈值为[0, 80, 120, 10, 0, 30] invert 使能阈值反转，使能后传入阈值与实际阈值相反，默认为False 使能阈值反转<br />```img.find_blobs(invert True)``` roi 设置算法计算的矩形区域，roi [x, y, w, h]，x，y表示矩形区域左上角坐标，w，h表示矩形区域的宽度和高度，默认为整张图片 计算坐标为(50,50)，宽和高为100的区域<br />```img.find_blobs(roi [50, 50, 100, 100])``` area_threshold 过滤像素面积小于area_threshold的色块，单位为像素点，默认为10。该参数可用于过滤一些无用的小色块 过滤面积小于1000的色块<br />```img.find_blobs(area_threshold 1000)``` pixels_threshold 过滤有效像素点小于pixels_threshold的色块，默认为10。该参数可用于过滤一些无用的小色块 过滤有效像素点小于1000的色块<br />```img.find_blobs(pixels_threshold 1000)``` 本文介绍常用方法，更多 API 请看 API 文档的 [image](../../../api/maix/image.html) 部分。 ## 使用寻找色块APP 为了快速验证寻找色块的功能，可以先使用MaixCam提供的寻找色块应用程序来体验寻找色块的效果。 ### 使用方法 打开设备，选择`找色块`应用，然后在下方选择要识别的颜色，或者自定义颜色，即可以识别到对应的颜色了，同时串口也会输出识别到的坐标和颜色信息。 <video src \"/static/video/find_blobs.mp4\" controls \"controls\" width \"100%\" height \"auto\"></video> ### 详细说明 APP界面参考如下： ![](../../../static/image/find_blobs_app.jpg) #### 使用默认配置 寻找色块APP默认提供了`red、green、blue、user`四种配置，其中`red、green和blue`用来`寻找红色、绿色和蓝色的色块`，`user`主要提供给`用户自定义寻找色块`，自定义配置的方法见下文。快速体验时通过`点击`界面下方`按钮`即可切换到对应配置， #### 寻找自定义色块 APP提供两种方式来寻找自定义的色块：通过自适应LAB阈值寻找和手动设置LAB阈值寻找 ##### 1. 自适应LAB阈值寻找色块 操作方法： 1. `点击`左下角`选项图标`，进入配置模式 2. 将`摄像头对准`需要`寻找的物体`，`点击`屏幕上的`目标物体`，此时`左侧`会显示该物体对应颜色的`矩形框`，并显示该物体颜色的LAB值。 3. 点击出现的`矩形框`，系统将会`自动设置`LAB阈值，此时画面将会画出该物体边缘。 ##### 2. 手动设置LAB阈值寻找色块 手动设置可以更精确的找到目标色块。 操作方法： 1. `点击`左下角`选项图标`，进入配置模式 2. 将`摄像头对准`需要`寻找的物体`，`点击`屏幕上的`目标物体`，此时`左侧`会显示该物体对应颜色的`矩形框`，并显示该物体颜色的`LAB值`。 3. 点击下方选项`L Min，L Max，A Min，A Max，B Min，B Max`，点击后右侧会出现滑动条来设置该选项值。这些值分别对应LAB颜色格式的L通道、A通道和B通道的最小值和最大值 4. 参考步骤2计算的物体颜色的`LAB值`，将`L Min，L Max，A Min，A Max，B Min，B Max`调整到合适的值，即可识别到对应的色块。 例如`LAB (20, 50, 80)`，由于`L 20`，为了适配一定范围让`L Min 10`，`L Max 30`;同理，由于`A 50`，让`A Min 40`，`A Max 60`; 由于`B 80`，让`B Min 70`，`B Max 90`。 #### 通过串口协议获取检测数据 寻找色块APP支持通过串口（默认波特率为115200）上报检测到的色块信息。 由于上报信息只有一条，这里直接用示例来说明上报信息的内容。 例如上报信息为： ```shell AA CA AC BB 14 00 00 00 E1 08 EE 00 37 00 15 01 F7 FF 4E 01 19 00 27 01 5A 00 A7 20 ``` `AA CA AC BB`：协议头部，内容固定 `14 00 00 00`：数据长度，除了协议头部和数据长度外的总长度 `E1`：标志位，用来标识串口消息标志 `08`：命令类型，对于寻找色块APP应用该值固定为0x08 `EE 00 37 00 15 01 F7 FF 4E 01 19 00 27 01 5A 00`：已找到色块的四个顶点坐标，每个值用小端格式的2字节表示。`EE 00`和`37 00`表示第一个顶点坐标为(238, 55)，`15 01`和`F7 FF`表示第二个顶点坐标为(277, 9)，`4E 01`和`19 00`表示第三个顶点坐标为(334, 25)，`27 01`和`5A 00`表示第四个顶点坐标为(295, 90)。 `A7 20`：CRC 校验值，用以校验帧数据在传输过程中是否出错 ## 关于LAB颜色空间 LAB颜色空间和RGB颜色空间一样是一种表示颜色的方法，LAB可以表示人眼能看到的所有颜色。如果需要了解LAB可以去网络上搜索相关文章，那样更详细，而对于你应该只需要了解为什么选用LAB对于MaixPy的优势。 LAB对于MaixPy的优势： 1. LAB颜色空间的色域比RGB都要大，因此完全可以替换RGB。 2. LAB颜色空间下，由于L通道是亮度通道，我们常常设置到较大的范围即可（常用[0,80]），而编写代码时主要关注是A通道和B通道，这样可以减少大量的时间在纠结颜色阈值如何选择的问题上。 3. LAB颜色空间的颜色感知更均匀，更容易用代码调试。例如，对于只需要寻找红色色块，可以固定L通道和B通道值，只需要调整A通道的值即可（这是在颜色精度要求不高的情况下）;如果是RGB通道则基本需要R、G、B三个通道同时变动才能找到合适的阈值。"},"/maixpy/doc/zh/vision/classify.html":{"title":"MaixPy 使用 AI 模型进行物体分类","content":" title: MaixPy 使用 AI 模型进行物体分类 ## 物体分类概念 比如眼前有两张图片，一张图里面是苹果，另一张是飞机，物体分类的任务就是把两张图分别依次输入给 AI 模型，模型会依次输出两个结果，一个是苹果，一个是飞机。 ## MaixPy 中使用物体分类 MaixPy 默认提供了 `imagenet` 数据集训练得到的 `1000`分类模型，可以直接使用： ```python from maix import camera, display, image, nn classifier nn.Classifier(model \"/root/models/mobilenetv2.mud\") cam camera.Camera(classifier.input_width(), classifier.input_height(), classifier.input_format()) dis display.Display() while 1: img cam.read() res classifier.classify(img) max_idx, max_prob res[0] msg f\"{max_prob:5.2f}: {classifier.labels[max_idx]}\" img.draw_string(10, 10, msg, image.COLOR_RED) dis.show(img) ``` 效果视频: <video playsinline controls autoplay loop muted preload src \"https://wiki.sipeed.com/maixpy/static/video/classifier.mp4\" type \"video/mp4\"> Classifier Result video </video> 这里使用了摄像头拍摄图像，然后传给 `classifier`进行识别，得出结果后，将结果显示在屏幕上。 更多 API 使用参考 [maix.nn](/api/maix/nn.html) 模块的文档。 ## 训练自己的分类模型 请到[MaixHub](https://maixhub.com) 学习并训练分类模型，创建项目时选择`分类模型`即可。"},"/maixpy/doc/zh/source_code/build.html":{"title":"MaixPy 开发源代码指南","content":" title: MaixPy 开发源代码指南 ## 获取源代码 ```shell mkdir p ~/maix cd ~/maix git clone https://github.com/sipeed/MaixPy ``` ## 获取 MaixCDK 源码 MaixPy 项目依赖于 MaixCDK，需要先克隆它，放到电脑的某个目录（勿放在 MaixPy 目录下） ```shell cd ~/maix git clone https://github.com/sipeed/MaixCDK ``` 然后需要设置环境变量 `MAIXCAK_PATH` 指定 MaixCDK 的路径，可以在 `~/.bashrc` 或者`~/.zshrc`（根据你使用的shell决定）添加： ```shell export MAIXCAK_PATH ~/maix/MaixCDK ``` 只有在成功设置环境变量后， MaixPy 才能找到 MaixCDK 源码。 ## 构建并打包成 wheel 文件 ```shell cd ~/maix/MaixPy python setup.py bdist_wheel maixcam ``` `maixcam` 可以被替换为其他板卡配置, 请查看 `MaixPy/platforms` 目录。 构建成功后, 你会在 `dist` 目录中找到 wheel 文件, 传输到设备（开发板），在设备终端中使用 `pip install U MaixPy****.wheel` 在你的设备上安装或升级。 > `python setup.py bdist_wheel maixcam skip build` 不会执行构建命令, 只会打包 wheel 文件, 因此你可以先使用 `maixcdk menuconfig` 和 `maixcdk build` 来自定义构建。 > 另外如果你是在调试 API，需要频繁安装，使用 pip 安装会比较慢，可以直接编译后拷贝 `maix` 目录到设备的 `/usr/lib/python3.11/site packages`目录下覆盖旧的文件即可。 ## 手动构建 ```shell maixcdk build ``` ## 修改源代码后运行测试 * 首先, 构建源代码 ```shell maixcdk build ``` * 如果为 PC 自身构建(平台 `linux`): 然后执行 `./run.sh your_test_file_name.py` 来运行 Python 脚本。 ```shell cd test ./run.sh examples/hello_maix.py ``` * 如果为板卡交叉编译: * 最快的方式是将 `maix` 目录复制到设备的 `/usr/lib/python3.11/site packages/` 目录, 然后在设备上运行脚本。 * 或者打包 wheel 文件并在设备上使用 `pip install U MaixPy****.wheel` 安装, 然后在设备上运行脚本。 ## 本地预览文档 文档位于 [docs](https://github.com/sipeed/MaixPy/tree/main/docs) 目录, 使用 `Markdown` 格式, 你可以使用 [teedoc](https://github.com/teedoc/teedoc) 来生成网页版本的文档。 API 文档会在构建 MaixPy 固件时生成, **如果你没有构建 MaixPy, API 文档将会是空的**。 ```shell pip install teedoc U cd docs teedoc install i https://pypi.tuna.tsinghua.edu.cn/simple teedoc serve ``` 然后访问 `http://127.0.0.1:2333` 在网页浏览器中预览文档。 ## 对于想要贡献的开发者 请查看 [MaixPy 开发源代码指南](./contribute.html) 如果在使用源代码时遇到任何问题, 请先参考 [FAQ](./faq.html)。"},"/maixpy/doc/zh/source_code/maixcdk.html":{"title":"切换到 MaixCDK 使用 C/C++ 开发应用","content":" title: 切换到 MaixCDK 使用 C/C++ 开发应用 除了使用 MaixPy 开发，还有对应的 C/C++ SDK 可以使用，项目名称为 [MaixCDK](https://github.com/sipeed/MaixCDK)。 ## MaixCDK 介绍 MaixPy 基于 MaixCDK 构建，MaixPy 的大多数 API 都是基于 MaixCDK 的 API 自动生成的，所以 MaixPy 有的功能 MaixCDK 都包含。 如果你更熟悉 C/C++ 编程，或者需要更高的性能，可以使用 MaixCDK 进行开发。 ## MaixCDK 使用 MaixCDK 代码仓库地址：[github.com/sipeed/MaixCDK](https://github.com/sipeed/MaixCDK), 你可以在这里找到 MaixCDK 的代码和文档。"},"/maixpy/doc/zh/source_code/add_c_module.html":{"title":"给 MaixPy 添加一个 C/C++ 模块","content":" title: 给 MaixPy 添加一个 C/C++ 模块 ## 简介 有时候需要高效地执行某个函数， Python 的速度无法满足时，就可以使用 C/C++ 或者其它编译型语言来实现。 ## 通用函数封装 如果你想封装的函数实现的功能不依赖 MaixPy 的其它功能，直接使用 Python 使用 C/C++ 添加模块的通用方法，具体方法可以自行百度，比如 ffi， ctype 等 > 欢迎 PR 添加方法 ## 如果你的模块还想依赖 MaixPy 的其它基础 API 你需要先学会编译使用 [MaixCDK](https://github.com/sipeed/MaixCDK)， 因为 MaixPy 就是从 MaixCDK 生成的 API， MaixPy 里面有的功能 MaixCDK 里面也有， 然后 。。。TODO"},"/maixpy/doc/zh/source_code/contribute.html":{"title":"参与 MaixPy 文档修改和贡献代码","content":" title: 参与 MaixPy 文档修改和贡献代码 ## 参与 MaixPy 文档修改 * 点击要修改的文档右上角的`编辑本页`按钮，进入 github 源文档页面。 * 保证已经登录了 GitHub 账号。 * 在 github 预案文档页面点击右上角铅笔按钮修改文档内容。 * github 会提示需要 fork 一份到自己的仓库，点击 fork 按钮。 > 这一步就是将 MaixPy 源码仓库复刻一份到你自己的账号下，这样你就可以自由修改了。 * 修改文档内容，然后在页面底部填写修改说明，点击提交修改。 * 然后在你的仓库中找到 Pull requests 按钮，点击创建一个 Pull requests。 * 然后在弹出的页面中填写修改说明，点击提交 Pull requests，其它人和管理员就可以在[Pull requests 页面](https://github.com/sipeed/MaixPy/pulls)看到你的修改了。 * 等待管理员审核通过后，你的修改就会合并到 MaixPy 源码仓库中了。 * 合并成功后，文档会自动更新到 [MaixPy 官方文档](https://wiki.sipeed.com/maixpy)。 > 文档经过 CDN 缓存了的，可能需要等待一段时间才能看到更新，紧急更新可以联系管理员手动刷新。 > 也可以访问 [en.wiki.sipeed.com/maixpy](https://en.wiki.sipeed.com/maixpy) 查看 github pages 服务版本，这个是没有缓存实时更新的。 ## 参与 MaixPy 代码贡献 * 访问 MaixPy 代码仓库地址：[github.com/sipeed/MaixPy](https://github.com/sipeed/MaixPy) * 在修改代码前最好先创建一个 [issue](https://github.com/sipeed/MaixPy/issues) ，描述你要修改的内容让大家知道你的想法和计划，这样大家可以参与修改讨论，以免重复劳动。 * 点击右上角的 fork 按钮，将 MaixPy 代码仓库复刻一份到你自己的账号下。 * 然后在你的账号下 clone 一份代码到本地。 * 修改代码后提交到你的仓库中。 * 然后在你的仓库中找到 Pull requests 按钮，点击创建一个 Pull requests。 * 然后在弹出的页面中填写修改说明，点击提交 Pull requests，其它人和管理员就可以在[Pull requests 页面](https://github.com/sipeed/MaixPy/pulls)看到你的修改了。 * 等待管理员审核通过后，你的修改就会合并到 MaixPy 源码仓库中了。 > 需要注意的是 MaixPy 的代码大多数是从 [MaixCDK](https://github.com/sipeed/MaixCDK) 自动生成的，所以如果你修改 C/C++ 源码，很有可能你需要先修改这个仓库。"},"/maixpy/doc/zh/peripheral/wdt.html":{"title":"MaixPy 使用看门狗定时器","content":" title: MaixPy 使用看门狗定时器 ## 简介 为了防止程序出现问题，常常会用到看门狗定时器（WDT), 在程序出问题时自动重启系统。 原理就是有一个倒计时计数器，我们需要在程序的逻辑中定期地去设置这个倒计时时间（也叫喂狗），如果我们的程序在哪儿卡住了导致没有定期去设置倒计时，倒计时到 0 后硬件就会出发系统重启。 ## MaixPy 中使用 WDT ```python from maix import wdt, app, time w wdt.WDT(0, 1000) while not app.need_exit(): w.feed() # here sleep op is our operation # 200 ms is normal, if > 1000ms will cause system reset time.sleep_ms(200) ```"},"/maixpy/doc/zh/vision/self_learn_detector.html":{"title":"MaixPy 自学习检测器","content":" title: MaixPy 自学习检测器 ## MaixPy 自学习检测器 和自学习分类器类似，不需要训练，直接拍摄几张要检测的物体照片即可实现检测，在简单检测场景下十分好用。 和自学习分类器不同的是因为是检测器，会有物体的坐标和大小。 ## MaixPy 中使用自学习检测器 TODO："},"/maixpy/doc/zh/vision/image_ops.html":{"title":"MaixPy 图像基础操作","content":" title: MaixPy 图像基础操作 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 视觉应用中图像占据非常重要的位置，不管是图片还是视频，因为视频本质上就是一帧帧的图像，所以图像处理是视觉应用的基础。 ## API 文档 本文介绍常用方法， 更多 API 参考 [maix.image](/api/maix/image.html) 模块的文档。 ## 图像格式 MaixPy 提供基础图像模块`image`，里面最重要的就是`image.Image`类，用于图像的创建以及各种图像基础操作，以及图像加载和保存等。 图像格式有很多，一般我们用`image.Format.FMT_RGB888` 或者 `image.Format.FMT_RGBA8888` 或者 `image.Format.FMT_GRAYSCALE`或者`image.Format.FMT_BGR888`等。 大家知道 `RGB` 三色可以合成任意颜色，所以一般情况下我们使用 `image.Format.FMT_RGB888`就足够， `RGB888` 在内存中是 `RGB packed` 排列，即在内存中的排列： `像素1_红色, 像素1_绿色, 像素1_蓝色, 像素2_红色, 像素2_绿色, 像素2_蓝色, ...` 依次排列。 ## 创建图像 创建图像很简单，只需要指定图像的宽度和高度以及图像格式即可： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) print(img) print(img.width(), img.height(), img.format()) ``` `320` 是图像的宽度，`240` 是图像的高度，`image.Format.FMT_RGB888` 是图像的格式，格式参数可以省略，默认是`image.Format.FMT_RGB888`。 这里通过`img.width()`、`img.height()`、`img.format()`可以获取图像的宽度、高度和格式。 ## 显示到屏幕 MaixPy 提供了`maix.display.Display`类，可以方便的显示图像： ```python from maix import image, display disp display.Display() img image.Image(320, 240, image.Format.FMT_RGB888) disp.show(img) ``` 注意这里因为没有图像数据，所以显示的是黑色的图像，修改画面看后文。 ## 从文件系统读取图像 MaixPy 提供了`maix.image.load`方法，可以从文件系统读取图像： ```python from maix import image img image.load(\"/root/image.jpg\") print(img) ``` 注意这里`/root/image.jpg` 是提前传输到了板子上的，方法可以看前面的教程。 可以支持 `jpg` 和 `png` 格式的图像。 ## 保存图像到文件系统 MaixPy 的`maix.image.Image`提供了`save`方法，可以保存图像到文件系统： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) # do something with img img.save(\"/root/image.jpg\") ``` ## 画框 `image.Image`提供了`draw_rect`方法，可以在图像上画框： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_rect(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0)) ``` 这里的参数依次是：`x`, `y`, `w`, `h`, `color`，`x` 和 `y` 是框的左上角坐标，`w` 和 `h` 是框的宽度和高度，`color` 是框的颜色，可以使用`image.Color.from_rgb`方法创建颜色。 可以用`thickness`指定框的线宽，默认是`1`， 也可以画实心框，传参 `thickness 1` 即可： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_rect(10, 10, 100, 100, (255, 0, 0), thickness 1) ``` ## 写字符串 `image.Image`提供了`draw_string`方法，可以在图像上写字： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_string(10, 10, \"Hello MaixPy\", image.Color.from_rgb(255, 0, 0)) ``` 这里的参数依次是：`x`, `y`, `text`, `color`，`x` 和 `y` 是文字的左上角坐标，`text` 是要写的文字，`color` 是文字的颜色，可以使用`image.Color.from_rgb`方法创建颜色。 还可以放大字体，传参 `scale` 即可： ```python img.draw_string(10, 10, \"Hello MaixPy\", image.Color.from_rgb(255, 0, 0), scale 2) ``` 获取字体的宽度和高度： ```python w, h img.string_size(\"Hello MaixPy\", scale 2) print(w, h) ``` **注意**这里`scale`是放大倍数，默认是`1`，和`draw_string`应该保持一致。 ## 画线 `image.Image`提供了`draw_line`方法，可以在图像上画线： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_line(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0)) ``` 这里的参数依次是：`x1`, `y1`, `x2`, `y2`, `color`，`x1` 和 `y1` 是线的起点坐标，`x2` 和 `y2` 是线的终点坐标，`color` 是线的颜色，可以使用`image.Color.from_rgb`方法创建颜色。 ## 画圆 `image.Image`提供了`draw_circle`方法，可以在图像上画圆： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_circle(100, 100, 50, image.Color.from_rgb(255, 0, 0)) ``` 这里的参数依次是：`x`, `y`, `r`, `color`，`x` 和 `y` 是圆心坐标，`r` 是半径，`color` 是圆的颜色，可以使用`image.Color.from_rgb`方法创建颜色。 ## 缩放图像 `image.Image`提供了`resize`方法，可以缩放图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.resize(160, 120) print(img, img_new) ``` 注意这里`resize`方法返回一个新的图像对象，原图像不变。 ## 剪裁图像 `image.Image`提供了`crop`方法，可以剪裁图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.crop(10, 10, 100, 100) print(img, img_new) ``` 注意这里`crop`方法返回一个新的图像对象，原图像不变。 ## 旋转图像 `image.Image`提供了`rotate`方法，可以旋转图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.rotate(90) print(img, img_new) ``` 注意这里`rotate`方法返回一个新的图像对象，原图像不变。 ## 拷贝图像 `image.Image`提供了`copy`方法，可以拷贝一份独立的图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.copy() print(img, img_new) ``` ## 仿射变换 `image.Image`提供了`affine`方法，可以进行仿射变换，即提供当前图中三个及以上的点坐标，以及目标图中对应的点坐标，可以自动进行图像的旋转、缩放、平移等操作变换到目标图像： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.affine([(10, 10), (100, 10), (10, 100)], [(10, 10), (100, 20), (20, 100)]) print(img, img_new) ``` 更多参数和用法请参考 API 文档。 ## 画关键点 `image.Image`提供了`draw_keypoints`方法，可以在图像上画关键点： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) keypoints [(10, 10), (100, 10), (10, 100)] img.draw_keypoints(keypoints, image.Color.from_rgb(255, 0, 0), size 10, thickness 1, fill False) ``` 在坐标`(10, 10)`、`(100, 10)`、`(10, 100)`画三个红色的关键点，关键点的大小是`10`，线宽是`1`，不填充。 ## 画十字 `image.Image`提供了`draw_cross`方法，可以在图像上画十字： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_cross(100, 100, image.Color.from_rgb(255, 0, 0), size 5, thickness 1) ``` 在坐标`(100, 100)`画一个红色的十字，十字的延长大小是`5`，所以线段长度为`2 * size + thickness`, 线宽是`1`。 ## 画箭头 `image.Image`提供了`draw_arrow`方法，可以在图像上画箭头： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_arrow(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0), thickness 1) ``` 在坐标`(10, 10)`画一个红色的箭头，箭头的终点是`(100, 100)`，线宽是`1`。 ## 画图 `image.Image`提供了`draw_image`方法，可以在图像上画图： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img2 image.Image(100, 100, image.Format.FMT_RGB888) img2.draw_rect(10, 10, 90, 90, image.Color.from_rgb(255, 0, 0)) img.draw_image(10, 10, img2) ``` ## 转换格式 `image.Image`提供了`to_format`方法，可以转换图像格式： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.to_format(image.Format.FMT_BGR888) print(img, img_new) img_jpg img.to_format(image.Format.FMT_JPEG) print(img, img_new) ``` 注意这里`to_format`方法返回一个新的图像对象，原图像不变。 ## 和 Numpy/OpenCV 格式互相转换 另外还可以转换成`numpy`数组，这样就能给`numpy`和`opencv`等库使用： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_np image.image2cv(img) img2 image.cv2image(img_np) print(type(img_np), img_np, img_np.shape) print(type(img2), img2) ``` ## 和 bytes 数据互相转换 `image.Image`提供了`to_bytes`方法，可以转换图像为`bytes`数据： ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) data img.to_bytes() print(type(data), len(data), img.data_size()) img2 image.Image(320, 240, image.Format.FMT_RGB888, data) print(img2) ``` 这里`to_bytes`获得一个新的`bytes`对象，是独立的内存，不会影响原图。 `image.Image`构造函数中传入`data`参数可以直接从`bytes`数据构造图像对象，注意新的图像也是独立的内存，不会影响到`data`。 因为涉及到内存拷贝，所以这个方法比较耗时，不建议频繁使用。 > 如果你想用不拷贝的方式优化程序（不建议轻易使用，写不好代码会导致程序容易崩溃，），请看 API 文档。 ## 更多基础 API 使用方法 更多 API 使用方法请参考 [maix.image](/api/maix/image.html) 模块的文档。"},"/maixpy/doc/zh/vision/line_tracking.html":{"title":"MaixPy 寻找直线","content":" title: MaixPy 寻找直线 update: date: 2024 05 09 author: lxowalle version: 1.0.0 content: 初版文档 阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读[快速开始](../index.html) ## 简介 在视觉应用中，在巡迹小车、巡线机器人等应用中经常需要寻找线条的功能。本文将介绍: 如何使用MaixPy来实现巡线功能 如何使用MaixCam的默认应用程序巡线 ## 如何使用MaixPy来寻找直线 MaixPy的 `maix.image.Image`中提供了`get_regression`方法来寻找直线 ### 代码示例 一个简单的示例，实现寻找并画出直线 ```python from maix import camera, display, image cam camera.Camera(320, 240) disp display.Display() # thresholds [[0, 80, 40, 80, 10, 80]] # red thresholds [[0, 80, 120, 10, 0, 30]] # green # thresholds [[0, 80, 30, 100, 120, 60]] # blue while 1: img cam.read() lines img.get_regression(thresholds, area_threshold 100) for a in lines: img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2) theta a.theta() rho a.rho() if theta > 90: theta 270 theta else: theta 90 theta img.draw_string(0, 0, \"theta: \" + str(theta) + \", rho: \" + str(rho), image.COLOR_BLUE) disp.show(img) ``` 步骤： 1. 导入image、camera、display模块 ```python from maix import image, camera, display ``` 2. 初始化摄像头和显示 ```python cam camera.Camera(320, 240)\t# 初始化摄像头，输出分辨率320x240 RGB格式 disp display.Display() ``` 3. 从摄像头获取图片并显示 ```python while 1: img cam.read() disp.show(img) ``` 4. 调用`get_regression`方法寻找摄像头图片中的直线，并画到屏幕上 ```python lines img.get_regression(thresholds, area_threshold 100) for a in lines: img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2) theta a.theta() rho a.rho() if theta > 90: theta 270 theta else: theta 90 theta img.draw_string(0, 0, \"theta: \" + str(theta) + \", rho: \" + str(rho), image.COLOR_BLUE) ``` `img`是通过`cam.read()`读取到的摄像头图像，当初始化的方式为`cam camera.Camera(320, 240)`时，`img`对象是一张分辨率为320x240的RGB图。 `img.get_regression`用来寻找直线， `thresholds` 是一个颜色阈值列表，每个元素是一个颜色阈值，同时找到多个阈值就传入多个，每个颜色阈值的格式为 `[L_MIN, L_MAX, A_MIN, A_MAX, B_MIN, B_MAX]`，这里的 `L`、`A`、`B` 是`LAB`颜色空间的三个通道，`L` 通道是亮度，`A` 通道是红绿通道，`B` 通道是蓝黄通道。`pixels_threshold`是一个像素面积的阈值，用来过滤一些不需要直线。 `for a in lines`用来遍历返回的`Line`对象， 其中`a`就是当前的`Line`对象。通常`get_regression`函数只会返回一个`Line`对象，如果需要寻找多条直线，可以尝试使用`find_line`方法 使用`img.draw_line`来画出找到的线条，`a.x1(), a.y1(), a.x2(), a.y2()`分别代表直线两端的坐标 使用`img.draw_string`在左上角显示直线与x轴的夹角， `a.theta()`是直线与y轴的夹角， 这里为了方便理解转换成直线与x轴的夹角`theta`，`a.rho()`是原点与直线的垂线的长度. 5. 通过maixvision运行代码，就可以寻线啦，看看效果吧 ![image 20240509110204007](../../../static/image/line_tracking_demo.jpg) ### 常用参数说明 列举常用参数说明，如果没有找到可以实现应用的参数，则需要考虑是否使用其他算法实现，或者基于目前算法的结果扩展所需的功能 参数 说明 示例 thresholds 基于lab颜色空间的阈值，threshold [[l_min, l_max, a_min, a_max, b_min, b_max]]，分别表示：<br />亮度范围为[l_min, l_max]\\<br />绿色到红色的分量范围为[a_min, a_max]<br />蓝色到黄色的分量范围为[b_min, b_max]<br />可同时设置多个阈值 设置两个阈值来检测红色和绿色<br />```img.find_blobs(threshold [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```<br />红色阈值为[0, 80, 40, 80, 10, 80]<br />绿色阈值为[0, 80, 120, 10, 0, 30] invert 使能阈值反转，使能后传入阈值与实际阈值相反，默认为False 使能阈值反转<br />```img.find_blobs(invert True)``` roi 设置算法计算的矩形区域，roi [x, y, w, h]，x，y表示矩形区域左上角坐标，w，h表示矩形区域的宽度和高度，默认为整张图片 计算坐标为(50,50)，宽和高为100的区域<br />```img.find_blobs(roi [50, 50, 100, 100])``` area_threshold 过滤像素面积小于area_threshold的直线，单位为像素点，默认为10。该参数可用于过滤一些无用的小直线 过滤面积小于1000的直线<br />```img.find_blobs(area_threshold 1000)``` pixels_threshold 过滤有效像素点小于pixels_threshold的直线，默认为10。该参数可用于过滤一些无用的小直线 过滤有效像素点小于1000的直线<br />```img.find_blobs(pixels_threshold 1000)``` 本文介绍常用方法，更多 API 请看 API 文档的 [image](../../../api/maix/image.html) 部分。 ## 如何使用MaixCam的默认应用程序寻找直线 为了快速验证寻找直线的功能，可以先使用MaixCam提供的`line_tracking`应用程序来体验寻找直线的效果。 ### 使用方法 1. 选择并打开`Line tracking`应用 2. 点击屏幕中需要识别的直线，左侧会显示该直线的颜色 3. 点击左侧（界面中`L A B`下方的颜色）需要检测的颜色 4. 此时就可以识别到对应的直线了，同时串口也会输出直线的坐标和角度信息。 ### 演示 <video src \"/static/video/line_tracking_app.mp4\" controls \"controls\" width \"100%\" height \"auto\"></video> ### 进阶操作 #### 手动设置LAB阈值寻找直线 APP提供手动设置LAB阈值来精确的寻找直线 操作方法： 1. `点击`左下角`选项图标`，进入配置模式 2. 将`摄像头对准`需要`寻找的物体`，`点击`屏幕上的`目标直线`，此时界面中`L A B`下方会显示该物体对应颜色的`矩形框`，并显示该物体颜色的`LAB值`。 3. 点击下方选项`L Min，L Max，A Min，A Max，B Min，B Max`，点击后右侧会出现滑动条来设置该选项值。这些值分别对应LAB颜色格式的L通道、A通道和B通道的最小值和最大值 4. 参考步骤2计算的物体颜色的`LAB值`，将`L Min，L Max，A Min，A Max，B Min，B Max`调整到合适的值，即可识别到对应的直线。 例如`LAB (20, 50, 80)`，由于`L 20`，为了适配一定范围让`L Min 10`，`L Max 30`;同理，由于`A 50`，让`A Min 40`，`A Max 60`; 由于`B 80`，让`B Min 70`，`B Max 90`。 #### 通过串口协议获取检测数据 寻找直线应用支持通过串口（默认波特率为115200）上报检测到的直线信息。 由于上报信息只有一条，这里直接用示例来说明上报信息的内容。 例如上报信息为： ```shell AA CA AC BB 0E 00 00 00 E1 09 FC 01 01 00 E9 01 6F 01 57 00 C1 C6 ``` `AA CA AC BB`：协议头部，内容固定 `0E 00 00 00`：数据长度，除了协议头部和数据长度外的总长度，这里表示长度为14 `E1`：标志位，用来标识串口消息标志 `09`：命令类型，对于寻找直线APP应用该值固定为0x09 `FC 01 01 00 E9 01 6F 01 57 00`：直线的两端坐标和角度信息，每个值用小端格式的2字节表示。`FC 01`和`01 00`表示第一个端点坐标为(508, 1)，`E9 01`和`6F 01`表示第二个端点坐标为(489, 367)，`57 00`表示直线与x轴的角度为87度 ` C1 C6`：CRC 校验值，用以校验帧数据在传输过程中是否出错"},"/maixpy/doc/zh/vision/face_detection.html":{"title":"MaixPy 人脸检测和关键点检测","content":" title: MaixPy 人脸检测和关键点检测 ## 简介 人脸检测在很多地方都能用到，比如是为人脸识别提供人脸检测这一步骤，或者是人脸跟踪相关的应用等等。 这里提供的人脸检测不光可以检测到人脸，还能检测到 5 个关键点，包括两个眼睛，一个鼻子，一张嘴巴的两个嘴角。 ![face detection](../../assets/face_detection.jpg) ## MaixPy 中使用人脸检测 MaixPy 官方提供了两种人脸检测模型，分别来自开源项目 [face detector 1MB with landmark](https://github.com/biubug6/Face Detector 1MB with landmark) 和 [Retinafate](https://github.com/biubug6/Pytorch_Retinaface)。 要使用需要先下载模型，选择一个即可，两者区别不大： * [face detector 1MB with landmark](https://maixhub.com/model/zoo/377) * [Retinafate](https://maixhub.com/model/zoo/378) 然后拷贝模型文件到设备，拷贝方法见 [MaixVision 使用](../basic/maixvision.html)。 > 默认镜像里面有一个文件，可以直接使用，如果没有则需要你自己下载，而且下载的压缩包里面有多个分辨率可以选择，分辨率越高越精准但耗时更长 然后执行代码，这里有一行被注释了代码是加载`Retinafae`模型，根据你下载的模型选择使用哪一行代码 > 本功能需要 MaixPy > 4.1.4 才能使用 ```python from maix import camera, display, image, nn, app import math detector nn.FaceDetector(model \"/root/models/face_detector.mud\") # detector nn.Retinaface(model \"/root/models/retinaface.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.4, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) radius math.ceil(obj.w / 10) img.draw_keypoints(obj.points, image.COLOR_RED, size radius if radius < 5 else 4) dis.show(img) ```"},"/maixpy/doc/zh/vision/maixhub_train.html":{"title":"使用 MaixHub 在线训练 AI 模型给 MaixPy 使用","content":" title: 使用 MaixHub 在线训练 AI 模型给 MaixPy 使用 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 MaixHub 提供了在线训练 AI 模型的功能，可以直接在浏览器中训练模型，不需要购买昂贵的机器，不需要搭建复杂的开发环境，也不需要写代码，非常适合入门，也适合懒得翻代码的老手。 ## 使用 MaixHub 训练模型的基本步骤 ### 确认要识别的数据类型和模型类型 要训练一个 AI 模型，需要先确定是什么数据和模型，目前 MaixHub（2024.4）提供了图像数据的`物体分类模型`和`物体检测模型`，都是图像识别模型， `物体分类模型` 比 `物体检测模型` 更简单，因为物体检测需要标注物体在图中的位置，会比较麻烦，物体分类则只需要给出图像中是什么，不需要坐标，所以更简单， 如果是初学者建议先从物体分类开始。 ### 采集数据 如前面的 AI 基础所说，要训练模型，必须准备训练用的数据集让 AI 学习，对于图像训练，我们需要创建一个数据集，并且上传图片到数据集。 保证设备已经连接网络（WiFi）。 打开设备上的 MaixHub 应用选择 采集数据 来拍照并一键上传到 MaixHub。需要先在 MaixHub 创建数据集，然后点击 设备 上传数据，会出现一个 二维码，设备扫描二维码来与MaixHub 建立连接。 注意要分清训练集和验证集的区别，要想实机运行的效果和训练效果相当，验证集的数据一定要和实机运行拍摄的图像质量一样，训练集也建议用设备拍摄的，如果要用网上的图片，一定只能用在训练集，不要用在验证集，因为数据量小，数据集与实机运行越接近越好。 ### 标注数据 对于分类模型，在上传的时候就顺便已经标注好了，即上传时选择好了图片属于那个分类。 对于目标检测模型，上传完成后需要进行手动标注，即在每一张图中框出要被识别物体的坐标大小和分类。 这个标注过程你也可以选择自己在自己的电脑中离线用比如 labelimg 这样的软件标注完毕后使用数据集中的导入功能导入到 MaixHub。 标注时善用快捷键标注起来会更快，后面MaixHub 也会增加更多辅助标注和自动标注工具（目前在上传视频处有自动标注工具也可以尝试使用）。 ### 训练模型 选择训练参数训练，选择对应的设备平台，选择 maixcam，等待排队训练，可以实时看到训练进度，等待完成即可。 ### 部署模型 训练完成后，可以设备的 MaixHub 应用中选择 部署 功能，扫码进行部署。 设备开会自动下载模型并且运行起来，模型会被存在本地，后面也能选择再次运行。 如果你觉得识别效果很不错，可以一键分享到模型库让更多人使用。 ## 使用方法 请到 [MaixHub](https://maixhub.com) 注册账号，然后登录，主页有视频教程，学习即可。 注意教程如果是使用了 M2dock 这个开发板，和 MaixCAM也是类似的，只是设备（板子）上使用的 MaixHub 应用可能稍微有点区别，大体上是相同的，请注意举一反三。"},"/maixpy/doc/zh/vision/ai.html":{"title":"AI 视觉基本知识","content":" title: AI 视觉基本知识 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 如果没有 AI 基础，在学习 AI 前可以先看[什么是人工智能(AI)和机器学习](https://wiki.sipeed.com/ai/zh/basic/what_is_ai.html) 了解一下 AI 的基本概念。 然后我们使用的视觉 AI 一般都是基于`深度神经网络学习`这个方法，有兴趣可以看看[深度神经网络（DNN）基础知识](https://wiki.sipeed.com/ai/zh/basic/dnn_basic.html) ## MaixPy 中使用视觉 AI 在 MaixPy 中使用视觉 AI 很简单，默认提供了常用的 AI 模型，不需要自己训练模型就可以直接使用，在[MaixHub 模型库](https://maixhub.com/model/zoo) 中选择`maixcam` 就可以找到。 并且在底层已经封装好的 API，只需要简单的调用就可以实现。 如果你想训练自己的模型，也可以先从[MaixHub 在线训练](https://maixhub.com/model/training/project) 开始，在线平台只需要点点点就能训练出模型，不需要购买昂贵的机器，不需要搭建复杂的开发环境，也不需要写代码，非常适合入门，也适合懒得翻代码的老手。 一般训练得到了模型文件，直接传输到设备上，调用 MaixPy 的 API 就可以使用了，具体的调用方法看后文。"},"/maixpy/doc/zh/basic/maixpy_upgrade.html":{"title":"更新 MaixPy","content":" title: 更新 MaixPy 有两种方法，如果第一次上手使用，为了降低难度，可以直接使用出厂 TF 卡自带的 MaixPy 固件尝试，以后再考虑更新。 不过因为不知道你拿到手的是什么时候出厂的 TF 卡，所以建议都更新一下系统。 ## 直接更新系统 按照 [升级和烧录系统](./os.html) 中的操作升级到最新的系统，里面就包含了最新的 MaixPy 固件。 ## 只更新 MaixPy 固件 在 [MaixPy 仓库 release 页面](https://github.com/sipeed/MaixPy/releases) 看到最新的版本信息和更新日志，其中包含了 MaixPy 固件信息，以及对应版本使用的系统信息。 如果不想更新系统（因为一般系统变动不大，可以看 MaixPy 更新日志中是否有系统改动相关，再决定是否更新系统），则可以只更新 MaixPy 固件。 * 在设置中设置 WiFi， 让系统联网。 * 点击设置应用中的 `更新 MaixPy` 进行更新。 > 如果你会使用终端， 也可以在终端中使用 `pip install MaixPy U` 来更新 MaixPy。"},"/maixpy/doc/zh/pro/compile_os.html":{"title":"","content":""},"/maixpy/doc/zh/modules/thermal_cam.html":{"title":"","content":""},"/maixpy/doc/zh/modules/tof.html":{"title":"","content":""},"/maixpy/doc/zh/modules/acc.html":{"title":"","content":""},"/maixpy/doc/zh/vision/apriltag.html":{"title":"MaixPy 识别Apriltag标签","content":" title: MaixPy 识别Apriltag标签 update: date: 2024 04 03 author: lxowalle version: 1.0.0 content: 初版文档 阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读[快速开始](../index.html) ## 简介 本文介绍如何使用MaixPy来识别Apriltag标签 ## 使用 MaixPy 识别Apriltag标签 MaixPy的 `maix.image.Image`中提供了`find_apriltags`方法，可以可以识别apriltag标签。 ### 如何识别Apriltag标签 一个简单的示例，实现识别apriltag标签并画框 ```python from maix import image, camera, display cam camera.Camera() disp display.Display() families image.ApriltagFamilies.TAG36H11 x_scale cam.width() / 160 y_scale cam.height() / 120 while 1: img cam.read() new_img img.resize(160, 120) apriltags new_img.find_apriltags(families families) for a in apriltags: corners a.corners() for i in range(4): corners[i][0] int(corners[i][0] * x_scale) corners[i][1] int(corners[i][1] * y_scale) x int(a.x() * x_scale) y int(a.y() * y_scale) w int(a.w() * x_scale) h int(a.h() * y_scale) for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(x + w, y, \"id: \" + str(a.id()), image.COLOR_RED) img.draw_string(x + w, y + 15, \"family: \" + str(a.family()), image.COLOR_RED) disp.show(img) ``` 步骤： 1. 导入image、camera、display模块 ```python from maix import image, camera, display ``` 2. 初始化摄像头和显示 ```python cam camera.Camera() disp display.Display() ``` 3. 从摄像头获取图片并显示 ```python while 1: img cam.read() disp.show(img) ``` 4. 调用`find_apriltags`方法识别摄像头图片中的apriltag标签 ```python new_img img.resize(160, 120) apriltags new_img.find_apriltags(families families) ``` `img`是通过`cam.read()`读取到的摄像头图像 `img.resize(160, 120)`是用来将图像缩放得更小，用更小的图像来让算法计算得更快 `new_img.find_apriltags(families families)`用来寻找apriltag标签，并将查询结果保存到`apriltags`，以供后续处理。其中families用来选择apriltag族，默认为`image.ApriltagFamilies.TAG36H11` 5. 处理识别标签的结果并显示到屏幕上 ```python for a in apriltags: # 获取位置信息（并映射坐标到原图） x int(a.x() * x_scale) y int(a.y() * y_scale) w int(a.w() * x_scale) corners a.corners() for i in range(4): corners[i][0] int(corners[i][0] * x_scale) corners[i][1] int(corners[i][1] * y_scale) # 显示 for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(x + w, y, \"id: \" + str(a.id()), image.COLOR_RED) img.draw_string(x + w, y + 15, \"family: \" + str(a.family()), image.COLOR_RED) img.draw_string(x + w, y + 30, \"rotation : \" + str(180 * a.rotation() // 3.1415), image.COLOR_RED) ``` 遍历`apriltags`的成员，`apriltags`是通过`img.find_apriltags()`扫描apriltag标签的结果，如果找不到标签则`apriltags`的成员为空 `x_scale`和`y_scale`用来映射坐标，由于`new_img`是缩放后的图像，计算apriltag的坐标时需要经过映射后才能正常的画在原图`img`上 `a.corners()`用来获取已扫描到的标签的四个顶点坐标，`img.draw_line()`利用这四个顶点坐标画出标签的形状 `img.draw_string`用来显示标签的内容，其中`a.x()`和`a.y()`用来获取标签左上角坐标x和坐标y，`a.id()`用来获取标签的id，`a.family()`用来获取标签族类型，`a.rotation()`用来获取标签的旋转角度。 ### 常用参数说明 列举常用参数说明，如果没有找到可以实现应用的参数，则需要考虑是否使用其他算法实现，或者基于目前算法的结果扩展所需的功能 参数 说明 示例 roi 设置算法计算的矩形区域，roi [x, y, w, h]，x，y表示矩形区域左上角坐标，w，h表示矩形区域的宽度和高度，默认为整张图片 计算坐标为(50,50)，宽和高为100的区域<br />```img.find_apriltags(roi [50, 50, 100, 100])``` families apriltag标签家族类型 扫描TAG36H11家族的标签<br />```img.find_apriltags(families image.ApriltagFamilies.TAG36H11)``` 本文介绍常用方法，更多 API 请看 API 文档的 [image](../../../api/maix/image.html) 部分。"},"/maixpy/doc/zh/vision/custmize_model.html":{"title":"MaixPy 自定义（离线训练） AI 模型和运行","content":" title: MaixPy 自定义（离线训练） AI 模型和运行 update: date: 2024 4 23 version: v1.0 author: dragonforward content: 加入了YOLOv5s部署 > 本文来自社区用户 dragonforward 的贡献 > 本博客将向你展示零基础一步步的部署好自己的yolov5s模型（博主展示的是安全帽模型），训练就引用我自己之前写过的，已经训练好的可以跳过该部分，其中有部分不一样。 ## 获得自定义训练得到的yolov5s onnx模型 ### 准备自定义数据集（博主用的是VOC数据集） `数据集目录结构`如下： ``` └─VOC2028:\t\t自定义数据集 ├─Annotations\t存放的是数据集标签文件，xml格式 ├─ImageSets\t\t数据集的划分文件 │ └─Main ├─JPEGImages\t存放的是数据集图片 ``` `分割数据集` 在split_train_val.py文件路径下执行`python3 split_train_val.py`会得到一下目录结构： ``` └─VOC2028:\t\t自定义数据集 ├─Annotations\t存放的是数据集标签文件，xml格式 ├─ImageSets\t\t数据集的划分文件 │ └─Main test.txt └─test.txt └─train.txt └─val.txt ├─JPEGImages\t存放的是数据集图片 ├─split_train_val.py\t分割数据集的py文件 ``` `split_train_val.py文件代码如下`： ``` # * coding: utf 8 * \"\"\" Author:dragonforward 简介：分训练集、验证集和测试集，按照 8：1：1 的比例来分，训练集8，验证集1，测试集1 \"\"\" import os import random import argparse parser argparse.ArgumentParser() # xml文件的地址，根据自己的数据进行修改 xml一般存放在Annotations下 parser.add_argument(' xml_path', default 'Annotations/', type str, help 'input xml label path') # 数据集的划分，地址选择自己数据下的ImageSets/Main parser.add_argument(' txt_path', default 'ImageSets/Main/', type str, help 'output txt label path') opt parser.parse_args() train_percent 0.8 # 训练集所占比例 val_percent 0.1 # 验证集所占比例 test_persent 0.1 # 测试集所占比例 xmlfilepath opt.xml_path txtsavepath opt.txt_path total_xml os.listdir(xmlfilepath) if not os.path.exists(txtsavepath): os.makedirs(txtsavepath) num len(total_xml) list list(range(num)) t_train int(num * train_percent) t_val int(num * val_percent) train random.sample(list, t_train) num1 len(train) for i in range(num1): list.remove(train[i]) val_test [i for i in list if not i in train] val random.sample(val_test, t_val) num2 len(val) for i in range(num2): list.remove(val[i]) file_train open(txtsavepath + '/train.txt', 'w') file_val open(txtsavepath + '/val.txt', 'w') file_test open(txtsavepath + '/test.txt', 'w') for i in train: name total_xml[i][: 4] + '\\n' file_train.write(name) for i in val: name total_xml[i][: 4] + '\\n' file_val.write(name) for i in list: name total_xml[i][: 4] + '\\n' file_test.write(name) file_train.close() file_val.close() file_test.close() ``` `voc转label得到label文件` 目录结构如下： ``` └─VOC2028:\t\t自定义数据集 ├─Annotations\t存放的是数据集标签文件，xml格式 ├─ImageSets\t\t数据集的划分文件 │ └─Main ├─JPEGImages\t存放的是数据集图片 └─labels\t\tyolov5将此文件夹当作训练的标注文件夹 └─voc_label.py ``` `voc_label.py文件代码如下`： ``` # * coding: utf 8 * import xml.etree.ElementTree as ET import os sets ['train', 'val', 'test'] # 如果你的Main文件夹没有test.txt，就删掉'test' classes [\"hat\", \"people\"] # 改成自己的类别，VOC数据集有以下20类别 # classes [\"brickwork\", \"coil\",\"rebar\"] # 改成自己的类别，VOC数据集有以下20类别 # classes [\"aeroplane\", 'bicycle', 'bird', 'boat', 'bottle', 'bus', 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog', # 'horse', 'motorbike', 'person', 'pottedplant', 'sheep', 'sofa', 'train', 'tvmonitor'] # class names # abs_path os.getcwd() /root/yolov5/data/voc_label.py abs_path '/root/yolov5/data/' def convert(size, box): dw 1. / (size[0]) dh 1. / (size[1]) x (box[0] + box[1]) / 2.0 1 y (box[2] + box[3]) / 2.0 1 w box[1] box[0] h box[3] box[2] x x * dw w w * dw y y * dh h h * dh return x, y, w, h def convert_annotation(image_id): in_file open(abs_path + '/VOC2028/Annotations/%s.xml' % (image_id), encoding 'UTF 8') out_file open(abs_path + '/VOC2028/labels/%s.txt' % (image_id), 'w') tree ET.parse(in_file) root tree.getroot() size root.find('size') w int(size.find('width').text) h int(size.find('height').text) for obj in root.iter('object'): difficult obj.find('difficult').text # difficult obj.find('Difficult').text cls obj.find('name').text if cls not in classes or int(difficult) 1: continue cls_id classes.index(cls) xmlbox obj.find('bndbox') b (float(xmlbox.find('xmin').text), float(xmlbox.find('xmax').text), float(xmlbox.find('ymin').text), float(xmlbox.find('ymax').text)) b1, b2, b3, b4 b # 标注越界修正 if b2 > w: b2 w if b4 > h: b4 h b (b1, b2, b3, b4) bb convert((w, h), b) out_file.write(str(cls_id) + \" \" + \" \".join([str(a) for a in bb]) + '\\n') for image_set in sets: if not os.path.exists(abs_path + '/VOC2028/labels/'): os.makedirs(abs_path + '/VOC2028/labels/') image_ids open(abs_path + '/VOC2028/ImageSets/Main/%s.txt' % (image_set)).read().strip().split() list_file open(abs_path + '/VOC2028/%s.txt' % (image_set), 'w') for image_id in image_ids: list_file.write(abs_path + '/VOC2028/JPEGImages/%s.jpg\\n' % (image_id)) # 要么自己补全路径，只写一半可能会报错 convert_annotation(image_id) list_file.close() ``` ![picture 0](./assets/custmize_model8.png) ### 训练模型 配置环境 ``` git clone https://github.com/ultralytics/yolov5 cd yolov5 pip install r requirements.txt pip install onnx ``` 下载预训练权重（博主尝试了v7.0的和v6.0的pt都可以） ``` https://github.com/ultralytics/yolov5/releases/download/v7.0/yolov5s.pt ``` ![picture 1](./assets/custmize_model11.png) 训练（博主使用的是学校的集群进行训练） ``` python3 train.py weights weights/yolov5s.pt cfg models/yolov5s.yaml data data/safthat.yaml epochs 150 batch size 16 multi scale device 0 ``` ![picture 2](./assets/custmize_model9.png) ``` python3 detect.py source /root/yolov5/data/images/000000.jpg weights /root/yolov5/runs/train/exp13/weights/best.pt conf thres 0.25 ``` ![picture 3](./assets/custmize_model10.png) 导出onnx模型，由于学校服务器目前去教学上课去了，他们上完课才能分配我就用电脑本机的conda环境导出 下面为啥使用` imgsz 224 320`,原因就是比较适配屏幕，加上我尝试640*640的，摄像头报错，提示是640*480这样，然后我就看到sipeed那个yolov5s是320*224的，我也就和他保持一致吧 ``` python export.py weights yolov5s_hat.pt include onnx opset 16 imgsz 224 320 ``` ![picture 4](./assets/custmize_model5.png) 模型查看通过网址输入netron.app查看三个输出： ![picture 5](./assets/custmize_model2.png) 下面是博主的三个输出 ``` onnx::Shape_329 onnx::Shape_384 onnx::Shape_439 ``` ## 模型转化（关键） ### 安装docker环境（已安装过的可以跳过） ``` 安装docker依赖的基础软件 sudo apt get update sudo apt get install apt transport https ca certificates curl gnupg agent software properties common 添加官方来源 curl fsSL https://download.docker.com/linux/ubuntu/gpg sudo apt key add sudo add apt repository \"deb [arch amd64] https://download.docker.com/linux/ubuntu $(lsb_release cs) stable\" 安装 docker sudo apt get update sudo apt get install docker ce docker ce cli containerd.io ``` ### 开始量化模型实操（！！！） ### 准备工作 ``` https://github.com/sophgo/tpu mlir/releases/tag/v1.7 上面网址下载 tpu mlir resource.tar 和 tpu_mlir 1.7 py3 none any.whl ``` ![picture 6](./assets/custmize_model3.png) 为什么拉取最新版，因为我用3.1版本失败了，工具在一直更新，最好保持最新，可以看下面图片我使用3.1版本也试过 ![picture 7](./assets/custmize_model7.png) ``` docker pull sophgo/tpuc_dev:latest 进入容器后将上面的准备的两个文件拷贝到workspace目录 root@3d517bc7f51f:/workspace/model_yolov5s# cd .. root@3d517bc7f51f:/workspace# ls model_yolov5s tpu mlir resource tpu mlir resource.tar tpu_mlir 1.7 py3 none any.whl root@3d517bc7f51f:/workspace# 下面两个二选一，我建议是第二个，离线安装 pip install tpu_mlir[all]或者pip install tpu_mlir * py3 none any.whl[all] 博主是选的第二个 pip install tpu_mlir 1.7 py3 none any.whl 以及安装它的全部依赖 pip install tpu_mlir 1.7 py3 none any.whl[all] 解压 tar xvf tpu mlir resource.tar 修改文件夹名字 mv regression/ tpu mlir resource/ mkdir model_yolov5s && cd model_yolov5s cp rf ../tpu_mlir_resource/dataset/COCO2017 . cp rf ../tpu_mlir_resource/image . 把之前准备好的图片100张一集一张测试图片和onnx模型传递到如下 root@3d517bc7f51f:/workspace# cd model_yolov5s/ root@3d517bc7f51f:/workspace/model_yolov5s# ls COCO2017 image workspace yolov5n_hat.onnx yolov5s_hat.onnx root@3d517bc7f51f:/workspace/model_yolov5s# cd COCO2017/ root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls 000000.jpg 000011.jpg 000022.jpg 000032.jpg 000042.jpg 000053.jpg 000066.jpg 000076.jpg 000086.jpg 000096.jpg 000002.jpg 000012.jpg 000023.jpg 000033.jpg 000043.jpg 000054.jpg 000067.jpg 000077.jpg 000087.jpg 000101.jpg 000003.jpg 000013.jpg 000024.jpg 000034.jpg 000044.jpg 000055.jpg 000068.jpg 000078.jpg 000088.jpg 000102.jpg 000004.jpg 000014.jpg 000025.jpg 000035.jpg 000045.jpg 000058.jpg 000069.jpg 000079.jpg 000089.jpg 000103.jpg 000005.jpg 000015.jpg 000026.jpg 000036.jpg 000046.jpg 000059.jpg 000070.jpg 000080.jpg 000090.jpg 000104.jpg 000006.jpg 000016.jpg 000027.jpg 000037.jpg 000048.jpg 000061.jpg 000071.jpg 000081.jpg 000091.jpg 000105.jpg 000007.jpg 000017.jpg 000028.jpg 000038.jpg 000049.jpg 000062.jpg 000072.jpg 000082.jpg 000092.jpg 000106.jpg 000008.jpg 000019.jpg 000029.jpg 000039.jpg 000050.jpg 000063.jpg 000073.jpg 000083.jpg 000093.jpg 000107.jpg 000009.jpg 000020.jpg 000030.jpg 000040.jpg 000051.jpg 000064.jpg 000074.jpg 000084.jpg 000094.jpg 000108.jpg 000010.jpg 000021.jpg 000031.jpg 000041.jpg 000052.jpg 000065.jpg 000075.jpg 000085.jpg 000095.jpg 000109.jpg root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls l grep \"^ \" wc l 100 root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls l grep \"^ \" wc l可以查看一下图片多少个，COCO2017文件下的图片博主替换了安全帽的100张图片以及测试图片同样 回到 model_yolov5s root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# cd .. root@3d517bc7f51f:/workspace/model_yolov5s# ls COCO2017 image workspace yolov5n_hat.onnx yolov5s_hat.onnx root@3d517bc7f51f:/workspace/model_yolov5s# 接着 mkdir workspace && cd workspace 执行下面命令ONNX 转 MLIR（记得output_names换为自己的） model_transform \\ model_name yolov5s \\ model_def ../yolov5s_hat.onnx \\ input_shapes [[1,3,224,320]] \\ mean 0.0,0.0,0.0 \\ scale 0.0039216,0.0039216,0.0039216 \\ keep_aspect_ratio \\ pixel_format rgb \\ output_names onnx::Shape_329,onnx::Shape_439,onnx::Shape_384 \\ test_input ../image/hat.jpg \\ test_result yolov5s_top_outputs.npz \\ mlir yolov5s.mlir 执行下面命令MLIR 转 INT8 模型，转 INT8 模型前需要跑 calibration, 得到校准表 run_calibration yolov5s.mlir \\ dataset ../COCO2017 \\ input_num 100 \\ o yolov5s_cali_table 接着执行下面 model_deploy \\ mlir yolov5s.mlir \\ quantize INT8 \\ calibration_table yolov5s_cali_table \\ processor cv181x \\ test_input yolov5s_in_f32.npz \\ test_reference yolov5s_top_outputs.npz \\ tolerance 0.85,0.45 \\ model yolov5s_cv181x_int8_sym.cvimodel 最后你会得到如下： root@3d517bc7f51f:/workspace/model_yolov5s/workspace# ls _weight_map.csv yolov5s_cv181x_int8_sym.cvimodel yolov5s_origin.mlir build_flag.json yolov5s_cv181x_int8_sym_final.mlir yolov5s_top_f32_all_origin_weight.npz final_opt.onnx yolov5s_cv181x_int8_sym_tensor_info.txt yolov5s_top_f32_all_weight.npz yolov5s.mlir yolov5s_cv181x_int8_sym_tpu.mlir yolov5s_top_outputs.npz yolov5s_cali_table yolov5s_in_f32.npz yolov5s_tpu_addressed_cv181x_int8_sym_weight.npz yolov5s_cv181x_int8_sym yolov5s_opt.onnx.prototxt yolov5s_tpu_addressed_cv181x_int8_sym_weight_fix.npz root@3d517bc7f51f:/workspace/model_yolov5s/workspace# ``` 通过上述步骤，你就可以得到量化后的可以部署到开发板上的模型的 解答： 上面为什么会是cv181x，因为我自己先用了一个实验了一下，然后报错如下： ``` [I] load cvimodel from: /root/models/yolov5n.cvimodel cvimodel built for cv180x CANNOT run on platform cv181x failed to parse cvimodel ``` ### 实机运行 `yolov5s_hat.mud内容如下`如下： ``` [basic] type cvimodel model yolov5s_hat_cv181x_int8_sym.cvimodel [extra] model_type yolov5 input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 anchors 10,13, 16,30, 33,23, 30,61, 62,45, 59,119, 116,90, 156,198, 373,326 labels hat,person ``` 运行代码 ``` from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s_hat.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() print(\"www\") print(detector.input_width(),detector.input_height(), detector.input_format()) while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.5, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{detector.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` ![picture 8](./assets/custmize_model4.png) 其中10.84.117.1就是ip地址，将cvmodel和mud上传到`/root/models/` 路径下 ![picture 9](./assets/custmize_model1.png) 打包完成后安装应用然后运行就行，也可以ide运行 ![picture 10](./assets/custmize_model6.png) 视频链接： ``` https://www.bilibili.com/video/BV1xz421S7Rx/?spm_id_from 333.999.0.0&vd_source b1fff0f773136d7d05331087929c7739 ``` ## 感谢 感谢`谁说现在是冬天呢 `一些思路"},"/maixpy/doc/zh/vision/self_learn_classifier.html":{"title":"MaixPy 自学习分类器","content":" title: MaixPy 自学习分类器 ## MaixPy 自学习分类器介绍 一般情况下我们要识别新的类别，需要在电脑端重新采集数据集并训练，步骤很麻烦，难度较高，这里提供一种不需要电脑端训练，而是直接在设备端就能秒学习新的物体，适合场景不太复杂的使用场景。 比如眼前有饮料瓶和手机，使用设备分别拍一张它们的照片作为两个分类的依据，然后再采集几张他们各个角度的照片，提取它们的特征保存，然后识别时根据图像的特征值分别和保存的特征值进行对比，和保存的哪个更相近就认为是对应的分类。 ## MaixPy 中使用自学习分类器 步骤： * 采集 n 张分类图。 * 采集 n*m 张图，每个分类采集 m 张，顺序无所谓。 * 启动学习。 * 识别图像输出结果。 简洁版本代码，完整版本请看例程里面的完整代码。 ```python from maix import nn, image classifier nn.SelfLearnClassifier(model \"/root/models/mobilenetv2.mud\", feature_layer None) img1 image.load(\"/root/1.jpg\") img2 image.load(\"/root/2.jpg\") img3 image.load(\"/root/3.jpg\") sample_1 image.load(\"/root/sample_1.jpg\") sample_2 image.load(\"/root/sample_2.jpg\") sample_3 image.load(\"/root/sample_3.jpg\") sample_4 image.load(\"/root/sample_4.jpg\") sample_5 image.load(\"/root/sample_5.jpg\") sample_6 image.load(\"/root/sample_6.jpg\") classifier.add_class(img1) classifier.add_class(img2) classifier.add_class(img3) classifier.add_sample(sample_1) classifier.add_sample(sample_2) classifier.add_sample(sample_3) classifier.add_sample(sample_4) classifier.add_sample(sample_5) classifier.add_sample(sample_6) classifier.learn() img image.load(\"/root/test.jpg\") max_idx, max_score classifier.classify(img) print(maix_idx, max_score) ```"},"/maixpy/doc/zh/audio/recognize.html":{"title":"","content":""},"/maixpy/doc/zh/index.html":{"title":"MaixPy 快速开始","content":" title: MaixPy 快速开始 <div style \"font size: 1.2em;border: 2px solid green; border color:#c33d45;padding:1em; text align:center; background: #c33d45; color: white\"> <div> <span>MaixPy 唯一官网:</span> <a target \"_blank\" style \"color: #ffe0e0\" href \"https://wiki.sipeed.com/maixpy\"> wiki.sipeed.com/maixpy </a> <br> <div style \"height:0.4em\"></div> <span>MaixPy 例程和源码:</span> <a target \"_blank\" style \"color: #ffe0e0\" href \"https://github.com/sipeed/MaixPy\"> github.com/sipeed/MaixPy </a> </div> <div style \"padding: 1em 0 0 0\"> <a target \"_blank\" style \"color: white; font size: 0.9em; border radius: 0.3em; padding: 0.5em; background color: #a80202\" href \"https://item.taobao.com/item.htm?id 784724795837\">淘宝</a> <a target \"_blank\" style \"color: white; font size: 0.9em; border radius: 0.3em; padding: 0.5em; background color: #a80202\" href \"https://www.aliexpress.com/store/911876460\">速卖通</a> </div> </div> <br> > 关于 MaixPy 介绍请看 [MaixPy 官网首页](../../index.html) ## 获得 MaixCAM 设备 在 [Sipeed 淘宝](https://item.taobao.com/item.htm?id 784724795837) 或者 [Sipeed 速卖通](https://www.aliexpress.com/store/911876460) 店铺购买 <a href \"https://wiki.sipeed.com/maixcam\" target \"_blank\">MaixCAM</a> 开发板。 **建议购买带 `TF 卡`、`摄像头`、`2.3寸触摸屏`、`外壳`、`Type C 数据线`、 `Type C一转二小板`、`4P串口座子+线`的套餐**，方便后续使用和开发，**后面的教程都默认你已经有了这些配件**（包括屏幕）。 如果你没有购买 TF 卡，则你需要**自备**一个 **TF 读卡器**用来烧录系统。 >! 注意，目前只支持 MaixCAM 开发板，其它同型号芯片的开发板均不支持，包括 Sipeed 的同型号芯片开发板，请注意不要买错造成不必要的时间和金钱浪费。 ## 上手配置 ### 准备 TF 镜像卡和插入到设备 如果你买的套餐里面有 TF 卡，里面已经有出厂镜像了，如果出厂时 TF 卡没有安装到设备，需要先小心打开外壳（注意里面有排线连接不要扯断了），然后插入 TF 卡。另外因为出厂的固件可能比较老旧，可以插按照[升级和烧录系统](https://wiki.sipeed.com/maixpy/doc/zh/basic/os.html)先将系统升级到最新版本。 如果没买 TF 卡，则需要将系统烧录进自备的 TF 卡中，烧录方法请看[升级和烧录系统](./basic/os.html)，然后再安装到板子。 ### 上电开机 使用 `Type C` 数据线连接 `MaixCAM` 设备给设备供电，等待设备开机，开机会进入功能选择界面。 ![maixcam_font](../../static/image/maixcam_font.png) 如果屏幕没有显示 * 请确认购买了配套的 TF 卡，如果确认有 TF 卡，并且已经插入到设备，可以**尝试[更新到最新的系统](./basic/os.html)**。 * 如果你没有购买 TF 卡套餐，你需要按照[升级和烧录系统](./basic/os.html)的方法烧录最新的系统到 TF 卡。 * 另外请确认屏幕和摄像头的排线没有松动，屏幕的排线在拆开外壳时很容易脱落，需要注意。 ### 联网 首次运行需要连接网络，后面会激活设备和使用 IDE 会用到。 * 设备上点击 `设置`(`Settings`)，选择`WiFi`，点击 `扫描` 按钮开始扫描周围 `WiFi`， 可以多次点击刷新列表。 * 找到你的 WiFi 热点，如果没有路由器可以用手机开一个热点。 * 输入密码点击`连接`按钮进行连接。 * 等待获取到 `IP` 地址，这可能需要 `10` 到 `30` 秒，如果界面没有刷新可以退出`WiFi`功能重新进入查看，或者在`设置` > `设备信息` 中也可以看到 `IP` 信息。 ### 升级运行库 **这一步很重要 ！！！** 这一步如果不做好，其它应用和功能可能无法运行（比如闪退等）。 * 首先保证上一步连接 WiFi 已经完成，并且获取到 IP 地址能访问公网。 * 设备上点击 `设置`(`Settings`)，选择`安装运行库`。 * 安装完成后可以看到更新到了最新版本，然后退出即可。 如果显示`Request failed` 或者`请求失败`，请先检查网络是否已经连接，需要能连接到互联网，如果还不行，请拍照联系客服处理即可。 ### 使用内置应用 内置了很多应用，比如 找色块，AI 检测器，巡线等等，找色块举例： <video playsinline controls autoplay loop muted preload class \"pl 6 pb 4 self end\" src \"/static/video/find_blobs.mp4\" type \"video/mp4\"> Classifier Result video </video> 其它的请自行摸索，以后还会更新更多应用，使用文档以及应用更新请看 [MaixHub 应用商店](https://maixhub.com/app) 。 **注意：应用只包含了 MaixPy 能实现的一部分功能，使用 MaixPy 能创造更多功能**。 ## 作为串口模块使用 > 如果是想把设备当成主控使用（或者你还不懂什么是串口模块）可以跳过这一步。 内置的各种应用可以直接当成串口模块使用，比如`找色块`、`找人脸`、`找二维码`等等， 使用方法： * 硬件连接： 可以给设备接上`Type C一转二小板`，这样我们就能将设备通过串口连接到你的主控上了，比如`Arduino`、`树莓派`、`STM32`等等。 * 打开你想用的应用，比如二维码识别，当设备扫描到二维码就会通过串口把结果发送给你的主控了。 > 发送的串口波特率是 `115200`，数据格式是 `8N1`，协议遵循 [Maix 串口通信协议标准](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md)，可以在[MaixHub APP](https://maixhub.com/app) 找到对应的应用介绍查看协议。 ## 准备连接电脑和设备 为了后面电脑（PC）能和 设备（MaixCAM）通信，我们要让它们在同一个局域网内，提供了两种方式： * **方法一 (强烈推荐)**：无线连接， 设备使用 WiFi 连接到电脑连接的同一个路由器或者 WiFi 热点下： 在设备的`设置 > WiFi 设置`中连接到你的 WiFi 即可。 * **方法二**：有线连接， 设备通过 USB 线连接到电脑，设备会虚拟成一个 USB 网卡，这样和电脑就通过 USB 在同一局域网了。 > 方案二因为要用 USB 和驱动，可能会遇到一些问题，所以推荐直接用 WiFi 开始，可以在 [FAQ](./faq.html) 中找常见问题。 .. details::方案二在不同电脑系统中有不同设置方法，点击展开 * **Linux**: 无需额外设置，插上 USB 线即可， 使用 `ifconfig` 或者 `ip addr` 查看到 `usb0` 网卡，**注意** 这里看到的 ip 比如 `10.131.167.100` 是电脑的 ip, 设备的 ip 是最后一位改为`1` 即 `10.131.167.1`。 * **Windows**: 可以先确认`网络适配器`里面是否多了一个 RNDIS 设备，如果有就直接能用。否则需要手动安装 RNDIS 网卡驱动： * 打开电脑的`设备管理器`。 * 然后在`其它设备`里面找个一个带问号的 RNDIS 设备，右键选择`更新驱动程序`。 * 选择`浏览计算机以查找驱动程序`，然后选择`让我从计算机上的可用驱动程序列表中选择`。 * 选择`网络适配器`，然后点击`下一步`。 * 左边选择`Microsoft`，右边选择`远程 NDIS 兼容设备`，然后点击`下一步`, 选择`是`。 * 装好后的效果 ![RNDIS](../../static/image/rndis_windows.jpg) * **MacOS**: 无需额外设置，插上 USB 线即可， 使用 `ifconfig` 或者 `ip addr` 查看到 `usb0` 网卡，**注意** 这里看到的 ip 比如 `10.131.167.100` 是电脑的 ip, 设备的 ip 是最后一位改为`1` 即 `10.131.167.1`。 ## 开发环境准备 * 下载 [MaixVision](https://wiki.sipeed.com/maixvision) 并安装。 * 使用 Type C 连接设备和电脑，打开 MaixVision，点击左下角的`“连接”`按钮，会自动搜索设备，稍等一下就能看到设备，点击设备有点的连接按钮以连接设备。 如果**没有扫描到设备**，你也可以在**设备**的 `设置 > 设备信息` 中查看设备的 IP 地址手动输入， 也可以在 [FAQ](./faq.html) 中找到解决方法。 **连接成功后，设备的功能选择界面会消失，屏幕会黑屏，释放了所有硬件资源，如果仍然有画面显示，可以断开连接重连。** 这里有 MaixVision 的使用示例视频: <video style \"width:100%\" controls muted preload src \"/static/video/maixvision.mp4\"></video> ## 运行例程 点击 MaixVision 左侧的`示例代码`，选择一个例程，点击左下角`运行`按钮将代码发送到设备上运行。 比如： * `hello_maix.py`，点击`运行`按钮，就能看到 MaixVision 终端有来自设备打印的消息，以及右上角出现了图像。 * `camera_display.py`，这个例程会打开摄像头并在屏幕上显示摄像头的画面。 ```python from maix import camera, display, app disp display.Display() # 构造一个显示对象，并初始化屏幕 cam camera.Camera(640, 480) # 构造一个摄像头对象，手动设置了分辨率为 640x480, 并初始化摄像头 while not app.need_exit(): # 一直循环，直到程序退出（可以通过按下设备的功能按键退出或者 MaixVision 点击停止按钮退出） img cam.read() # 读取摄像头画面保存到 img 变量，可以通过 print(img) 来打印 img 的详情 disp.show(img) # 将 img 显示到屏幕上 ``` * `yolov5.py` 会检测摄像头画面中的物体框出来并显示到屏幕上，支持 80 种物体的检测，具体请看[YOLOv5 物体检测](./vision/yolov5.html)。 其它例程可以自行尝试。 > 如果你使用相机例程遇到了图像显示卡顿，可能是网络不通畅，或者 USB 线质量或者主机 USB 质量太差造成，可以更换连接方式或者更换线缆、主机 USB 口或者电脑等。 ## 安装应用到设备 上面是在设备中运行代码，`MaixVision` 断开后代码就会停止运行，如果想让代码出现在开机菜单中，可以打包成应用安装到设备上。 点击 `MaixVision` 左下侧的安装应用按钮，填写应用信息，会将应用安装到设备上，然后在设备上就能看到应用了。 也可以选择打包应用，将你的应用分享到[MaixHub 应用商店](https://maixhub.com/app)。 > 默认例程没有显式编写退出功能，进入应用后按下设备的功能按键即可退出应用。（对于 MaixCAM 是 user 键） 如果想让程序开机自启动，可以在 `设置 > 开机启动` 中设置。 ## 下一步 看到这里，如果你觉得不错，**请务必来 [github](https://github.com/sipeed/MaixPy) 给 MaixPy 开源项目点一个 star（需要先登录 github）, 你的 star 和认同是我们不断维护和添加新功能的动力！** 到这里你已经体验了一遍使用和开发流程了，接下来可以学习 `MaixPy` 语法和功能相关的内容，请按照左边的目录进行学习，如果遇到 `API` 使用问题，可以在[API 文档](/api/)中查找。 学习前最好带着自己学习的目的学，比如做一个有趣的小项目，这样学习效果会更好，项目和经验都可以分享到[MaixHub 分享广场](https://maixhub.com/share)，会获得现金奖励哦！ ## 分享交流 * **[MaixHub 项目和经验分享](https://maixhub.com/share)** ：分享你的项目和经验，获得现金打赏，获得官方打赏的基本要求： * **可复现型**：较为完整的项目制作复现过程。 * **炫耀型**：无详细的项目复现过程，但是项目展示效果吸引人。 * Bug 解决经验型：解决了某个难题的过程和具体解决方法分享。 * [MaixPy 官方论坛](https://maixhub.com/discussion/maixpy)（提问和交流） * QQ 群： （建议在 QQ 群提问前先发个帖，方便群友快速了解你需要了什么问题，复现过程是怎样的） * MaixPy (v4) AI 视觉交流大群: 862340358 * Telegram: [MaixPy](https://t.me/maixpy) * MaixPy 源码问题: [MaixPy issue](https://github.com/sipeed/MaixPy/issues) * 商业合作或批量购买请联系 support@sipeed.com 。"},"/maixpy/doc/zh/video/jpeg_streaming.html":{"title":"MaixPy 视频流 JPEG 推流 / 发送图片到服务器","content":" title: MaixPy 视频流 JPEG 推流 / 发送图片到服务器 update: date: 2024 04 03 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 有时需要将图像发送到服务器，或者将摄像头的视频推送到服务器，这里提供一个最简单的方法，即压缩成 `JPEG` 图片，然后一张一张地发送到服务器。 注意，这是一种最简单的方法，不算很正规的视频推流方法，也不适合高分辨率高帧率的视频流，因为这只是一张一张发送图片，如果要高效推送视频流，请使用后文的 `RTSP` 或者 `RTMP` 模块。 ## 使用方法 ```python from maix import image import requests # create image img image.Image(640, 480, image.Format.FMT_RGB) # draw something img.draw_rect(60, 60, 80, 80, image.Color.from_rgb(255, 0, 0)) # convert to jpeg jpeg img.to_format(image.Format.FMT_JPEG) # image.Format.FMT_PNG # get jpeg bytes jpeg_bytes jpeg.to_bytes() # faster way, borrow memory from jpeg object, # but be carefully, when jpeg object is deleted, jpeg_bytes object MUST NOT be used, or program will crash # jpeg_bytes jpeg.to_bytes(copy False) # send image binary bytes to server url \"http://192.168.0.123:8080/upload\" res requests.post(url, data jpeg_bytes) print(res.status_code) print(res.text) ``` 可以看到，先将图片转换成了 `JPEG` 格式，然后将 `JPEG` 图片的二进制数据通过`TCP`发送到服务器。"},"/maixpy/doc/zh/source_code/faq.html":{"title":"MaixPy 源代码常见问题","content":"MaixPy 源代码常见问题 ## subprocess.CalledProcessError: Command '('lsb_release', ' a')' returned non zero exit status 1. 以 root 身份编辑 `/usr/bin/lsb_release`，将第一行从 `#!/usr/bin/python3` 更改为 `python3`。 然后重新编译,应该就可以工作了。 ## ImportError: arg(): could not convert default argument 'format: maix::image::Format' in method '<class 'maix._maix.camera.Camera'>.**init**' into a Python object (type not registered yet?) Pybind11 需要你先注册 `image::Format`，然后才能在 `camera::Camera` 中使用它,所以我们必须先在生成的 `build/maixpy_wrapper.cpp` 源文件中定义 `image::Format`。 要实现这一点,请编辑 `components/maix/headers_priority.txt`,被依赖的应该放在依赖它的前面。 例如: ``` maix_image.hpp maix_camera.hpp ``` ## /usr/bin/ld: /lib/libgdal.so.30: undefined reference to `std::condition_variable::wait(std::unique_lock<std::mutex>&)@GLIBCXX_3.4.30' collect2: error: ld returned 1 exit status 一般在为 Linux 构建时并且使用 conda 环境时容易出现，conda 环境中的一些库编译参数问题，解决方法就是不用 conda 即可， 或者单独找到 conda 中的那个库，替换成系统的或者直接删掉（会从系统找）"},"/maixpy/doc/zh/vision/face_recognition.html":{"title":"MaixPy 人脸识别","content":" title: MaixPy 人脸识别 ## 人脸识别简介 人脸识别就是识别当前画面中的人脸的位置以及是谁。 所以人脸识别除了要检测到人脸，一般会有一个库来保存认识的人和不认识的人。 ## 识别原理 * 使用 AI 模型检测人脸，获得坐标和五官的坐标。 * 利用五官的坐标仿射变换将图中的脸拉正对其到标准脸的样子，方便模型提取脸的特征。 * 使用特征提取模型提取脸的特征值。 * 与库中记录的人脸特征值进行对比（计算保存的和当前画面中的脸的特征值的余弦距离，得出最小的距离的库中的人脸，小于设定的阈值就认为当前画面中就是这个库中的人） ## MaixPy 使用 MaixPy maix.nn 模块中提供了人脸识别的 API， 可以直接使用，模型也内置了，也可以到 [MaixHub 模型库](https://maixhub.com/model/zoo) 下载（筛选选则对应的硬件平台，比如 maixcam）。 识别： ```python from maix import nn recognizer nn.Face_Recognizer(model \"/root/models/face_recognizer.mud\") if os.path.exists(\"/root/faces.bin\"): recognizer.load_faces(\"/root/faces.bin\") cam camera.Camera(recognizer.input_width(), recognizer.input_height(), recognizer.input_format()) dis display.Display() while 1: img cam.read() faces recognizer.recognize(img) for obj in faces: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{recognizer.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` 第一次运行这个代码会发现能检测到人脸，但是都不认识，需要我们进入添加人脸模式学习人脸才行。 比如可以在用户按下按键的时候学习人脸： ```python faces recognizer.detect_faces(img) for face in faces: print(face) # 这里考虑到了一个画面中有多个人脸的情况 # 可以在这里根据 face 的坐标决定要不要添加到库里面 recognizer.add_face(face) recognizer.save_(faces)(\"/too/faces.bin\") ```"},"/maixpy/doc/zh/vision/object_track.html":{"title":"","content":""},"/maixpy/doc/zh/vision/display.html":{"title":"MaixPy 屏幕使用","content":" title: MaixPy 屏幕使用 update: date: 2024 03 31 author: neucrack version: 1.0.0 content: 初版文档 ## 简介 MaixPy 提供了`display`模块，可以将图像显示到屏幕上，同时，也可以将图像发送到 MaixVision 显示，方便调试和开发。 ## API 文档 本文介绍常用方法，更多 API 请看 API 文档的 [display](/api/maix/display.html) 部分。 ## 使用屏幕 * 导入`display`模块： ```python from maix import display ``` * 创建一个`Display`对象： ```python disp display.Display() ``` * 显示图像： ```python disp.show(img) ``` 这里`img`对象是`maix.image.Image`对象，可以通过`camera`模块的`read`方法获取，也可以通过`image`模块的`load`方法加载文件系统中的图像，也可以通过`image`模块的`Image`类创建一个空白图像。 比如： ```python from maix import image, display disp display.Display() img image.load(\"/root/dog.jpg\") disp.show(img) ``` 这里需要先把`dog.jpg`文件传到设备的`/root`目录下。 显示文字： ```python from maix import image, display disp display.Display() img image.Image(320, 240) img.draw_rectangle(0, 0, disp.width(), disp.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rectangle(10, 10, 100, 100, color image.Color.from_rgb(255, 0, 0)) img.draw_string(10, 10, \"Hello MaixPy!\", color image.Color.from_rgb(255, 255, 255)) disp.show(img) ``` 从摄像头读取图像并显示： ```python from maix import camera, display, app disp display.Display() cam camera.Camera(320, 240) while not app.need_exit(): img cam.read() disp.show(img) ``` > 这里用了一个`while not app.need_exit():` 是方便程序在其它地方调用`app.set_exit_flag()`方法后退出循环。 ## 调整背光亮度 在系统的`设置`应用中可以手动调整背光亮度，如果你想在程序中调整背光亮度，可以使用`set_backlight`方法，参数就是亮度百分比，取值范围是 0 100： ```python disp.set_backlight(50) ``` 注意，程序退出回到应用选择界面后会自动恢复到系统设置的背光亮度。 ## 显示到 MaixVision 在使用 MaixVision 运行代码时，能够将图像显示到 MaixVision 上，方便调试和开发。 在调用`show`方法时，会自动压缩图像并发送到 MaixVision 显示。 当然，如果你没有屏幕，或者为了节省内存不想初始化屏幕，也可以直接调用`image.Image`对象的`send_to_maixvision`方法发送图像到 MaixVision 显示。 ```python from maix import image img image.Image(320, 240) img.draw_rectangle(0, 0, img.width(), img.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rectangle(10, 10, 100, 100, color image.Color.from_rgb(255, 0, 0)) img.draw_string(10, 10, \"Hello MaixPy!\", color image.Color.from_rgb(255, 255, 255)) img.send_to_maixvision() ```"},"/maixpy/doc/zh/vision/body_key_points.html":{"title":"MaixPy 检测人体关键点姿态检测","content":" title: MaixPy 检测人体关键点姿态检测 ## 简介 使用 MaixPy 可以轻松检测人体关节的关键点的坐标，用在姿态检测比如坐姿检测，体感游戏输入等。 ## 使用 使用 MaixPy 的 maix.nn.BodyKeyPoints 类可以轻松实现： ```python from maix import nn, image, display detector nn.BodyKeyPoints(model \"/root/models/body_key_points.mud\") cam camera.Camera(recognizer.input_width(), recognizer.input_height(), recognizer.input_format()) dis display.Display() while 1: img cam.read() points detector.detect(img) for point in points: img.draw_circle(point[0], point[1], 3, color image.COLOR_RED, thickness 1) dis.show(img) ```"},"/maixpy/doc/zh/vision/qrcode.html":{"title":"MaixPy 二维码识别","content":" title: MaixPy 二维码识别 update: date: 2024 04 03 author: lxowalle version: 1.0.0 content: 初版文档 阅读本文前，确保已经知晓如何开发MaixCAM，详情请阅读[快速开始](../index.html) ## 简介 本文介绍如何使用MaixPy来识别二维码 ## 使用 MaixPy 识别二维码 MaixPy的 `maix.image.Image`中提供了`find_qrcodes`方法，用来识别二维码。 ### 如何识别二维码 一个简单的示例，实现识别二维码并画框 ```python from maix import image, camera, display cam camera.Camera(320, 240) disp display.Display() while 1: img cam.read() qrcodes img.find_qrcodes() for qr in qrcodes: corners qr.corners() for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(qr.x(), qr.y() 15, qr.payload(), image.COLOR_RED) disp.show(img) ``` 步骤： 1. 导入image、camera、display模块 ```python from maix import image, camera, display ``` 2. 初始化摄像头和显示 ```python cam camera.Camera(320, 240) # 初始化摄像头，输出分辨率320x240 RGB格式 disp display.Display() ``` 3. 从摄像头获取图片并显示 ```python while 1: img cam.read() disp.show(img) ``` 4. 调用`find_qrcodes`方法识别摄像头中的二维码 ```python qrcodes img.find_qrcodes() ``` `img`是通过`cam.read()`读取到的摄像头图像，当初始化的方式为`cam camera.Camera(320, 240)`时，`img`对象是一张分辨率为320x240的RGB图。 `img.find_qrcodes`用来寻找二维码，并将查询结果保存到`qrocdes`，以供后续处理 5. 处理识别二维码的结果并显示到屏幕上 ```python for qr in qrcodes: corners qr.corners() for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(qr.x(), qr.y() 15, qr.payload(), image.COLOR_RED) ``` `qrcodes`是通过`img.find_qrcodes()`查询二维码的结果，如果找不到二维码则`qrcodes`内部为空 `qr.corners()`用来获取已扫描到的二维码的四个顶点坐标，`img.draw_line()`利用这四个顶点坐标画出二维码的形状 `img.draw_string`用来显示二维码的内容和位置等信息，其中`qr.x()`和`qr.y()`用来获取二维码左上角坐标x和坐标y，`qr.payload()`用来获取二维码的内容 ### 常用参数说明 列举常用参数说明，如果没有找到可以实现应用的参数，则需要考虑是否使用其他算法实现，或者基于目前算法的结果扩展所需的功能 参数 说明 示例 roi 设置算法计算的矩形区域，roi [x, y, w, h]，x，y表示矩形区域左上角坐标，w，h表示矩形区域的宽度和高度，默认为整张图片 计算坐标为(50,50)，宽和高为100的区域<br />```img.find_qrcodes(roi [50, 50, 100, 100])``` 本文介绍常用方法，更多 API 请看 API 文档的 [image](../../../api/maix/image.html) 部分。"}}
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+++ b/maixpy/static/search_index/index_2.json
@@ -1 +1 @@
-{"/maixpy/doc/en/basic/os.html":{"title":"Upgrade and burn system.","content":" title: Upgrade and burn system. ## Introduction If you have purchased the official (Sipeed) package with a TF card, typically the system has already been pre programmed at the factory and can be used directly without further steps. However, to avoid using an outdated version of the pre programmed system, it is highly recommended to first upgrade to the latest system following the tutorial. ## How to Confirm if System Upgrade is Needed * Upon booting up to the main menu, click on `Settings`, then `Device Info` to check the system's version number. * Visit the [MaixPy Release History page](https://github.com/sipeed/MaixPy/releases) to review the update logs, which contain information on MaixPy firmware and system image updates. If there are significant updates after your current version, it is advisable to upgrade. > If the latest system update only includes routine MaixPy firmware updates compared to your current system, you may choose not to upgrade. You can simply update `MaixPy` separately in `Settings` under `Update MaixPy`. ## Obtaining the Latest System Visit the [MaixPy Release page](https://github.com/sipeed/MaixPy/releases) to find the latest system image file, such as `maixcam_os_20240401_maixpy_v4.1.0.xz`. Alternate link: * [Sourceforge](https://sourceforge.net/projects/maixpy/files/) ## Burning the System Image to MaixCAM Refer to the [MaixCAM System Flashing Guide](https://wiki.sipeed.com/hardware/zh/maixcam/os.html)."},"/maixpy/doc/en/basic/python_pkgs.html":{"title":"Add extra Python packages.","content":" title: Add extra Python packages. ## Introduction MaixPy is based on the Python language and provides a wide range of functionalities and APIs for embedded application development. In addition to this, you can also use other Python packages to extend its functionality. ## Installing Additional Python Packages > Please note that not all Python packages are supported. Generally, only pure Python packages are supported, not C extension packages. C extension packages may require you to manually cross compile them on a computer (which is quite complex and won't be covered here). ### Method 1: Installing Using Python Code You can install the package you need in MaixVision using Python code, for example: ```python import os os.system(\"pip install package_name\") ``` To update a package, you can use: ```python import os os.system(\"pip install upgrade package_name\") ``` ### Method 2: Installing Using the Terminal and pip Command Follow the terminal usage method introduced in [Linux Basics](./linux_basic.html) and use `pip install package_name` to install the package you need."},"/maixpy/doc/en/basic/app_usage.html":{"title":"Application User Guide","content":" title: Application User Guide After powering on, it will automatically enter the application selection interface, where various built in applications are available in the [MaixHub App Store](https://maixhub.com/app). Here you can find descriptions and instructions for using each corresponding application. The commonly used settings are `Settings > Language`, as well as `Settings > WiFi`. The `App Store` application can be used for upgrading and installing applications. Once connected to a WiFi network that has internet access, you can scan and install applications from the [MaixHub App Store](https://maixhub.com/app). Moreover, applications you develop can also be uploaded to the [MaixHub App Store](https://maixhub.com/app) to share with others. High quality and outstanding applications will receive official red envelope rewards, and excellent applications will gain recognition and support from everyone. Whether it's a simple application for collecting sensor data or a complex function application, let's work together to create more interesting things!"},"/maixpy/doc/en/basic/maixpy_upgrade.html":{"title":"Update MaixPy.","content":" title: Update MaixPy. There are two methods to begin with. If you are new to this and want to keep things simple, you can try using the pre installed MaixPy firmware on the TF card that comes with the device. You can consider updating it later. However, since we don't know when the TF card you received was manufactured, it is recommended to update the system. ## Updating the System Directly Follow the steps in [Upgrading and Flashing the System](./os.html) to upgrade to the latest system, which already includes the newest MaixPy firmware. ## Updating Only the MaixPy Firmware Check the latest version information and release notes in the [MaixPy repository release page](https://github.com/sipeed/MaixPy/releases). It includes details about the MaixPy firmware and the system information corresponding to each version. If you prefer not to update the system (since system changes are usually minimal, you can check if there are any system related changes in the MaixPy update notes before deciding whether to update the system), you can simply update the MaixPy firmware. * Set up WiFi in the settings to connect the system to the internet. * Click on `Update MaixPy` in the settings app to proceed with the update. > If you are comfortable using the terminal, you can also update MaixPy by using `pip install MaixPy U` in the terminal."},"/maixpy/doc/en/pro/compile_os.html":{"title":"","content":""},"/maixpy/doc/en/modules/thermal_cam.html":{"title":"","content":""},"/maixpy/doc/en/modules/tof.html":{"title":"","content":""},"/maixpy/doc/en/modules/acc.html":{"title":"","content":""},"/maixpy/doc/en/audio/recognize.html":{"title":"","content":""},"/maixpy/doc/en/peripheral/gpio.html":{"title":"","content":""},"/maixpy/doc/en/peripheral/uart.html":{"title":"","content":""},"/maixpy/doc/en/peripheral/pwm.html":{"title":"","content":""},"/maixpy/doc/en/vision/yolov5.html":{"title":"Using YOLOv5 Model for Object Detection with MaixPy","content":" title: Using YOLOv5 Model for Object Detection with MaixPy ## Concept of Object Detection Object detection refers to identifying the position and category of targets in an image or video, such as detecting objects like apples and airplanes in a picture, and marking the position of these objects. Unlike classification, object detection includes positional information, so the result is usually a rectangular box that frames the location of the object. ## Using Object Detection in MaixPy MaixPy comes with the `YOLOv5` model by default, which can be used directly: ```python from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.5, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{detector.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` Demonstration video: <video playsinline controls autoplay loop muted preload src \"https://wiki.sipeed.com/maixpy/static/video/detector.mp4\" type \"video/mp4\"> This setup uses a camera to capture images, which are then sent to the `detector` for detection. The results (classification name and position) are displayed on the screen. For more API usage, refer to the documentation of the [maix.nn](/api/maix/nn.html) module. ## Training Your Own Object Detection Model Please visit [MaixHub](https://maixhub.com) to learn and train object detection models. When creating a project, select `Object Detection Model`."},"/maixpy/doc/en/vision/ai.html":{"title":"Basic Knowledge of AI Vision","content":" title: Basic Knowledge of AI Vision update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial documentation ## Introduction If you don't have an AI background, you can first read [What is Artificial Intelligence (AI) and Machine Learning](https://wiki.sipeed.com/ai/en/basic/what_is_ai.html) to understand the basic concepts of AI before learning about AI. Then, the visual AI we use is generally based on the `deep neural network learning` method. If you are interested, you can check out [Deep Neural Network (DNN) Basics](https://wiki.sipeed.com/ai/en/basic/dnn_basic.html). ## Using Visual AI in MaixPy Using visual AI in MaixPy is very simple. By default, commonly used AI models are provided, and you can use them directly without having to train the models yourself. You can find the `maixcam` models in the [MaixHub Model Library](https://maixhub.com/model/zoo). Additionally, the underlying APIs have been well encapsulated, and you only need to make simple calls to implement them. If you want to train your own model, you can start with [MaixHub Online Training](https://maixhub.com/model/training/project). On the online platform, you can train models just by clicking, without the need to purchase expensive machines, set up complex development environments, or write code, making it very suitable for beginners and also for experienced users who are too lazy to read code. Generally, once you have obtained the model file, you can transfer it to the device and call the MaixPy API to use it. The specific calling methods are discussed in the following sections."},"/maixpy/doc/en/vision/self_learn_detector.html":{"title":"MaixPy Self-Learning Detector","content":" title: MaixPy Self Learning Detector ## MaixPy Self Learning Detector Similar to the self learning classifier, the self learning detector does not require training. Simply taking a few photos of the object to be detected can enable detection, which is very useful in simple detection scenarios. Unlike the self learning classifier, since it is a detector, it will provide the coordinates and size of the object. ## Using the Self Learning Detector in MaixPy TODO:"},"/maixpy/doc/en/source_code/add_c_module.html":{"title":"Adding a C/C++ Module to MaixPy","content":" title: Adding a C/C++ Module to MaixPy ## Introduction Sometimes we need to execute a function efficiently, and the speed of Python cannot meet the requirements. In such cases, we can use C/C++ or other compiled languages to implement the function. ## General Function Encapsulation If the function you want to encapsulate does not depend on other functionalities of MaixPy, you can directly use the general method of adding C/C++ modules with Python, such as ffi, ctype, etc. You can search for relevant methods online. > Welcome to contribute methods via PR ## If Your Module Needs to Depend on Other Basic APIs of MaixPy You need to learn how to compile and use [MaixCDK](https://github.com/sipeed/MaixCDK) first, because MaixPy is generated from MaixCDK APIs. Some functionalities in MaixPy are also available in MaixCDK, and then... TODO"},"/maixpy/doc/en/source_code/contribute.html":{"title":"Contributing to MaixPy Documentation Modification and Code Contribution","content":" title: Contributing to MaixPy Documentation Modification and Code Contribution ## Contributing to MaixPy Documentation Modification * Click the \"Edit this page\" button in the top right corner of the documentation you want to modify to enter the GitHub source documentation page. * Make sure you are logged in to your GitHub account. * Click the pencil icon in the top right corner of the GitHub preview documentation page to modify the content. * GitHub will prompt you to fork a copy to your own repository. Click the \"Fork\" button. > This step forks the MaixPy source code repository to your own account, allowing you to freely modify it. * Modify the documentation content, then fill in the modification description at the bottom of the page, and click \"Commit changes\". * Then find the \"Pull requests\" button in your repository and click to create a new Pull request. * In the pop up page, fill in the modification description and click \"Submit Pull request\". Others and administrators can then see your modifications on the [Pull requests page](https://github.com/sipeed/MaixPy/pulls). * Wait for the administrator to review and approve, and your modifications will be merged into the MaixPy source code repository. * After the merge is successful, the documentation will be automatically updated to the [MaixPy official documentation](https://wiki.sipeed.com/maixpy). > Due to CDN caching, it may take some time to see the update. For urgent updates, you can contact the administrator for manual refreshing. > You can also visit [en.wiki.sipeed.com/maixpy](https://en.wiki.sipeed.com/maixpy) to view the GitHub Pages service version, which is updated in real time without caching. ## Contributing to MaixPy Code Contribution * Visit the MaixPy code repository address: [github.com/sipeed/MaixPy](https://github.com/sipeed/MaixPy) * Before modifying the code, it is best to create an [issue](https://github.com/sipeed/MaixPy/issues) first, describing the content you want to modify to let others know your ideas and plans, so that everyone can participate in the modification discussion and avoid duplication of effort. * Click the \"Fork\" button in the top right corner to fork a copy of the MaixPy code repository to your own account. * Then clone a copy of the code from your account to your local machine. * After modifying the code, commit it to your repository. * Then find the \"Pull requests\" button in your repository and click to create a new Pull request. * In the pop up page, fill in the modification description and click \"Submit Pull request\". Others and administrators can then see your modifications on the [Pull requests page](https://github.com/sipeed/MaixPy/pulls). * Wait for the administrator to review and approve, and your modifications will be merged into the MaixPy source code repository. > Note that most of the MaixPy code is automatically generated from [MaixCDK](https://github.com/sipeed/MaixCDK), so if you modify the C/C++ source code, you may need to modify this repository first."},"/maixpy/doc/en/peripheral/wdt.html":{"title":"","content":""},"/maixpy/doc/en/peripheral/spi.html":{"title":"","content":""},"/maixpy/doc/en/peripheral/i2c.html":{"title":"","content":""},"/maixpy/doc/en/vision/qrcode.html":{"title":"MaixPy QR Code Recognition","content":" title: MaixPy QR Code Recognition update: date: 2024 04 03 author: lxowalle version: 1.0.0 content: Initial document Before reading this article, make sure you are familiar with how to develop with MaixPy. For details, please read [MaixVision MaixPy Programming + Graphical Block Programming](../basic/maixvision.html) ## Introduction This article explains how to use MaixPy for QR code recognition. ## Using MaixPy to Recognize QR Codes MaixPy's `maix.image.Image` includes the `find_qrcodes` method for QR code recognition. ### How to Recognize QR Codes A simple example that recognizes QR codes and draws a bounding box: ```python from maix import image, camera, display cam camera.Camera(320, 240) disp display.Display() while True: img cam.read() qrcodes img.find_qrcodes() for qr in qrcodes: corners qr.corners() for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(qr.x(), qr.y() 15, qr.payload(), image.COLOR_RED) disp.show(img) ``` Steps: 1. Import the image, camera, and display modules: ```python from maix import image, camera, display ``` 2. Initialize the camera and display: ```python cam camera.Camera(320, 240) # Initialize the camera with a resolution of 320x240 in RGB format disp display.Display() ``` 3. Capture and display images from the camera: ```python while True: img cam.read() disp.show(img) ``` 4. Use the `find_qrcodes` method to detect QR codes in the camera image: ```python qrcodes img.find_qrcodes() ``` `img` is the camera image captured by `cam.read()`. When initialized as `cam camera.Camera(320, 240)`, the `img` object is a 320x240 resolution RGB image. `img.find_qrcodes` searches for QR codes and saves the results in `qrcodes` for further processing. 5. Process and display the results of QR code recognition on the screen: ```python for qr in qrcodes: corners qr.corners() for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(qr.x(), qr.y() 15, qr.payload(), image.COLOR_RED) ``` `qrcodes` contains the results from `img.find_qrcodes()`. If no QR codes are found, `qrcodes` will be empty. `qr.corners()` retrieves the coordinates of the four corners of the detected QR code. `img.draw_line()` uses these coordinates to draw the QR code outline. `img.draw_string` displays information about the QR code content and position. `qr.x()` and `qr.y()` retrieve the x and y coordinates of the QR code's top left corner, and `qr.payload()` retrieves the content of the QR code. ### Common Parameter Explanation List common parameters and their explanations. If you cannot find parameters that fit your application, consider whether to use a different algorithm or extend the functionality based on the current algorithm's results. Parameter Description Example roi Sets the rectangular area for the algorithm to compute, where roi [x, y, w, h], x and y denote the top left coordinates of the rectangle, and w and h denote the width and height of the rectangle, defaulting to the entire image. Compute the area with coordinates (50,50) and width and height of 100:<br />`img.find_qrcodes(roi [50, 50, 100, 100])` This article introduces common methods. For more API details, refer to the [image](../../../api/maix/image.html) section of the API documentation."},"/maixpy/doc/en/index.html":{"title":"MaixPy Quick Start","content":" title: MaixPy Quick Start <div style \"font size: 1.2em;border: 2px solid green; border color:#c33d45;padding:1em; text align:center; background: #c33d45; color: white\"> <div> <span>The only official website for MaixPy:</span> <a target \"_blank\" style \"color: #ffe0e0\" href \"https://wiki.sipeed.com/maixpy\"> wiki.sipeed.com/maixpy </a> <br> <div style \"height:0.4em\"></div> <span>MaixPy examples and source code:</span> <a target \"_blank\" style \"color: #ffe0e0\" href \"https://github.com/sipeed/MaixPy\"> github.com/sipeed/MaixPy </a> </div> <div style \"padding: 1em 0 0 0\"> <a target \"_blank\" style \"color: white; font size: 0.9em; border radius: 0.3em; padding: 0.5em; background color: #a80202\" href \"https://item.taobao.com/item.htm?id 784724795837\">Taobao</a> <a target \"_blank\" style \"color: white; font size: 0.9em; border radius: 0.3em; padding: 0.5em; background color: #a80202\" href \"https://www.aliexpress.com/store/911876460\">AliExpress</a> </div> </div> <br> > For an introduction to MaixPy, please see the [MaixPy official website homepage](../../index.html) ## Get a MaixCAM Device Purchase the <a href \"https://wiki.sipeed.com/maixcam\" target \"_blank\">MaixCAM</a> development board from the [Sipeed Taobao](https://item.taobao.com/item.htm?id 784724795837) or [Sipeed AliExpress](https://www.aliexpress.com/store/911876460) store. **It is recommended to purchase the bundle with a `TF card`, `camera`, `2.3 inch touchscreen`, `case`, `Type C data cable`, `Type C one to two mini board`, and `4P serial port socket+cable`**, which will be convenient for later use and development. **The following tutorials assume that you already have these accessories** (including the screen). If you did not purchase a TF card, you will need to **prepare** a **TF card reader** to flash the system. >! Note that currently only the MaixCAM development board is supported. Other development boards with the same chip are not supported, including Sipeed's development boards with the same chip. Please be careful not to purchase the wrong board, which could result in unnecessary waste of time and money. ## Getting Started ### Prepare the TF Image Card and Insert it into the Device If the package you purchased includes a TF card, it already contains the factory image. If the TF card was not installed in the device at the factory, you will first need to carefully open the case (be careful not to tear the ribbon cables inside) and then insert the TF card. Additionally, since the firmware from the factory may be outdated, you can follow the instructions on [Upgrading and Flashing the System](https://wiki.sipeed.com/maixpy/doc/zh/basic/os.html) to upgrade the system to the latest version. If you did not purchase a TF card, you need to flash the system onto a self provided TF card. Please refer to [Upgrading and Flashing the System](./basic/os.html) for the flashing method, and then install it on the board. ### Power On Use a `Type C` data cable to connect the `MaixCAM` device and power it on. Wait for the device to boot up and enter the function selection interface. ![maixcam_font](../../static/image/maixcam_font.png) If the screen does not display: * Please confirm that you purchased the bundled TF card. If you confirm that you have a TF card and it is inserted into the device, you can try [updating to the latest system](./basic/os.html). * If you did not purchase the TF card bundle, you need to follow the instructions in [Upgrading and Flashing the System](./basic/os.html) to flash the latest system onto the TF card. * Also, ensure that the screen and camera cables are not loose. The screen cable can easily come off when opening the case, so be careful. ### Connect to the Network For the first run, you need to connect to the network, as you will need it later to activate the device and use the IDE. * On the device, click `Settings`, select `WiFi`, and click the `Scan` button to start scanning for nearby `WiFi`. You can click several times to refresh the list. * Find your WiFi hotspot. If you don't have a router, you can use your phone as a hotspot. * Enter the password and click the `Connect` button to connect. * Wait for the `IP` address to be obtained. This may take `10` to `30` seconds. If the interface does not refresh, you can exit the `WiFi` function and re enter to check, or you can also see the `IP` information in `Settings` > `Device Info`. ### Update the Runtime Libraries **This step is very important!!!** If this step is not done properly, other applications and functions may not work (e.g., they may crash). * First, ensure that you have completed the previous step of connecting to WiFi and have obtained an IP address to access the internet. * On the device, click `Settings`, and select `Install Runtime Libraries`. * After the installation is complete, you will see that it has been updated to the latest version. Then exit. If it shows `Request failed` or `请求失败` (Request failed), please first check if the network is connected. You need to be able to connect to the internet. If it still doesn't work, please take a photo and contact customer service for assistance. ### Use Built in Applications Many applications are built in, such as Find Blobs, AI Detector, Line Follower, etc. For example, Find Blobs: <video playsinline controls autoplay loop muted preload class \"pl 6 pb 4 self end\" src \"/static/video/find_blobs.mp4\" type \"video/mp4\"> Classifier Result video </video> Please explore other applications on your own. More applications will be updated in the future. For usage documentation and application updates, please see the [MaixHub App Store](https://maixhub.com/app). **Note: The applications only include a part of the functionality that MaixPy can achieve. Using MaixPy, you can create even more features.** ## Use as a Serial Module > If you want to use the device as the main controller (or if you don't understand what a serial module is), you can skip this step. The built in applications can be used directly as serial modules, such as `Find Blobs`, `Find Faces`, `Find QR Codes`, etc. Usage: * Hardware connection: You can connect the device to the `Type C one to two mini board`, which allows you to connect the device via serial to your main controller, such as `Arduino`, `Raspberry Pi`, `STM32`, etc. * Open the application you want to use, such as QR code recognition. When the device scans a QR code, it will send the result to your main controller via serial. > The serial baud rate is `115200`, the data format is `8N1`, and the protocol follows the [Maix Serial Communication Protocol Standard](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md). You can find the corresponding application introduction on the [MaixHub APP](https://maixhub.com/app) to view the protocol. ## Prepare to Connect the Computer and Device To allow the computer (PC) and the device (MaixCAM) to communicate later, we need to have them on the same local area network. Two methods are provided: * **Method 1 (strongly recommended)**: Wireless connection. The device uses WiFi to connect to the same router or WiFi hotspot as the computer. You can connect to your WiFi in the device's `Settings > WiFi Settings`. * **Method 2**: Wired connection. The device connects to the computer via a USB cable, and the device will act as a virtual USB network card, allowing it to be on the same local area network as the computer via USB. > Method 2 may encounter some problems due to the need for USB and drivers, so it is recommended to start with WiFi instead. You can find common issues in the [FAQ](./faq.html). .. details::Method 2 has different setup methods on different computer systems, click to expand * **Linux**: No additional setup is required. Just plug in the USB cable. Use `ifconfig` or `ip addr` to view the `usb0` network card. **Note** that the IP address you see here, e.g., `10.131.167.100`, is the computer's IP. The device's IP is the last octet changed to `1`, i.e., `10.131.167.1`. * **Windows**: You can first confirm if a RNDIS device has been added in the `Network Adapters`. If so, you can use it directly. Otherwise, you need to manually install the RNDIS network card driver: * Open the computer's `Device Manager`. * Then find a RNDIS device with a question mark under `Other Devices`, right click and select `Update Driver Software`. * Select `Browse my computer for driver software`. * Select `Let me pick from a list of available drivers on my computer`. * Select `Network Adapters`, then click `Next`. * On the left, select `Microsoft`, on the right, select `Remote NDIS Compatible Device`, then click `Next`, and select `Yes`. * After installation, the effect is as follows: ![RNDIS](../../static/image/rndis_windows.jpg) * **MacOS**: No additional setup is required. Just plug in the USB cable. Use `ifconfig` or `ip addr` to view the `usb0` network card. **Note** that the IP address you see here, e.g., `10.131.167.100`, is the computer's IP. The device's IP is the last octet changed to `1`, i.e., `10.131.167.1`. ## Prepare the Development Environment * Download and install [MaixVision](https://wiki.sipeed.com/maixvision). * Connect the device and computer with a Type C cable, open MaixVision, and click the `\"Connect\"` button in the bottom left corner. It will automatically search for devices. After a short wait, you will see the device, and you can click the connect button next to it to connect to the device. If **no device is detected**, you can also manually enter the device's IP address in the **device**'s `Settings > Device Info`. You can also find solutions in the [FAQ](./faq.html). **After a successful connection, the function selection interface on the device will disappear, and the screen will turn black, releasing all hardware resources. If there is still an image displayed, you can disconnect and reconnect.** Here is a video example of using MaixVision: <video style \"width:100%\" controls muted preload src \"/static/video/maixvision.mp4\"></video> ## Run Examples Click `Example Code` on the left side of MaixVision, select an example, and click the `Run` button in the bottom left to send the code to the device for execution. For example: * `hello_maix.py`: Click the `Run` button, and you will see messages printed from the device in the MaixVision terminal, as well as an image in the upper right corner. * `camera_display.py`: This example will open the camera and display the camera view on the screen. ```python from maix import camera, display, app disp display.Display() # Construct a display object and initialize the screen cam camera.Camera(640, 480) # Construct a camera object, manually set the resolution to 640x480, and initialize the camera while not app.need_exit(): # Keep looping until the program exits (you can exit by pressing the function key on the device or clicking the stop button in MaixVision) img cam.read() # Read the camera view and save it to the variable img, you can print(img) to print the details of img disp.show(img) # Display img on the screen ``` * `yolov5.py` will detect objects in the camera view, draw bounding boxes around them, and display them on the screen. It supports detection of 80 object types. For more details, please see [YOLOv5 Object Detection](./vision/yolov5.html). You can try other examples on your own. > If you encounter image display stuttering when using the camera examples, it may be due to poor network connectivity, or the quality of the USB cable or the host's USB being too poor. You can try changing the connection method or replacing the cable, host USB port, or computer. ## Install Applications on the Device The above examples run code on the device, but the code will stop running when `MaixVision` is disconnected. If you want the code to appear in the boot menu, you can package it as an application and install it on the device. Click the `Install App` button in the bottom left corner of `MaixVision`, fill in the application information, and the application will be installed on the device. Then you will be able to see the application on the device. You can also choose to package the application and share your application to the [MaixHub App Store](https://maixhub.com/app). > The default examples do not explicitly write an exit function, so you can exit the application by pressing the function key on the device. (For MaixCAM, it is the user key.) If you want the program to start automatically on boot, you can set it in `Settings > Boot Startup`. ## Next Steps If you like what you've seen so far, **please be sure to give the MaixPy open source project a star on [GitHub](https://github.com/sipeed/MaixPy) (you need to log in to GitHub first). Your star and recognition is the motivation for us to continue maintaining and adding new features!** Up to this point, you've experienced the usage and development workflow. Next, you can learn about `MaixPy` syntax and related features. Please follow the left sidebar to learn. If you have any questions about using the API, you can look it up in the [API documentation](/api/). It's best to learn with a specific purpose in mind, such as working on an interesting small project. This way, the learning effect will be better. You can share your projects and experiences on the [MaixHub Share Plaza](https://maixhub.com/share) and receive cash rewards! ## Share and Discuss * **[MaixHub Project and Experience Sharing](https://maixhub.com/share)**: Share your projects and experiences, and receive cash rewards. The basic requirements for receiving official rewards are: * **Reproducible**: A relatively complete process for reproducing the project. * **Showcase**: No detailed project reproduction process, but an attractive project demonstration. * **Bug solving experience**: Sharing the process and specific solution for resolving a particular issue. * [MaixPy Official Forum](https://maixhub.com/discussion/maixpy) (for asking questions and discussion) * Telegram: [MaixPy](https://t.me/maixpy) * MaixPy Source Code Issues: [MaixPy issue](https://github.com/sipeed/MaixPy/issues) * For business cooperation or bulk purchases, please contact support@sipeed.com."},"/maixpy/doc/en/video/jpeg_streaming.html":{"title":"MaixPy Video Stream JPEG Streaming / Sending Images to Server","content":" title: MaixPy Video Stream JPEG Streaming / Sending Images to Server update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial document ## Introduction Sometimes it is necessary to send images to a server or push video from a camera to a server. Here, we provide the simplest method, which is to compress images into `JPEG` format and send them one by one to the server. Note, this is a very basic method and not a formal way to stream video. It is also not suitable for high resolution, high frame rate video streams, as it involves sending images one by one. For more efficient video streaming, please use the `RTSP` or `RTMP` modules discussed later. ## How to Use ```python from maix import image import requests # create image img image.Image(640, 480, image.Format.FMT_RGB) # draw something img.draw_rect(60, 60, 80, 80, image.Color.from_rgb(255, 0, 0)) # convert to jpeg jpeg img.to_format(image.Format.FMT_JPEG) # image.Format.FMT_PNG # get jpeg bytes jpeg_bytes jpeg.to_bytes() # faster way, borrow memory from jpeg object, # but be careful, when jpeg object is deleted, jpeg_bytes object MUST NOT be used, or program will crash # jpeg_bytes jpeg.to_bytes(copy False) # send image binary bytes to server url \"http://192.168.0.123:8080/upload\" res requests.post(url, data jpeg_bytes) print(res.status_code) print(res.text) ``` As you can see, the image is first converted into `JPEG` format, and then the binary data of the `JPEG` image is sent to the server via `TCP`."},"/maixpy/doc/en/source_code/faq.html":{"title":"MaixPy Source Code FAQ","content":"MaixPy Source Code FAQ ## subprocess.CalledProcessError: Command '('lsb_release', ' a')' returned non zero exit status 1. Edit `/usr/bin/lsb_release` as root, change the first line from `#!/usr/bin/python3` to `python3`. Then compile again and it should work. ## ImportError: arg(): could not convert default argument 'format: maix::image::Format' in method '<class 'maix._maix.camera.Camera'>.__init__' into a Python object (type not registered yet?) Pybind11 need you to register `image::Format` first, then you can use it in `camera::Camera`, to we must fist define `image::Format` in generated `build/maixpy_wrapper.cpp` source file. To achieve this, edit `components/maix/headers_priority.txt`, the depended on should be placed before the one use it. e.g. ``` maix_image.hpp maix_camera.hpp ```"},"/maixpy/doc/en/source_code/build.html":{"title":"MaixPy develop source code guide","content":" title: MaixPy develop source code guide ## Get source code ```shell git clone https://github.com/sipeed/MaixPy cd MaixPy ``` ## Build and pack to wheel ```shell python setup.py bdist_wheel maixcam ``` `maixcam` Can be replaced with other board config, see [setup.py]([./configs](https://github.com/sipeed/MaixPy/blob/main/setup.py)) 's `platform_names` variable. After build success, you will find wheel file in `dist` directory, use `pip install U MaixPy****.wheel` on your device to install or upgrade. > `python setup.py bdist_wheel maixcam skip build` will not execute build command and only pack wheel, so you can use `maixcdk menuconfig` and `maixcdk build` first to customize building. ## Build manually ```shell maixcdk build ``` ## Run test after modify source code * First, build source code by ```shell maixcdk build ``` * If build for PC self(platform `linux`): Then execute `./run.sh your_test_file_name.py` to run python script. ```shell cd test ./run.sh examples/hello_maix.py ``` * If cross compile for borad: * The fastest way is copy `maix` dir to device's `/usr/lib/python3.11/site packages/` directory, then run script on device. * Or pack wheel and install on device by `pip install U MaixPy****.wheel`, then run script on device. ## Preview documentation locally Documentation in [docs](https://github.com/sipeed/MaixPy/tree/main/docs) directory, use `Markdown` format, you can use [teedoc](https://github.com/teedoc/teedoc) to generate web version documentation. And the API doc is generated when build MaixPy firmware, **if you don't build MaixPy, the API doc will be empty**. ```shell pip install teedoc U cd docs teedoc install i https://pypi.tuna.tsinghua.edu.cn/simple teedoc serve ``` Then visit `http://127.0.0.1:2333` to preview documentation on web browser. ## For developers who want to contribute See [MaixPy develop source code guide](./contribute.html) If you encounter any problems when use source code, please refer to [FAQ](./faq.html) first."},"/maixpy/doc/en/source_code/maixcdk.html":{"title":"Switching to MaixCDK for C/C++ Application Development","content":" title: Switching to MaixCDK for C/C++ Application Development In addition to developing with MaixPy, there is also a corresponding C/C++ SDK available, called [MaixCDK](https://github.com/sipeed/MaixCDK). ## Introduction to MaixCDK MaixPy is built on top of MaixCDK, and most of MaixPy's APIs are automatically generated based on MaixCDK's APIs. Therefore, any functionality available in MaixPy is also included in MaixCDK. If you are more familiar with C/C++ programming or require higher performance, you can use MaixCDK for development. ## Using MaixCDK The MaixCDK code repository is located at [github.com/sipeed/MaixCDK](https://github.com/sipeed/MaixCDK), where you can find the MaixCDK code and documentation."},"/maixpy/doc/en/faq.html":{"title":"MaixPy FAQ (Frequently Asked Questions)","content":" title: MaixPy FAQ (Frequently Asked Questions) This page lists common questions and solutions related to MaixPy. If you encounter any issues, please search for answers here first. If you cannot find an answer on this page, you can post your question with detailed steps on the [MaixHub Discussion Forum](https://maixhub.com/discussion). If you use MaixCAM, you can also refer to [MaixCAM FAQ](https://wiki.sipeed.com/hardware/zh/maixcam/faq.html) ## MaixVision cannot find the device? First, confirm whether the connection method is WiFi or USB cable. **WiFi**: * Ensure that WiFi is correctly connected and has obtained an IP address. You can view the `ip` in `Settings > Device Info` or `Settings > WiFi`. **USB Cable**: * Ensure that the device is connected to the computer via a Type C data cable, and the device is powered on and has entered the function selection interface. * Ensure that the device driver is installed: * On Windows, check if there is a USB virtual network adapter device in `Device Manager`. If there is an exclamation mark, it means the driver is not installed properly. Follow the instructions in [Quick Start](./index.html) to install the driver. * On Linux, you can check if there is a `usb0` device by running `ifconfig` or `ip addr`, or check all USB devices with `lsusb`. Linux already includes the driver, so if the device is not recognized, check the hardware connection, ensure the device system is up to date, and ensure the device has booted up properly. * On macOS, follow the same steps as Linux. * Additionally, check the quality of the USB cable and try using a high quality cable. * Additionally, check the quality of the computer's USB port. For example, some small form factor PCs have poor EMI design on their USB ports, and connecting a good quality USB hub may allow the device to work. You can also try a different USB port or a different computer. ## MaixVision camera example shows choppy video The default GC4653 camera has a maximum frame rate of 30 frames per second (FPS). Under normal circumstances, the MaixVision display should not appear choppy to the naked eye. If choppiness occurs, first consider transmission issues: * Check the network connection quality, such as WiFi. * If using a USB connection, check the USB cable quality, computer USB port quality, and try using a different computer, USB port, or USB cable for comparison. ## What is the difference between MaixPy v4 and v1/v3? * MaixPy v4 uses the Python language and is the culmination of the experiences from v1 and v3, offering better supporting software and ecosystem, more features, simpler usage, and more comprehensive documentation. While the hardware has significant improvements, the pricing is even more affordable compared to the other two versions. Additionally, it provides compatibility with the K210 user experience and API, making it easier for users to migrate quickly from v1 to v4. * v1 used the Micropython language and had many limitations, such as limited third party library support. Additionally, due to the hardware performance limitations of the Maix I (K210), there was not enough memory, limited AI model support, and lack of hardware acceleration for many codecs. * v3 also used the Python language and was based on the Maix II Dock (v831) hardware. However, the hardware had limited AI model support, and the Allwinner ecosystem was not open enough, with an incomplete API. This version was only intended for use with the Maix II Dock (v831) and will not receive further updates. ## Does MaixPy currently only support MaixCAM, or can it work with other boards using the same chipset? MaixPy currently only supports the MaixCAM series of boards. Other boards using the same chipset, including Sipeed's boards like the LicheeRV Nano, are not supported. It is strongly recommended not to attempt using MaixPy with other boards, as it may result in device damage (such as smoke or screen burn), for which you will be solely responsible. In the future, Sipeed's Maix series of products will continue to be supported by MaixPy. If you have any needs that cannot be met by MaixCAM, you can post your requirements on the [MaixHub Discussion Forum](https://maixhub.com/discussion) or send an email to support@sipeed.com. ## Can I use a camera or screen other than the officially bundled ones? It is not recommended to use cameras or screens other than the officially bundled ones, unless you have sufficient software and hardware knowledge and experience. Otherwise, it may result in device damage. The officially bundled accessories have been fine tuned for both software and hardware, ensuring the best performance and allowing for out of the box usage. Other accessories may have different interfaces, drivers, and software, requiring you to calibrate them yourself, which is an extremely complex process. However, if you are an expert, we welcome you to submit a pull request! ## Model running error: cvimodel built for xxxcv181x CANNOT run on platform cv181x. Failure to parse the model file is generally caused by file corruption. Ensure that your model file is not damaged. For example: * If it was downloaded from the internet, make sure the download was not corrupted. Typically, files on the internet provide sha256sum/md5 checksums. After downloading, you can compare these values; for specific methods, please search online or ask ChatGPT. * If it comes from a compressed archive, ensure that the decompression process was error free. You can decompress the archive again to make sure there were no errors in the process. * Ensure that the file was not damaged during the transfer to the device. You can compare the sha256sum values of the file on the device and on your computer; for specific methods, please search online or ask ChatGPT. ## Power on Black Screen, No Display on the Screen * Check if the TF (micro SD) card is installed. * Check if the latest system image is burned onto the TF card (strongly recommended to update to the latest system image); see documentation for specific burning methods. * Check if the TF card is fully inserted into the TF card slot, ensuring there are no gaps and it is not loose. * Check if the screen and camera ribbon cables are correctly and securely connected; there should be no looseness. * Check if the power LED (red light) and the system operation status LED (blue light) on the board are lit. If the red light is off, consider hardware issues such as no power supply, insufficient power supply, or a damaged board. * Connect the board to a computer using a USB to TTL cable, open the serial port assistant on the computer, restart the board, and check the boot logs for any errors. > If there is no log output, try swapping the TX and RX wires. For MaixCAM, the orientation of the Type C to serial port adapter may vary, and TX RX might be reversed, meaning it does not support reversible plugging."},"/maixpy/doc/en/basic/python.html":{"title":"Basic Knowledge of Python","content":" title: Basic Knowledge of Python The tutorial documentation of MaixPy does not delve into specific Python syntax tutorials because there are already too many excellent Python tutorials available. Here, we only introduce what needs to be learned, provide guidance on directions and paths. ## Introduction to Python Python is an interpreted, object oriented, dynamically typed high level programming language. * Interpreted: It does not require compilation, runs directly. The advantage is rapid development, while a minor drawback is the slower execution speed due to code interpretation on each run. However, most often, the bottleneck lies in the developer's code rather than the language itself. * Object oriented: It supports object oriented programming, allowing the definition of classes and objects. Compared to procedural languages, it is easier to organize code. For more details, please search independently. * Dynamically typed: Variables do not need to declare types, can be assigned directly, and the type will be automatically determined based on the assignment. This reduces code volume, but can also lead to type errors, requiring the developer's attention. In conclusion, for developers unfamiliar with Python, it is very easy to get started as Python offers plenty of ready to use libraries, a large developer community, short application development cycles, making it highly worthwhile to learn! ## Python Environment Setup You can install Python on your computer according to the Python tutorial you are following for learning. Alternatively, you can connect to a device via MaixVision on MaixVision and then run the program on the development board. ## What Python Basics are Needed to Use MaixPy? * Basic concepts of Python. * Basic concepts of object oriented programming. * Basic syntax of Python, including: * Tab indentation alignment syntax. * Variables, functions, classes, objects, comments, etc. * Control statements such as if, for, while, etc. * Modules and importing modules. * Basic data types such as int, float, str, list, dict, tuple, etc. * Difference between bytes and str, and conversion. * Exception handling, try except. * Common built in functions like print, open, len, range, etc. * Common built in modules like os, sys, time, random, math, etc. Mastering the above foundational knowledge will enable you to smoothly program with MaixPy. With the help of subsequent tutorials and examples, if unsure, you can refer to search engines, official documentation, or ask ChatGPT to successfully complete your development tasks. ## For Developers Experienced in Another Object Oriented Programming Language If you are already proficient in an object oriented language like C++/Java/C#, you simply need to quickly review Python syntax before starting to use it. You can refer to resources like [Runoob Tutorial](https://www.runoob.com/python3/python3 tutorial.html) or the [Python Official Tutorial](https://docs.python.org/3/tutorial/index.html). Alternatively, you can explore individual developers' blogs, such as [Wow! It's Python](https://neucrack.com/p/59). ## For Developers with C Language Experience but No Object Oriented Programming Experience If you only know C and lack understanding of object oriented concepts, you can start by learning about object oriented programming concepts before diving into Python. It's relatively quick and you can search for video tutorials for entry level guidance. After following introductory video tutorials, you can then refer to documentation tutorials such as [Runoob Tutorial](https://www.runoob.com/python3/python3 tutorial.html) or the [Python Official Tutorial](https://docs.python.org/3/tutorial/index.html) to get started! Once you have acquired the basic knowledge, you can start using MaixPy for programming based on the documentation and examples. ## For Programming Beginners If you have never dealt with programming before, you will need to start learning Python from scratch. Python is also quite suitable as an introductory language. You can search for video tutorials for specific guidance. After mastering the basic syntax, you will be able to use MaixPy for programming by following examples provided."},"/maixpy/doc/en/basic/linux_basic.html":{"title":"Basic Knowledge of Linux","content":" title: Basic Knowledge of Linux ## Introduction For beginners just starting out, you can skip this chapter for now and come back to it after mastering the basics of MaixPy development. The latest MaixPy supports running Linux on the MaixCAM hardware, so the underlying MaixPy development is based on the Linux system. Although Sipeed has done a lot of work for developers with MaixPy, making it possible to enjoy using it without knowledge of the Linux system, there might be situations where some low level operations are necessary or for the convenience of developers unfamiliar with Linux. In this section, we will cover some basic Linux knowledge. ## Why Linux System is Needed Specific reasons can be researched individually. Here are a few examples in simplified terms that may not sound too technical but are easy for beginners to understand: * In microcontrollers, our program is usually a loop, but with Linux, we can run multiple programs simultaneously, each appearing to run independently, where the actual execution is handled by the operating system. * With a large community of Linux based developers, required functionalities and drivers can be easily found without the need to implement them from scratch. * Linux offers a rich set of accompanying software tools for convenient development and debugging. Some Linux common tools not mentioned in this tutorial can theoretically be used as well. ## File System What is a file system? * Similar to a computer's file system, Linux manages hardware disks using a file system, making it easy for us to read and write data to the disk. * For students who have learned about microcontrollers but not familiar with file system development, imagine having a Flash or TF card where data can be read and written through APIs even after power loss. However, Flash has read/write limitations, requiring a program to ensure its longevity. A file system is like a mature program that manages the Flash space and read/write operations. By calling the file system's APIs, we can significantly reduce development work and ensure stability and security with proven programs. ## Transferring Files between Computer and Device (Development Board) Since the device has Linux and a file system, how do we send files to it? For MaixPy, we offer MaixVision for file management in future versions. Before that, you can use the following method: Here we mainly discuss transferring files through the network. Other methods can be explored on your own by searching for \"transferring files to Linux\": * Ensure the device and computer are connected to the same local network, for example: * When the MaixCAM's USB port is connected to the computer, a virtual network card is created which can be seen in the device manager on the computer, and the device's IP can be found in the device's `Settings > Device Information`. * Alternatively, connect to the same local network on the device through `Settings > WiFi`. * Use SCP or SFTP protocols on the computer to transfer files to the device. There are many specific software options and methods, such as: * On Windows, you can use WinSCP, FileZilla, or the scp command. * On Linux, use FileZilla or the scp command. * On Mac, use FileZilla or the scp command. ## Terminal and Command Line The terminal is a tool for communicating with and operating the Linux system, similar to Windows' `cmd` or `PowerShell`. For example, we can enter `ssh root@maixcam xxxx.local` in the Terminal tool on a Windows system with PowerShell or on a Linux system. You can find the specific name in the device's `Settings >Device Information`, which allows us to connect to the device through the terminal (both username and password are `root`). Then, we can operate the device by entering commands. For instance, the `ls` command can list the files in the current directory of the device, while `cd` is used to switch to a different directory (similar to clicking folders in file management on a computer), ```shell cd / # Switch to the root directory ls # Display all files in the current directory (root directory) ``` This will display similar content as below: ```shell bin lib media root tmp boot lib64 mnt run usr dev linuxrc opt sbin var etc lost+found proc sys ``` For more command learning, please search for `Linux command line usage tutorials` on your own. This is just to introduce beginners to basic concepts so that when developers mention them, they can understand what they mean."},"/maixpy/doc/en/basic/maixvision.html":{"title":"MaixVision - MaixPy Programming + Graphical Block Programming","content":" title: MaixVision MaixPy Programming + Graphical Block Programming ## Introduction MaixVision is a developer programming tool specifically designed for the Maix ecosystem, supporting MaixPy programming and graphical block programming. It also supports online running, debugging, and real time image preview, allowing the synchronization of the device display screen for easy debugging and development. It also supports packaging applications and installing them on devices, making it convenient for users to generate and install applications with a single click. Additionally, it integrates some handy development tools, such as file management, threshold editors, QR code generators, and more. ## Using MaixPy Programming and Online Running By following the steps in the [Quick Start](../index.html), we can easily use MaixPy programming and run programs online. ## Real time Image Preview MaixPy provides a `display` module, which can display images on the screen. When calling the `show` method of the `display` module, the image will be sent to MaixVision for display in real time, for example: ```python from maix import display, camera cam camera.Camera(640, 480) disp display.Display() while 1: disp.show(cam.read()) ``` Here, we capture an image using the camera, and then display it on the screen using `disp.show()`, which will also transmit the image to MaixVision for display. By clicking the `Pause` button in the top right corner, the transmission of the image to MaixVision display will stop. ## Computing the Histogram of an Image In the previous step, we could see the image in real time on MaixVision. By selecting a region with the mouse, we can view the histogram of that area below the image. Choosing different color representation methods allows us to see histograms of different color channels. This feature helps us find suitable parameters when working on image processing algorithms. ## Using Graphical Block Programming Currently in development, stay tuned for updates. ## Distinguishing Between `Device File System` and `Computer File System` An important concept to grasp here is distinguishing between the **`Computer File System`** and **`Device File System`**: **Computer File System**: This operates on the computer. Opening files or projects in MaixVision accesses files stored on the computer. Any changes are automatically saved to the computer's file system. **Device File System**: When a program runs, it sends files to the device for execution. Therefore, files accessed within the code are read from the device's file system. A common issue arises when a file is saved on the computer at `D:\\data\\a.jpg`, and then the file is referenced on the device like `img image.load(\"D:\\data\\a.jpg\")`. This file cannot be found on the device because there is no `D:\\data\\a.jpg` file stored there. For specific instructions on transferring computer files to the device, please refer to the following section. ## Transferring Files to the Device Currently in development. In the meantime, you can use alternative tools: Begin by knowing the device's IP address or device name, which MaixVision can search for, or check in the device's `Settings > System Information`, where you might find something similar to `maixcam xxxx.local` or `192.168.0.123`. The username and password are both `root`, and the file transfer protocol is `SFTP` with port number `22`. There are various user friendly software options available for different operating systems: ### For Windows Use tools like [WinSCP](https://winscp.net/eng/index.php) or [FileZilla](https://filezilla project.org/) to connect to the device via `SFTP`. Provide the necessary device and account information to establish the connection. For further guidance, perform a quick online search. ### For Linux Use the `scp` command in the terminal to transfer files to the device, for example: ```bash scp /path/to/your/file.py root@maixcam xxxx.local:/root ``` ### For Mac **Method 1**: Use the `scp` command in the terminal to transfer files to the device, for example: ```bash scp /path/to/your/file.py root@maixcam xxxx.local:/root ``` * **Method 2**: Use tools like [FileZilla](https://filezilla project.org/) to connect to the device, transfer the files to the device, choose the `SFTP` protocol, fill in the device and account information, and connect."},"/maixpy/doc/en/basic/app.html":{"title":"App development and app stores","content":" title: App development and app stores ## Introduction to Application Ecosystem In order to make the development board ready to use out of the box, make it easy for users to use without barriers, enable developers to share their interesting applications, and provide effective channels for receiving feedback and even profits, we have launched a simple application framework, including: **[App Store](https://maixhub.com/app)**: Developers can upload and share applications, which users can download and use without needing to develop them. Developers can receive certain cash rewards (from MaixHub or user tips). **Pre installed Apps**: The official provides some commonly used applications, such as color block detection, AI object detection tracking, QR code scanning, face recognition, etc., which users can use directly or use as serial module. **MaixPy + MaixCDK Software Development Kit**: Using [MaixPy](https://github.com/sipeed/maixpy) or [MaixCDK](https://github.com/sipeed/MaixCDK), you can quickly develop embedded AI visual and audio applications in Python or C/C++, efficiently realizing your interesting ideas. **MaixVision Desktop Development Tool**: A brand new desktop code development tool for quick start, debugging, running, uploading code, installing applications to devices, one click development, and even support for graphical block based programming, making it easy for elementary school students to get started. Everyone is welcome to pay attention to the App Store and share their applications in the store to build a vibrant community together. ## Packaging Applications Using MaixPy + MaixVison makes it easy to develop, package, and install applications: Develop applications with MaixPy in MaixVision, which can be a single file or a project directory. Connect the device. Click the \"Install\" button at the bottom left corner of MaixVision, fill in the basic information of the application in the popup window, where the ID is used to identify the application. A device cannot simultaneously install different applications with the same ID, so the ID should be different from the IDs of applications on MaixHub. The application name can be duplicated. You can also upload an icon. Click \"Package Application\" to package the application into an installer. If you want to upload it to the [MaixHub App Store](https://maixhub./com/app), you can use this packaged file. Click \"Install Application\" to install the packaged application on the device. Disconnect from the device, and you will see your application in the device's app selection interface. Simply click on it to run the application. > If you develop with MaixCDK, you can use `maixcdk release` to package an application. Refer to the MaixCDK documentation for specifics. ## Exiting Applications If you have developed a relatively simple application without a user interface and a back button, you can exit the application by pressing the device's function button (usually labeled as USER, FUNC, or OK) or the back button (if available, MaixCAM does not have this button by default). ## Basic Guidelines for Application Development Since touchscreens are standard, it is recommended to create a simple interface with touch interaction. You can refer to examples for implementation methods. Avoid making interfaces and buttons too small, as MaixCAM default screen is 2.3 inches with 552x368 resolution and high PPI. Make sure fingers can easily tap without making mistakes. Implement a simple serial interaction for the main functionality of each application based on the [serial protocol](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md) (see [example](https://github.com/sipeed/MaixPy/tree/main/examples/communication/protocol)). This way, users can directly use it as a serial module. For instance, in a face detection application, you can output coordinates via serial port when a face is detected."},"/maixpy/doc/en/vision/apriltag.html":{"title":"MaixPy Apriltag Recognition","content":" title: MaixPy Apriltag Recognition update: date: 2024 04 03 author: lxowalle version: 1.0.0 content: Initial documentation Before reading this article, make sure you are familiar with how to develop with MaixPy. For more details, please read [MaixVision MaixPy Programming + Graphical Block Programming](../basic/maixvision.html). ## Introduction This article introduces how to use MaixPy to recognize Apriltag labels. ## Using MaixPy to Recognize Apriltag Labels MaixPy's `maix.image.Image` provides the `find_apriltags` method, which can be used to recognize Apriltag labels. ### How to Recognize Apriltag Labels A simple example of recognizing Apriltag labels and drawing bounding boxes: ```python from maix import image, camera, display cam camera.Camera() disp display.Display() families image.ApriltagFamilies.TAG36H11 x_scale cam.width() / 160 y_scale cam.height() / 120 while 1: img cam.read() new_img img.resize(160, 120) apriltags new_img.find_apriltags(families families) for a in apriltags: corners a.corners() for i in range(4): corners[i][0] int(corners[i][0] * x_scale) corners[i][1] int(corners[i][1] * y_scale) x int(a.x() * x_scale) y int(a.y() * y_scale) w int(a.w() * x_scale) h int(a.h() * y_scale) for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(x + w, y, \"id: \" + str(a.id()), image.COLOR_RED) img.draw_string(x + w, y + 15, \"family: \" + str(a.family()), image.COLOR_RED) disp.show(img) ``` Steps: 1. Import the image, camera, and display modules ```python from maix import image, camera, display ``` 2. Initialize the camera and display ```python cam camera.Camera() disp display.Display() ``` 3. Get the image from the camera and display it ```python while 1: img cam.read() disp.show(img) ``` 4. Call the `find_apriltags` method to recognize Apriltag labels in the camera image ```python new_img img.resize(160, 120) apriltags new_img.find_apriltags(families families) ``` `img` is the camera image obtained through `cam.read()` `img.resize(160, 120)` is used to scale down the image to a smaller size, allowing the algorithm to compute faster with a smaller image `new_img.find_apriltags(families families)` is used to find Apriltag labels, and the query results are saved in `apriltags` for further processing. The `families` parameter is used to select the Apriltag family, defaulting to `image.ApriltagFamilies.TAG36H11` 5. Process the recognized label results and display them on the screen ```python for a in apriltags: # Get position information (and map coordinates to the original image) x int(a.x() * x_scale) y int(a.y() * y_scale) w int(a.w() * x_scale) corners a.corners() for i in range(4): corners[i][0] int(corners[i][0] * x_scale) corners[i][1] int(corners[i][1] * y_scale) # Display for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(x + w, y, \"id: \" + str(a.id()), image.COLOR_RED) img.draw_string(x + w, y + 15, \"family: \" + str(a.family()), image.COLOR_RED) img.draw_string(x + w, y + 30, \"rotation : \" + str(180 * a.rotation() // 3.1415), image.COLOR_RED) ``` Iterate through the members of `apriltags`, which is the result of scanning Apriltag labels through `img.find_apriltags()`. If no labels are found, the members of `apriltags` will be empty. `x_scale` and `y_scale` are used to map coordinates. Since `new_img` is a scaled down image, the coordinates of the Apriltag need to be mapped to be drawn correctly on the original image `img`. `a.corners()` is used to get the coordinates of the four vertices of the detected label, and `img.draw_line()` uses these four vertex coordinates to draw the shape of the label. `img.draw_string` is used to display the label content, where `a.x()` and `a.y()` are used to get the x and y coordinates of the top left corner of the label, `a.id()` is used to get the label ID, `a.family()` is used to get the label family type, and `a.rotation()` is used to get the rotation angle of the label. ### Common Parameter Explanations Here are explanations for common parameters. If you can't find parameters to implement your application, you may need to consider using other algorithms or extending the required functionality based on the current algorithm's results. Parameter Description Example roi Set the rectangular region for the algorithm to compute. roi [x, y, w, h], where x and y represent the coordinates of the top left corner of the rectangle, and w and h represent the width and height of the rectangle. The default is the entire image. Compute the region with coordinates (50,50) and a width and height of 100:<br />```img.find_apriltags(roi [50, 50, 100, 100])``` families Apriltag label family type Scan for labels from the TAG36H11 family:<br />```img.find_apriltags(families image.ApriltagFamilies.TAG36H11)``` This article introduces common methods. For more API information, please refer to the [image](../../../api/maix/image.html) section of the API documentation."},"/maixpy/doc/en/vision/custmize_model.html":{"title":"MaixPy Custom (Offline Training) AI Model and Running","content":" title: MaixPy Custom (Offline Training) AI Model and Running update: date: 2024 4 23 version: v1.0 author: dragonforward content: Added YOLOv5s deployment > This post is contributed by the community user dragonforward > This blog will show you how to deploy your own YOLOv5s model (the author demonstrates a hard hat model) step by step from scratch. The training part refers to the author's previous work, and those who have already trained their models can skip this part, although there are some differences. **Obtain Custom Trained YOLOv5s ONNX Model** ### **Prepare Custom Dataset (The author uses the VOC dataset)** * `Dataset Directory Structure` is as follows: ``` └─VOC2028: Custom dataset ├─Annotations Stores the dataset label files in XML format ├─ImageSets Dataset split files │ └─Main ├─JPEGImages Stores the dataset images ``` * `Split the Dataset` Execute `python3 split_train_val.py` in the `split_train_val.py` file path, and you will get the following directory structure: ``` └─VOC2028: Custom dataset ├─Annotations Stores the dataset label files in XML format ├─ImageSets Dataset split files │ └─Main test.txt └─test.txt └─train.txt └─val.txt ├─JPEGImages Stores the dataset images ├─split_train_val.py Python file for splitting the dataset ``` `split_train_val.py file code`: ```python # * coding: utf 8 * \"\"\" Author: dragonforward Description: Split into training, validation, and test sets in the ratio of 8:1:1, 8 for training, 1 for validation, and 1 for testing. \"\"\" import os import random import argparse parser argparse.ArgumentParser() # Address of the XML files, modify according to your data. XML files are usually stored in Annotations parser.add_argument(' xml_path', default 'Annotations/', type str, help 'input xml label path') # Dataset split, choose the address under your data's ImageSets/Main parser.add_argument(' txt_path', default 'ImageSets/Main/', type str, help 'output txt label path') opt parser.parse_args() train_percent 0.8 # Proportion of the training set val_percent 0.1 # Proportion of the validation set test_persent 0.1 # Proportion of the test set xmlfilepath opt.xml_path txtsavepath opt.txt_path total_xml os.listdir(xmlfilepath) if not os.path.exists(txtsavepath): os.makedirs(txtsavepath) num len(total_xml) list list(range(num)) t_train int(num * train_percent) t_val int(num * val_percent) train random.sample(list, t_train) num1 len(train) for i in range(num1): list.remove(train[i]) val_test [i for i in list if not i in train] val random.sample(val_test, t_val) num2 len(val) for i in range(num2): list.remove(val[i]) file_train open(txtsavepath + '/train.txt', 'w') file_val open(txtsavepath + '/val.txt', 'w') file_test open(txtsavepath + '/test.txt', 'w') for i in train: name total_xml[i][: 4] + '\\n' file_train.write(name) for i in val: name total_xml[i][: 4] + '\\n' file_val.write(name) for i in list: name total_xml[i][: 4] + '\\n' file_test.write(name) file_train.close() file_val.close() file_test.close() ``` * `Convert VOC to labels to obtain label files` Directory structure: ``` └─VOC2028: Custom dataset ├─Annotations Stores the dataset label files in XML format ├─ImageSets Dataset split files │ └─Main ├─JPEGImages Stores the dataset images └─labels YOLOv5 treats this folder as the training annotation folder └─voc_label.py ``` the `voc_label.py` file code: ```python # * coding: utf 8 * import xml.etree.ElementTree as ET import os sets ['train', 'val', 'test'] # If your Main folder doesn't have test.txt, remove 'test' classes [\"hat\", \"people\"] # Change to your own classes, VOC dataset has the following 20 classes # classes [\"brickwork\", \"coil\",\"rebar\"] # Change to your own classes, VOC dataset has the following 20 classes # classes [\"aeroplane\", 'bicycle', 'bird', 'boat', 'bottle', 'bus', 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog', # 'horse', 'motorbike', 'person', 'pottedplant', 'sheep', 'sofa', 'train', 'tvmonitor'] # class names # abs_path os.getcwd() /root/yolov5/data/voc_label.py abs_path '/root/yolov5/data/' def convert(size, box): dw 1. / (size[0]) dh 1. / (size[1]) x (box[0] + box[1]) / 2.0 1 y (box[2] + box[3]) / 2.0 1 w box[1] box[0] h box[3] box[2] x x * dw w w * dw y y * dh h h * dh return x, y, w, h def convert_annotation(image_id): in_file open(abs_path + '/VOC2028/Annotations/%s.xml' % (image_id), encoding 'UTF 8') out_file open(abs_path + '/VOC2028/labels/%s.txt' % (image_id), 'w') tree ET.parse(in_file) root tree.getroot() size root.find('size') w int(size.find('width').text) h int(size.find('height').text) for obj in root.iter('object'): difficult obj.find('difficult').text # difficult obj.find('Difficult').text cls obj.find('name').text if cls not in classes or int(difficult) 1: continue cls_id classes.index(cls) xmlbox obj.find('bndbox') b (float(xmlbox.find('xmin').text), float(xmlbox.find('xmax').text), float(xmlbox.find('ymin').text), float(xmlbox.find('ymax').text)) b1, b2, b3, b4 b # Bounding box correction if b2 > w: b2 w if b4 > h: b4 h b (b1, b2, b3, b4) bb convert((w, h), b) out_file.write(str(cls_id) + \" \" + \" \".join([str(a) for a in bb]) + '\\n') for image_set in sets: if not os.path.exists(abs_path + '/VOC2028/labels/'): os.makedirs(abs_path + '/VOC2028/labels/') image_ids open(abs_path + '/VOC2028/ImageSets/Main/%s.txt' % (image_set)).read().strip().split() list_file open(abs_path + '/VOC2028/%s.txt' % (image_set), 'w') for image_id in image_ids: list_file.write(abs_path + '/VOC2028/JPEGImages/%s.jpg\\n' % (image_id)) # Either complete the path yourself, or only writing half may cause an error convert_annotation(image_id) list_file.close() ``` ![custmize_model8](assets/custmize_model8.png) ### **Train the Model** * Configure the environment ``` git clone https://github.com/ultralytics/yolov5 cd yolov5 pip install r requirements.txt pip install onnx ``` * Download pre trained weights (the author tried both v7.0 and v6.0 pt, and both work) ``` https://github.com/ultralytics/yolov5/releases/download/v7.0/yolov5s.pt ``` ![custmize_model11](assets/custmize_model11.png) * Train the model (the author used the school's cluster for training) ``` python3 train.py weights weights/yolov5s.pt cfg models/yolov5s.yaml data data/safthat.yaml epochs 150 batch size 16 multi scale device 0 ``` ![custmize_model9](assets/custmize_model9.png) ``` python3 detect.py source /root/yolov5/data/images/000000.jpg weights /root/yolov5/runs/train/exp13/weights/best.pt conf thres 0.25 ``` ![custmize_model10](assets/custmize_model10.png) * Export the ONNX model. Since the school server is currently in class, they can allocate me a computer only after their class is over. So I used the local conda environment on my laptop to export it. The reason for using ` imgsz 224 320` is that it is more suitable for the screen. I also tried 640_640, but the camera reported an error, suggesting that it should be 640_480. Then I saw that the Sipeed YOLOv5s was 320*224, so I kept it consistent with theirs. ``` python export.py weights yolov5s_hat.pt include onnx opset 16 imgsz 224 320 ``` ![custmize_model5](assets/custmize_model5.png) You can view the model by entering netron.app in the URL, and there are three outputs: ![custmize_model2](assets/custmize_model2.png) Here are the author's three outputs: ``` onnx::Shape_329 onnx::Shape_384 onnx::Shape_439 ``` ## Model Conversion (Key Step) ### **Install Docker Environment (Skip if already installed)** ``` Install the basic software required for Docker sudo apt get update sudo apt get install apt transport https ca certificates curl gnupg agent software properties common Add official source curl fsSL https://download.docker.com/linux/ubuntu/gpg sudo apt key add sudo add apt repository \"deb [arch amd64] https://download.docker.com/linux/ubuntu $(lsb_release cs) stable\" Install Docker sudo apt get update sudo apt get install docker ce docker ce cli containerd.io ``` ### **Start the Model Quantization Process (!!!)** ### **Preparation** ``` Download from the following URL https://github.com/sophgo/tpu mlir/releases/tag/v1.7 tpu mlir resource.tar and tpu_mlir 1.7 py3 none any.whl ``` ![custmize_model3](assets/custmize_model3.png) The reason for pulling the latest version is that I failed with version 3.1, as the tools are constantly being updated, so it's better to keep up with the latest version. You can see in the image below that I also tried version 3.1. ![custmize_model7](assets/custmize_model7.png) ``` docker pull sophgo/tpuc_dev:latest After entering the container, copy the two prepared files to the workspace directory root@3d517bc7f51f:/workspace/model_yolov5s# cd .. root@3d517bc7f51f:/workspace# ls model_yolov5s tpu mlir resource tpu mlir resource.tar tpu_mlir 1.7 py3 none any.whl root@3d517bc7f51f:/workspace# Choose one of the following two options, I recommend the second one for offline installation pip install tpu_mlir[all] or pip install tpu_mlir * py3 none any.whl[all] The author chose the second option pip install tpu_mlir 1.7 py3 none any.whl And install all its dependencies pip install tpu_mlir 1.7 py3 none any.whl[all] Extract tar xvf tpu mlir resource.tar Rename the folder mv regression/ tpu mlir resource/ mkdir model_yolov5s && cd model_yolov5s cp rf ../tpu_mlir_resource/dataset/COCO2017 . cp rf ../tpu_mlir_resource/image . Transfer the previously prepared 100 images, one test image, and the ONNX model to the following location root@3d517bc7f51f:/workspace# cd model_yolov5s/ root@3d517bc7f51f:/workspace/model_yolov5s# ls COCO2017 image workspace yolov5n_hat.onnx yolov5s_hat.onnx root@3d517bc7f51f:/workspace/model_yolov5s# cd COCO2017/ root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls 000000.jpg 000011.jpg 000022.jpg 000032.jpg 000042.jpg 000053.jpg 000066.jpg 000076.jpg 000086.jpg 000096.jpg 000002.jpg 000012.jpg 000023.jpg 000033.jpg 000043.jpg 000054.jpg 000067.jpg 000077.jpg 000087.jpg 000101.jpg 000003.jpg 000013.jpg 000024.jpg 000034.jpg 000044.jpg 000055.jpg 000068.jpg 000078.jpg 000088.jpg 000102.jpg 000004.jpg 000014.jpg 000025.jpg 000035.jpg 000045.jpg 000058.jpg 000069.jpg 000079.jpg 000089.jpg 000103.jpg 000005.jpg 000015.jpg 000026.jpg 000036.jpg 000046.jpg 000059.jpg 000070.jpg 000080.jpg 000090.jpg 000104.jpg 000006.jpg 000016.jpg 000027.jpg 000037.jpg 000048.jpg 000061.jpg 000071.jpg 000081.jpg 000091.jpg 000105.jpg 000007.jpg 000017.jpg 000028.jpg 000038.jpg 000049.jpg 000062.jpg 000072.jpg 000082.jpg 000092.jpg 000106.jpg 000008.jpg 000019.jpg 000029.jpg 000039.jpg 000050.jpg 000063.jpg 000073.jpg 000083.jpg 000093.jpg 000107.jpg 000009.jpg 000020.jpg 000030.jpg 000040.jpg 000051.jpg 000064.jpg 000074.jpg 000084.jpg 000094.jpg 000108.jpg 000010.jpg 000021.jpg 000031.jpg 000041.jpg 000052.jpg 000065.jpg 000075.jpg 000085.jpg 000095.jpg 000109.jpg root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls l grep \"^ \" wc l 100 root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# You can use ls l grep \"^ \" wc l to check the number of images. The author replaced the 100 helmet images and the test image in the COCO2017 folder. Go back to model_yolov5s root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# cd .. root@3d517bc7f51f:/workspace/model_yolov5s# ls COCO2017 image workspace yolov5n_hat.onnx yolov5s_hat.onnx root@3d517bc7f51f:/workspace/model_yolov5s# Next mkdir workspace && cd workspace Execute the following command to convert ONNX to MLIR (remember to replace output_names with your own) model_transform \\ model_name yolov5s \\ model_def ../yolov5s_hat.onnx \\ input_shapes [[1,3,224,320]] \\ mean 0.0,0.0,0.0 \\ scale 0.0039216,0.0039216,0.0039216 \\ keep_aspect_ratio \\ pixel_format rgb \\ output_names onnx::Shape_329,onnx::Shape_439,onnx::Shape_384 \\ test_input ../image/hat.jpg \\ test_result yolov5s_top_outputs.npz \\ mlir yolov5s.mlir Execute the following command to convert MLIR to INT8 model, before converting to INT8 model, you need to run calibration to obtain the calibration table run_calibration yolov5s.mlir \\ dataset ../COCO2017 \\ input_num 100 \\ o yolov5s_cali_table Then execute the following model_deploy \\ mlir yolov5s.mlir \\ quantize INT8 \\ calibration_table yolov5s_cali_table \\ processor cv181x \\ test_input yolov5s_in_f32.npz \\ test_reference yolov5s_top_outputs.npz \\ tolerance 0.85,0.45 \\ model yolov5s_cv181x_int8_sym.cvimodel Finally, you will get the following: root@3d517bc7f51f:/workspace/model_yolov5s/workspace# ls _weight_map.csv yolov5s_cv181x_int8_sym.cvimodel yolov5s_origin.mlir build_flag.json yolov5s_cv181x_int8_sym_final.mlir yolov5s_top_f32_all_origin_weight.npz final_opt.onnx yolov5s_cv181x_int8_sym_tensor_info.txt yolov5s_top_f32_all_weight.npz yolov5s.mlir yolov5s_cv181x_int8_sym_tpu.mlir yolov5s_top_outputs.npz yolov5s_cali_table yolov5s_in_f32.npz yolov5s_tpu_addressed_cv181x_int8_sym_weight.npz yolov5s_cv181x_int8_sym yolov5s_opt.onnx.prototxt yolov5s_tpu_addressed_cv181x_int8_sym_weight_fix.npz root@3d517bc7f51f:/workspace/model_yolov5s/workspace# ``` Through the above steps, you can obtain the quantized model that can be deployed to the development board. Explanation: The reason why it's cv181x is because I tried it first and got the following ``` [I] load cvimodel from: /root/models/yolov5n.cvimodel cvimodel built for cv180x CANNOT run on platform cv181x failed to parse cvimodel ``` ## running the model on an actual device: * The contents of `yolov5s_hat.mud` are as follows: ``` [basic] type cvimodel model yolov5s_hat_cv181x_int8_sym.cvimodel [extra] model_type yolov5 input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 anchors 10,13, 16,30, 33,23, 30,61, 62,45, 59,119, 116,90, 156,198, 373,326 labels hat,person ``` Run the code: ```python from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s_hat.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() print(\"www\") print(detector.input_width(), detector.input_height(), detector.input_format()) while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.5, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{detector.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` ![custmize_model4](assets/custmize_model4.png) Where 10.84.117.1 is the IP address. Upload the `cvmodel` and `mud` files to the `/root/models/` path. After packaging, install the application and run it, or you can run it in the IDE. ![custmize_model6](assets/custmize_model6.png) Video link: ``` https://www.bilibili.com/video/BV1xz421S7Rx/?spm_id_from 333.999.0.0&vd_source b1fff0f773136d7d05331087929c7739 ``` **Acknowledgments** Thanks to `谁说现在是冬天呢` for some insights."},"/maixpy/doc/en/vision/self_learn_classifier.html":{"title":"MaixPy Self-Learning Classifier","content":" title: MaixPy Self Learning Classifier ## Introduction to MaixPy Self Learning Classifier Typically, to recognize new categories, it is necessary to collect a new dataset and train on a computer, which can be cumbersome and complex. This method eliminates the need for computer based training, allowing for immediate learning of new objects directly on the device, suitable for less complex scenarios. For example, if there are a drink bottle and a mobile phone in front of you, take a photo of each to serve as the basis for two categories. Then, collect several photos from different angles of each item, extract their features and save them. During recognition, the image's features are compared with the saved feature values, and the closest match determines the classification. ## Using the Self Learning Classifier in MaixPy Steps: * Collect n classification images. * Collect n*m images, m images for each category, order does not matter. * Start learning. * Recognize images and output results. Simplified version of the code, for the full version please refer to the complete code in the example. ```python from maix import nn, image classifier nn.SelfLearnClassifier(model \"/root/models/mobilenetv2.mud\", feature_layer None) img1 image.load(\"/root/1.jpg\") img2 image.load(\"/root/2.jpg\") img3 image.load(\"/root/3.jpg\") sample_1 image.load(\"/root/sample_1.jpg\") sample_2 image.load(\"/root/sample_2.jpg\") sample_3 image.load(\"/root/sample_3.jpg\") sample_4 image.load(\"/root/sample_4.jpg\") sample_5 image.load(\"/root/sample_5.jpg\") sample_6 image.load(\"/root/sample_6.jpg\") classifier.add_class(img1) classifier.add_class(img2) classifier.add_class(img3) classifier.add_sample(sample_1) classifier.add_sample(sample_2) classifier.add_sample(sample_3) classifier.add_sample(sample_4) classifier.add_sample(sample_5) classifier.add_sample(sample_6) classifier.learn() img image.load(\"/root/test.jpg\") max_idx, max_score classifier.classify(img) print(max_idx, max_score) ```"},"/maixpy/doc/en/vision/face_recognition.html":{"title":"MaixPy Face Recognition","content":" title: MaixPy Face Recognition ## Introduction to Face Recognition Face recognition is the process of identifying the location of faces in the current image and determining who they are. In addition to detecting faces, face recognition generally involves a database of known and unknown individuals. ## Recognition Principle * Use an AI model to detect faces and obtain the coordinates and coordinates of facial features. * Use the coordinates of facial features to perform affine transformation on the face in the image, aligning it to a standard face shape, making it easier for the model to extract facial features. * Use a feature extraction model to extract facial feature values. * Compare the extracted feature values with the recorded facial feature values in the database (calculate the cosine distance between the saved and current facial feature values, and find the smallest distance match in the database. If the distance is smaller than a set threshold, it is considered to be the same person in the database.) ## Using MaixPy The MaixPy `maix.nn` module provides an API for face recognition, which can be used directly, and the model is also built in. You can also download it from the [MaixHub Model Zoo](https://maixhub.com/model/zoo) (filter for the corresponding hardware platform, such as maixcam). Recognition: ```python from maix import nn recognizer nn.Face_Recognizer(model \"/root/models/face_recognizer.mud\") if os.path.exists(\"/root/faces.bin\"): recognizer.load_faces(\"/root/faces.bin\") cam camera.Camera(recognizer.input_width(), recognizer.input_height(), recognizer.input_format()) dis display.Display() while 1: img cam.read() faces recognizer.recognize(img) for obj in faces: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{recognizer.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` When running this code for the first time, you will find that it can detect faces, but it doesn't recognize anyone. We need to enter the add face mode to learn faces first. For example, we can learn faces when the user presses a button: ```python faces recognizer.detect_faces(img) for face in faces: print(face) # Here we consider the case where there are multiple faces in one image # You can decide whether to add the face to the database based on the coordinates of `face` recognizer.add_face(face) recognizer.save_(faces)(\"/too/faces.bin\") ```"},"/maixpy/doc/en/vision/object_track.html":{"title":"","content":""},"/maixpy/doc/en/vision/display.html":{"title":"MaixPy Screen Usage","content":" title: MaixPy Screen Usage update: date: 2024 03 31 author: neucrack version: 1.0.0 content: Initial document ## Introduction MaixPy provides the `display` module, which can display images on the screen, and can also send images to MaixVision for display, facilitating debugging and development. ## API Documentation This document introduces commonly used methods. For more APIs, please refer to the [display](/api/maix/display.html) section of the API documentation. ## Using the Screen * Import the `display` module: ```python from maix import display ``` * Create a `Display` object: ```python disp display.Display() ``` * Display an image: ```python disp.show(img) ``` Here, the `img` object is a `maix.image.Image` object, which can be obtained through the `read` method of the `camera` module, or loaded from an image file in the file system using the `load` method of the `image` module, or created as a blank image using the `Image` class of the `image` module. For example: ```python from maix import image, display disp display.Display() img image.load(\"/root/dog.jpg\") disp.show(img) ``` Here, you need to transfer the `dog.jpg` file to the `/root` directory on the device first. Display text: ```python from maix import image, display disp display.Display() img image.Image(320, 240) img.draw_rectangle(0, 0, disp.width(), disp.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rectangle(10, 10, 100, 100, color image.Color.from_rgb(255, 0, 0)) img.draw_string(10, 10, \"Hello MaixPy!\", color image.Color.from_rgb(255, 255, 255)) disp.show(img) ``` Read an image from the camera and display it: ```python from maix import camera, display, app disp display.Display() cam camera.Camera(320, 240) while not app.need_exit(): img cam.read() disp.show(img) ``` > Here, `while not app.need_exit():` is used to facilitate exiting the loop when the `app.set_exit_flag()` method is called elsewhere. ## Adjusting Backlight Brightness You can manually adjust the backlight brightness in the system's \"Settings\" app. If you want to adjust the backlight brightness programmatically, you can use the `set_backlight` method, with the parameter being the brightness percentage, ranging from 0 to 100: ```python disp.set_backlight(50) ``` Note that when the program exits and returns to the app selection interface, the backlight brightness will automatically revert to the system setting. ## Displaying on MaixVision When running code in MaixVision, images can be displayed on MaixVision for easier debugging and development. When calling the `show` method, the image will be automatically compressed and sent to MaixVision for display. Of course, if you don't have a screen, or to save memory by not initializing the screen, you can also directly call the `send_to_maixvision` method of the `image.Image` object to send the image to MaixVision for display. ```python from maix import image img image.Image(320, 240) img.draw_rectangle(0, 0, img.width(), img.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rectangle(10, 10, 100, 100, color image.Color.from_rgb(255, 0, 0)) img.draw_string(10, 10, \"Hello MaixPy!\", color image.Color.from_rgb(255, 255, 255)) img.send_to_maixvision() ```"},"/maixpy/doc/en/vision/body_key_points.html":{"title":"MaixPy Human Body Keypoint Detection for Pose Estimation","content":" title: MaixPy Human Body Keypoint Detection for Pose Estimation ## Introduction Using MaixPy, you can easily detect the coordinates of human joint keypoints, which can be used for pose estimation such as sitting posture detection, motion controlled game input, and more. ## Usage Using the `maix.nn.BodyKeyPoints` class in MaixPy, you can easily implement this functionality: ```python from maix import nn, image, camera, display detector nn.BodyKeyPoints(model \"/root/models/body_key_points.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() while 1: img cam.read() points detector.detect(img) for point in points: img.draw_circle(point[0], point[1], 3, color image.COLOR_RED, thickness 1) dis.show(img) ```"},"/maixpy/doc/en/vision/camera.html":{"title":"MaixPy Camera Usage","content":" title: MaixPy Camera Usage update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial documentation ## Introduction For the MaixCAM, it comes with a pre installed GC4653 camera, or an optional OS04A10 camera or global shutter camera, and even an HDMI to MIPI module, all of which can be directly used with simple API calls. ## API Documentation This article introduces common methods. For more API usage, refer to the documentation of the [maix.camera](/api/maix/camera.html) module. ## Camera Switching Different cameras use different drivers, and the correct driver needs to be selected in the system. TODO: How to switch between cameras, such as between GC4653 and OS04A10. ## Getting Images from the Camera Using MaixPy to easily get images: ```python from maix import camera cam camera.Camera(640, 480) while 1: img cam.read() print(img) ``` Here we import the `camera` module from the `maix` module, then create a `Camera` object, specifying the width and height of the image. Then, in a loop, we continuously read the images. The default output is in `RGB` format. If you need `BGR` format or other formats, please refer to the API documentation. ## Skipping Initial Frames During the brief initialization period of the camera, the image acquisition may not be stable, resulting in strange images. You can use the `skip_frames` function to skip the initial few frames: ```python cam camera.Camera(640, 480) cam.skip_frames(30) # Skip the first 30 frames ``` ## Displaying Images MaixPy provides the `display` module, which can conveniently display images: ```python from maix import camera, display cam camera.Camera(640, 480) disp display.Display() while 1: img cam.read() disp.show(img) ```"},"/maixpy/doc/en/vision/find_blobs.html":{"title":"MaixPy Find Blobs","content":" title: MaixPy Find Blobs update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial documentation date: 2024 04 03 author: lxowalle version: 1.0.1 content: Added detailed usage for finding blobs Before reading this article, make sure you know how to develop with MaixPy. For details, please read [MaixVision MaixPy Programming + Graphical Block Programming](../basic/maixvision.html). ## Introduction This article will introduce how to use MaixPy to find color blobs and how to use the default application of MaixCam to find color blobs. In vision applications, finding color blobs is a very common requirement, such as robots finding color blobs, automated production lines finding color blobs, etc., which requires identifying specific color areas in the image and obtaining information such as the position and size of these areas. ## Using MaixPy to Find Blobs The `maix.image.Image` module in MaixPy provides the `find_blobs` method, which can conveniently find color blobs. ### How to Find Blobs A simple example to find color blobs and draw bounding boxes: ```python from maix import image, camera, display cam camera.Camera(320, 240) disp display.Display() # Select the corresponding configuration based on the color of the blob thresholds [[0, 80, 40, 80, 10, 80]] # red # thresholds [[0, 80, 120, 10, 0, 30]] # green # thresholds [[0, 80, 30, 100, 120, 60]] # blue while 1: img cam.read() blobs img.find_blobs(thresholds, pixels_threshold 500) for blob in blobs: img.draw_rect(blob[0], blob[1], blob[2], blob[3], image.COLOR_GREEN) disp.show(img) ``` Steps: 1. Import the image, camera, and display modules ```python from maix import image, camera, display ``` 2. Initialize the camera and display ```python cam camera.Camera(320, 240)\t# Initialize the camera with an output resolution of 320x240 in RGB format disp display.Display() ``` 3. Get the image from the camera and display it ```python while 1: img cam.read() disp.show(img) ``` 4. Call the `find_blobs` method to find color blobs in the camera image and draw them on the screen ```python blobs img.find_blobs(thresholds, pixels_threshold 500) for blob in blobs: img.draw_rect(blob[0], blob[1], blob[2], blob[3], image.COLOR_GREEN) ``` `img` is the camera image obtained through `cam.read()`. When initialized with `cam camera.Camera(320, 240)`, the `img` object is an RGB image with a resolution of 320x240. `img.find_blobs` is used to find color blobs. `thresholds` is a list of color thresholds, where each element is a color threshold. Multiple thresholds can be passed in to find multiple colors simultaneously. Each color threshold is in the format `[L_MIN, L_MAX, A_MIN, A_MAX, B_MIN, B_MAX]`, where `L`, `A`, and `B` are the three channels in the LAB color space. The `L` channel represents brightness, the `A` channel represents the red green component, and the `B` channel represents the blue yellow component. `pixels_threshold` is a pixel count threshold used to filter out unwanted small blobs. `img.draw_rect` is used to draw bounding boxes around the color blobs. `blob[0]`, `blob[1]`, `blob[1]`, and `blob[1]` represent the x coordinate of the top left corner of the blob, the y coordinate of the top left corner of the blob, the width of the blob, and the height of the blob, respectively. ### Common Parameter Explanations Here are explanations of commonly used parameters. If you cannot find parameters that can implement your application, you may need to consider using other algorithms or extending the required functionality based on the current algorithm's results. Parameter Description Example thresholds Thresholds based on the LAB color space, thresholds [[l_min, l_max, a_min, a_max, b_min, b_max]], representing:<br/>Brightness range [l_min, l_max]<br/>Green to red component range [a_min, a_max]<br/>Blue to yellow component range [b_min, b_max]<br/>Multiple thresholds can be set simultaneously Set two thresholds to detect red and green<br/>```img.find_blobs(thresholds [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```<br/>Red threshold is [0, 80, 40, 80, 10, 80]<br/>Green threshold is [0, 80, 120, 10, 0, 30] invert Enable threshold inversion, when enabled, the passed thresholds are inverted. Default is False. Enable threshold inversion<br/>```img.find_blobs(invert True)``` roi Set the rectangular region for the algorithm to compute, roi [x, y, w, h], where x and y represent the coordinates of the top left corner of the rectangle, and w and h represent the width and height of the rectangle, respectively. The default is the entire image. Compute the region at (50, 50) with a width and height of 100<br/>```img.find_blobs(roi [50, 50, 100, 100])``` area_threshold Filter out blobs with a pixel area smaller than area_threshold, in units of pixels. The default is 10. This parameter can be used to filter out some useless small blobs. Filter out blobs with an area smaller than 1000<br/>```img.find_blobs(area_threshold 1000)``` pixels_threshold Filter out blobs with fewer valid pixels than pixels_threshold. The default is 10. This parameter can be used to filter out some useless small blobs. Filter out blobs with fewer than 1000 valid pixels<br/>```img.find_blobs(pixels_threshold 1000)``` This article introduces commonly used methods. For more APIs, please see the [image](../../../api/maix/image.html) section of the API documentation. ## Using the Find Blobs App To quickly verify the find blobs functionality, you can first use the find blobs application provided by MaixCam to experience the effect of finding color blobs. ### Usage Open the device, select the `Find Blobs` app, then select the color to be recognized from the bottom options or customize a color, and you can recognize the corresponding color. At the same time, the serial port will also output the recognized coordinates and color information. <video src \"/static/video/find_blobs.mp4\" controls \"controls\" width \"100%\" height \"auto\"></video> ### Detailed Explanation The app interface is as follows: ![](../../../static/image/find_blobs_app.jpg) #### Using Default Configuration The find blobs app provides four default configurations: `red`, `green`, `blue`, and `user`. `red`, `green`, and `blue` are used to `find red, green, and blue color blobs`, respectively, while `user` is mainly provided for `user defined color blob finding`. The method for customizing configurations is described below. For a quick experience, you can switch to the corresponding configuration by `clicking` the `buttons` at the bottom of the interface. #### Finding Custom Color Blobs The app provides two ways to find custom color blobs: using adaptive LAB thresholds and manually setting LAB thresholds. ##### 1. Finding Color Blobs with Adaptive LAB Thresholds Steps: 1. `Click` the `options icon` in the bottom left corner to enter configuration mode. 2. Point the `camera` at the `object` you need to `find`, `click` on the `target object` on the screen, and the `left side` will display a `rectangular frame` of the object's color and show the LAB values of that color. 3. Click on the appearing `rectangular frame`, and the system will `automatically set` the LAB thresholds. At this point, the image will outline the edges of the object. ##### 2. Manually Setting LAB Thresholds to Find Color Blobs Manual setting allows for more precise targeting of the desired color blobs. Steps: 1. `Click` the `options icon` in the bottom left corner to enter configuration mode. 2. Point the `camera` at the `object` you need to `find`, `click` on the `target object` on the screen, and the `left side` will display a `rectangular frame` of the object's color and show the `LAB values` of that color. 3. Click on the bottom options `L Min`, `L Max`, `A Min`, `A Max`, `B Min`, `B Max`. After clicking, a slider will appear on the right side to set the value for that option. These values correspond to the minimum and maximum values of the L, A, and B channels in the LAB color format, respectively. 4. Referring to the `LAB values` of the object color calculated in step 2, adjust `L Min`, `L Max`, `A Min`, `A Max`, `B Min`, `B Max` to appropriate values to identify the corresponding color blobs. For example, if `LAB (20, 50, 80)`, since `L 20`, to accommodate a certain range, set `L Min 10` and `L Max 30`. Similarly, since `A 50`, set `A Min 40` and `A Max 60`. Since `B 80`, set `B Min 70` and `B Max 90`. #### Getting Detection Data via Serial Protocol The find blobs app supports reporting information about detected color blobs via the serial port (default baud rate is 115200). Since only one report message is sent, we can illustrate the content of the report message with an example. For instance, if the report message is: ``` shellCopy code AA CA AC BB 14 00 00 00 E1 08 EE 00 37 00 15 01 F7 FF 4E 01 19 00 27 01 5A 00 A7 20 ``` `AA CA AC BB`: Protocol header, content is fixed `14 00 00 00`: Data length, the total length excluding the protocol header and data length `E1`: Flag, used to identify the serial message flag `08`: Command type, for the find blobs app application, this value is fixed at 0x08 `EE 00 37 00 15 01 F7 FF 4E 01 19 00 27 01 5A 00`: Coordinates of the four vertices of the found color blob, with each value represented by 2 bytes in little endian format. `EE 00` and `37 00` represent the first vertex coordinate as (238, 55), `15 01` and `F7 FF` represent the second vertex coordinate as (277, 9), `4E 01` and `19 00` represent the third vertex coordinate as (334, 25), `27 01` and `5A 00` represent the fourth vertex coordinate as (295, 90). `A7 20`: CRC checksum value, used to verify if the frame data has errors during transmission. ## About the LAB Color Space The LAB color space, like the RGB color space, is a way to represent colors. LAB can represent all colors visible to the human eye. If you need to learn more about LAB, you can search for relevant articles online, which will provide more details. However, for you, it should be sufficient to understand why LAB is advantageous for MaixPy. Advantages of LAB for MaixPy: 1. The color gamut of the LAB color space is larger than that of RGB, so it can completely replace RGB. 2. In the LAB color space, since the L channel is the brightness channel, we often set it to a relatively large range (commonly [0, 80]), and when coding, we mainly focus on the A and B channels. This can save a lot of time spent struggling with how to select color thresholds. 3. The color perception in the LAB color space is more uniform and easier to debug with code. For example, if you only need to find red color blobs, you can fix the values of the L and B channels and only adjust the value of the A channel (in cases where high color accuracy is not required). For RGB channels, you generally need to adjust all three R, G, and B channels simultaneously to find suitable thresholds."},"/maixpy/doc/en/vision/classify.html":{"title":"Using AI Models for Object Classification in MaixPy","content":" title: Using AI Models for Object Classification in MaixPy ## Object Classification Concept For example, if there are two images in front of you, one with an apple and the other with an airplane, the task of object classification is to input these two images into an AI model one by one. The model will then output two results, one for apple and one for airplane. ## Using Object Classification in MaixPy MaixPy provides a pre trained `1000` classification model based on the `imagenet` dataset, which can be used directly: ```python from maix import camera, display, image, nn classifier nn.Classifier(model \"/root/models/mobilenetv2.mud\") cam camera.Camera(classifier.input_width(), classifier.input_height(), classifier.input_format()) dis display.Display() while 1: img cam.read() res classifier.classify(img) max_idx, max_prob res[0] msg f\"{max_prob:5.2f}: {classifier.labels[max_idx]}\" img.draw_string(10, 10, msg, image.COLOR_RED) dis.show(img) ``` Result video: <video playsinline controls autoplay loop muted preload src \"https://wiki.sipeed.com/maixpy/static/video/classifier.mp4\" type \"video/mp4\"> Classifier Result video </video> Here, the camera captures an image, which is then passed to the `classifier` for recognition. The result is displayed on the screen. For more API usage, refer to the documentation for the [maix.nn](/api/maix/nn.html) module. ## Training Your Own Classification Model Please go to [MaixHub](https://maixhub.com) to learn and train classification models. When creating a project, select `Classification Model`."},"/maixpy/doc/en/vision/image_ops.html":{"title":"MaixPy Basic Image Operations","content":" title: MaixPy Basic Image Operations update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial document ## Introduction Images play a very important role in visual applications. Whether it's a picture or a video, since a video is essentially a series of frames, image processing is the foundation of visual applications. ## API Documentation This document introduces common methods. For more APIs, refer to the documentation of the maix.image module. ## Image Formats MaixPy provides a basic image module `image`, where the most important part is the `image.Image` class, which is used for image creation and various basic image operations, as well as image loading and saving. There are many image formats, and we generally use `image.Format.FMT_RGB888` or `image.Format.FMT_RGBA8888` or `image.Format.FMT_GRAYSCALE` or `image.Format.FMT_BGR888`, etc. We all know that the three colors `RGB` can synthesize any color, so in most cases, we use `image.Format.FMT_RGB888`, which is sufficient. `RGB888` is `RGB packed` in memory, i.e., the arrangement in memory is: `pixel1_red, pixel1_green, pixel1_blue, pixel2_red, pixel2_green, pixel2_blue, ...` arranged in sequence. ## Creating an Image Creating an image is very simple, you only need to specify the width and height of the image, and the image format: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) print(img) print(img.width(), img.height(), img.format()) ``` `320` is the width of the image, `240` is the height of the image, and `image.Format.FMT_RGB888` is the format of the image. The format parameter can be omitted, and the default is `image.Format.FMT_RGB888`. Here, you can get the width, height, and format of the image using `img.width()`, `img.height()`, and `img.format()`. ## Displaying on the Screen MaixPy provides the `maix.display.Display` class, which can conveniently display images: ``` from maix import image, display disp display.Display() img image.Image(320, 240, image.Format.FMT_RGB888) disp.show(img) ``` Note that here, since there is no image data, a black image is displayed. See the following sections for how to modify the image. ## Reading Images from the File System MaixPy provides the `maix.image.load` method, which can read images from the file system: ``` from maix import image img image.load(\"/root/image.jpg\") print(img) ``` Note that here, `/root/image.jpg` has been transferred to the board in advance. You can refer to the previous tutorials for the method. It supports `jpg` and `png` image formats. ## Saving Images to the File System MaixPy's `maix.image.Image` provides the `save` method, which can save images to the file system: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) # do something with img img.save(\"/root/image.jpg\") ``` ## Drawing Rectangles `image.Image` provides the `draw_rect` method, which can draw rectangles on the image: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_rect(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0)) ``` Here, the parameters are: `x`, `y`, `w`, `h`, `color`. `x` and `y` are the coordinates of the top left corner of the rectangle, `w` and `h` are the width and height of the rectangle, and `color` is the color of the rectangle, which can be created using the `image.Color.from_rgb` method. You can specify the line width of the rectangle using `thickness`, which defaults to `1`. You can also draw a solid rectangle by passing `thickness 1`: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_rect(10, 10, 100, 100, (255, 0, 0), thickness 1) ``` ## Writing Strings `image.Image` provides the `draw_string` method, which can write text on the image: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_string(10, 10, \"Hello MaixPy\", image.Color.from_rgb(255, 0, 0)) ``` Here, the parameters are: `x`, `y`, `text`, `color`. `x` and `y` are the coordinates of the top left corner of the text, `text` is the text to be written, and `color` is the color of the text, which can be created using the `image.Color.from_rgb` method. You can also enlarge the font by passing the `scale` parameter: ``` img.draw_string(10, 10, \"Hello MaixPy\", image.Color.from_rgb(255, 0, 0), scale 2) ``` Get the width and height of the font: ``` w, h img.string_size(\"Hello MaixPy\", scale 2) print(w, h) ``` **Note** that here, `scale` is the magnification factor, and the default is `1`. It should be consistent with `draw_string`. ## Drawing Lines `image.Image` provides the `draw_line` method, which can draw lines on the image: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_line(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0)) ``` Here, the parameters are: `x1`, `y1`, `x2`, `y2`, `color`. `x1` and `y1` are the coordinates of the starting point of the line, `x2` and `y2` are the coordinates of the end point of the line, and `color` is the color of the line, which can be created using the `image.Color.from_rgb` method. ## Drawing Circles `image.Image` provides the `draw_circle` method, which can draw circles on the image: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_circle(100, 100, 50, image.Color.from_rgb(255, 0, 0)) ``` Here, the parameters are: `x`, `y`, `r`, `color`. `x` and `y` are the coordinates of the center of the circle, `r` is the radius, and `color` is the color of the circle, which can be created using the `image.Color.from_rgb` method. ## Resizing Images `image.Image` provides the `resize` method, which can resize images: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.resize(160, 120) print(img, img_new) ``` Note that here, the `resize` method returns a new image object, and the original image remains unchanged. ## Cropping Images `image.Image` provides the `crop` method, which can crop images: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.crop(10, 10, 100, 100) print(img, img_new) ``` Note that here, the `crop` method returns a new image object, and the original image remains unchanged. ## Rotating Images `image.Image` provides the `rotate` method, which can rotate images: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.rotate(90) print(img, img_new) ``` Note that here, the `rotate` method returns a new image object, and the original image remains unchanged. ## Copying Images `image.Image` provides the `copy` method, which can copy an independent image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.copy() print(img, img_new) ``` ## Affine Transformations `image.Image` provides the `affine` method, which can perform affine transformations. By providing the coordinates of three or more points in the current image and the corresponding coordinates in the target image, you can automatically perform operations such as rotation, scaling, and translation on the image to transform it into the target image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.affine([(10, 10), (100, 10), (10, 100)], [(10, 10), (100, 20), (20, 100)]) print(img, img_new) ``` For more parameters and usage, please refer to the API documentation. ## Drawing Keypoints `image.Image` provides the `draw_keypoints` method, which can draw keypoints on the image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) keypoints [(10, 10), (100, 10), (10, 100)] img.draw_keypoints(keypoints, image.Color.from_rgb(255, 0, 0), size 10, thickness 1, fill False) ``` This draws three red keypoints at the coordinates `(10, 10)`, `(100, 10)`, and `(10, 100)`. The size of the keypoints is `10`, the line width is `1`, and they are not filled. ## Drawing Crosses `image.Image` provides the `draw_cross` method, which can draw crosses on the image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_cross(100, 100, image.Color.from_rgb(255, 0, 0), size 5, thickness 1) ``` This draws a red cross at the coordinate `(100, 100)`. The extension size of the cross is `5`, so the length of the line segment is `2 * size + thickness`, and the line width is `1`. ## Drawing Arrows `image.Image` provides the `draw_arrow` method, which can draw arrows on the image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_arrow(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0), thickness 1) ``` This draws a red arrow starting from the coordinate `(10, 10)`, with the end point at `(100, 100)`, and a line width of `1`. ## Drawing Images `image.Image` provides the `draw_image` method, which can draw images on the image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img2 image.Image(100, 100, image.Format.FMT_RGB888) img2.draw_rect(10, 10, 90, 90, image.Color.from_rgb(255, 0, 0)) img.draw_image(10, 10, img2) ``` ## Converting Formats `image.Image` provides the `to_format` method, which can convert image formats: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.to_format(image.Format.FMT_BGR888) print(img, img_new) img_jpg img.to_format(image.Format.FMT_JPEG) print(img, img_new) ``` Note that here, the `to_format` method returns a new image object, and the original image remains unchanged. ## Converting between Numpy/OpenCV Formats You can also convert to a `numpy` array, which can then be used by libraries such as `numpy` and `opencv`: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_np image.image2cv(img) img2 image.cv2image(img_np) print(type(img_np), img_np, img_np.shape) print(type(img2), img2) ``` ## Converting between bytes Data `image.Image` provides the `to_bytes` method, which can convert an image to `bytes` data: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) data img.to_bytes() print(type(data), len(data), img.data_size()) img2 image.Image(320, 240, image.Format.FMT_RGB888, data) print(img2) ``` Here, `to_bytes` returns a new `bytes` object, which is independent memory and does not affect the original image. The `image.Image` constructor can directly construct an image object from `bytes` data by passing the `data` parameter. Note that the new image is also independent memory and does not affect `data`. Since memory copying is involved, this method is relatively time consuming and should not be used frequently. > If you want to optimize your program without copying (not recommended for casual use, as poorly written code can easily cause crashes), please refer to the API documentation. ## More Basic API Usage For more API usage, please refer to the documentation of the maix.image module."},"/maixpy/doc/en/vision/maixhub_train.html":{"title":"Using MaixHub to Train AI Models for MaixPy","content":" title: Using MaixHub to Train AI Models for MaixPy update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial document ## Introduction MaixHub offers the functionality to train AI models online, directly within a browser. This eliminates the need for expensive hardware, complex development environments, or coding skills, making it highly suitable for beginners as well as experts who prefer not to delve into code. ## Basic Steps to Train a Model Using MaixHub ### Identify the Data and Model Types To train an AI model, you first need to determine the type of data and model. As of April 2024, MaixHub provides models for image data including `Object Classification Models` and `Object Detection Models`. Object classification models are simpler than object detection models, as the latter require marking the position of objects within images, which can be more cumbersome. Object classification merely requires identifying what is in the image without needing coordinates, making it simpler and recommended for beginners. ### Collect Data As discussed in AI basics, training a model requires a dataset for the AI to learn from. For image training, you need to create a dataset and upload images to it. Ensure the device is connected to the internet (WiFi). Open the MaixHub app on your device and choose to collect data to take photos and upload them directly to MaixHub. You need to create a dataset on MaixHub first, then click on device upload data, which will display a QR code. Scan this QR code with your device to connect to MaixHub. It's important to distinguish between training and validation datasets. To ensure the performance during actual operation matches the training results, the validation dataset must be of the same image quality as those taken during actual operation. It's also advisable to use images taken by the device for the training set. If using internet images, restrict them to the training set only, as the closer the dataset is to actual operational conditions, the better. ### Annotate Data For classification models, images are annotated during upload by selecting the appropriate category for each image. For object detection models, after uploading, you need to manually annotate each image by marking the coordinates, size, and category of the objects to be recognized. This annotation process can also be done offline on your own computer using software like labelimg, then imported into MaixHub using the dataset import feature. Utilize shortcuts during annotation to speed up the process. MaixHub will also add more annotation aids and automatic annotation tools in the future (there is already an automatic annotation tool available for videos that you can try). ### Train the Model Select training parameters, choose the corresponding device platform, select maixcam, and wait in the training queue. You can monitor the training progress in real time and wait for it to complete. ### Deploy the Model Once training is complete, you can use the deploy function in the MaixHub app on your device to scan a code and deploy. The device will automatically download and run the model, storing it locally for future use. If you find the recognition results satisfactory, you can share the model to the model library with a single click for others to use. ## How to Use Please visit [MaixHub](https://maixhub.com) to register an account, then log in. There are video tutorials on the homepage for learning. Note that if the tutorial uses the M2dock development board, the process is similar for MaixCAM, although the MaixHub application on the device might differ slightly. The overall process is the same, so please apply the knowledge flexibly."},"/maixpy/doc/en/no_translate.html":{"title":"no translation","content":" title: no translation class: md_page <div id \"visit_from\"></div> <div id \"no_translate_hint\">This page not translated yet</div> <div> <span id \"visit_hint\">Please visit</span> <a id \"translate_src\"></a> </div> <div> <script> function getQueryVariable(variable) { var query window.location.search.substring(1); var vars query.split(\"&\"); for (var i 0;i<vars.length;i++) { var pair vars[i].split(\" \"); if(pair[0] variable){return pair[1];} } return(false); } var ref getQueryVariable(\"ref\"); var from getQueryVariable(\"from\"); var link document.getElementById(\"translate_src\"); var fromDis document.getElementById(\"visit_from\"); link.href ref; link.text ref; fromDis.innerHTML from; </script> </div>"}}
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+{"/maixpy/doc/en/basic/maixvision.html":{"title":"MaixVision -- MaixPy Programming IDE + Graphical Block Programming","content":" title: MaixVision MaixPy Programming IDE + Graphical Block Programming ## Introduction [MaixVision](https://wiki.sipeed.com/maixvision) is a development tool specifically designed for the Maix ecosystem, supporting MaixPy programming and graphical block programming. It allows for online operation and debugging, real time image preview, and synchronizing images from device displays, which is convenient for debugging and development. It also supports packaging and installing applications on devices, allowing users to easily generate and install applications with one click. In addition, it integrates several handy tools for development, such as file management, threshold editor, QR code generator, and more. ## Download Visit the [MaixVision homepage](https://wiki.sipeed.com/maixvision) to download. ## Using MaixPy Programming and Online Running Follow the steps in [Quick Start](../index.html) to connect your device, and you can easily use MaixPy programming and run it online. ## Real time Image Preview MaixPy provides a `display` module that can show images on the screen. Also, when the `show` method of the `display` module is called, it sends the image to be displayed on MaixVision, for example: ```python from maix import display, camera cam camera.Camera(640, 480) disp display.Display() while 1: disp.show(cam.read()) ``` Here we use the camera to capture an image, then display it on the screen using the `disp.show()` method, and also send it to MaixVision for display. When we click the 'pause' button in the top right corner, it will stop sending images to MaixVision. ## Code Auto Completion Code suggestions depend on local Python packages installed on your computer. To enable code suggestions, you need to install Python on your computer and the required Python packages. * To install Python, visit the [Python official website](https://python.org/). * To install the required packages, for MaixPy, for instance, you need to install the MaixPy package on your computer using `pip install MaixPy`. If `MaixPy` gets updated, you should update it on both your computer and device. On your computer, manually execute `pip install MaixPy U` in the terminal. For device updates, update directly in the `Settings` application. > Users in China can use a local mirror `pip install i https://pypi.tuna.tsinghua.edu.cn/simple MaixPy`. * Restart MaixVision to see the code suggestions. > If suggestions still do not appear, you can manually set the path to the Python executable in settings and restart. >! Note that installing Python packages on your computer is just for code suggestions. The actual code runs on the device (development board), and the device must also have the corresponding packages to run properly. > Additionally, while you have the MaixPy package installed on your computer, due to our limited resources, we cannot guarantee that you can directly use the Maix package in your computer's Python. Please run it on supported devices. ## Calculating the Image Histogram In the previous step, we could see the image in real time in MaixVision. By selecting an area with the mouse, we can view the histogram for that area at the bottom of the screen, displaying different color channels. This feature is helpful when finding suitable parameters for some image processing algorithms. ## Distinguishing Between `Device File System` and `Computer File System` Here we have an important concept to grasp: **distinguish between the `Device File System` and the `Computer File System`**. * **Computer File System**: Operates on the computer. Opening a file or project in MaixVision accesses files on the computer, and saving is automatically done to the computer's file system. * **Device File System**: The program sends the code to the device for execution, so the files used in the code are read from the device's file system. A common issue is when students save a file on the computer, such as `D:\\data\\a.jpg`, and then use this file on the device with `img image.load(\"D:\\data\\a.jpg\")`. Naturally, the file cannot be found because the device does not have `D:\\data\\a.jpg`. For specifics on how to send files from the computer to the device, refer to the following section. ## Transferring Files to the Device First, connect to the device, then click the button to browse the device file system, as shown below. Then you can upload files to the device or download files to the computer. ![maixvision_browser2](../../assets/maixvision_browser2.jpg) ![maixvision_browser](../../assets/maixvision_browser.jpg) .. details:: Alternatively, other tools can be used, click to expand First, know the device's IP address or name, which MaixVision can find, or see in the device's `Settings >System Information`, such as `maixcam xxxx.local` or `192.168.0.123`. The username and password are `root`, using the `SFTP` protocol for file transfer, and the port number is `22`. There are many useful tools available for different systems: ### Windows Use [WinSCP](https://winscp.net/eng/index.php) or [FileZilla](https://filezilla project.org/) to connect to the device and transfer files, choosing the `SFTP` protocol and entering the device and account information to connect. Specific instructions can be searched online. ### Linux In the terminal, use the `scp` command to transfer files to the device, such as: ```bash scp /path/to/your/file.py root@maixcam xxxx.local:/root ``` ### Mac * **Method 1**: In the terminal, use the `scp` command to transfer files to the device, such as: ```bash scp /path/to/your/file.py root@maixcam xxxx.local:/root ``` * **Method 2**: Use [FileZilla](https://filezilla project.org/) or other tools to connect to the device and transfer files, choosing the `SFTP` protocol and entering the device and account information to connect. ## Using Graphical Block Programming Under development, please stay tuned."},"/maixpy/doc/en/basic/app.html":{"title":"App development and app stores","content":" title: App development and app stores ## Introduction to Application Ecosystem In order to make the development board ready to use out of the box, make it easy for users to use without barriers, enable developers to share their interesting applications, and provide effective channels for receiving feedback and even profits, we have launched a simple application framework, including: **[App Store](https://maixhub.com/app)**: Developers can upload and share applications, which users can download and use without needing to develop them. Developers can receive certain cash rewards (from MaixHub or user tips). **Pre installed Apps**: The official provides some commonly used applications, such as color block detection, AI object detection tracking, QR code scanning, face recognition, etc., which users can use directly or use as serial module. **MaixPy + MaixCDK Software Development Kit**: Using [MaixPy](https://github.com/sipeed/maixpy) or [MaixCDK](https://github.com/sipeed/MaixCDK), you can quickly develop embedded AI visual and audio applications in Python or C/C++, efficiently realizing your interesting ideas. **MaixVision Desktop Development Tool**: A brand new desktop code development tool for quick start, debugging, running, uploading code, installing applications to devices, one click development, and even support for graphical block based programming, making it easy for elementary school students to get started. Everyone is welcome to pay attention to the App Store and share their applications in the store to build a vibrant community together. ## Packaging Applications Using MaixPy + MaixVison makes it easy to develop, package, and install applications: Develop applications with MaixPy in MaixVision, which can be a single file or a project directory. Connect the device. Click the \"Install\" button at the bottom left corner of MaixVision, fill in the basic information of the application in the popup window, where the ID is used to identify the application. A device cannot simultaneously install different applications with the same ID, so the ID should be different from the IDs of applications on MaixHub. The application name can be duplicated. You can also upload an icon. Click \"Package Application\" to package the application into an installer. If you want to upload it to the [MaixHub App Store](https://maixhub./com/app), you can use this packaged file. Click \"Install Application\" to install the packaged application on the device. Disconnect from the device, and you will see your application in the device's app selection interface. Simply click on it to run the application. > If you develop with MaixCDK, you can use `maixcdk release` to package an application. Refer to the MaixCDK documentation for specifics. ## Exiting Applications If you have developed a relatively simple application without a user interface and a back button, you can exit the application by pressing the device's function button (usually labeled as USER, FUNC, or OK) or the back button (if available, MaixCAM does not have this button by default). ## Basic Guidelines for Application Development Since touchscreens are standard, it is recommended to create a simple interface with touch interaction. You can refer to examples for implementation methods. Avoid making interfaces and buttons too small, as MaixCAM default screen is 2.3 inches with 552x368 resolution and high PPI. Make sure fingers can easily tap without making mistakes. Implement a simple serial interaction for the main functionality of each application based on the [serial protocol](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md) (see [example](https://github.com/sipeed/MaixPy/tree/main/examples/communication/protocol)). This way, users can directly use it as a serial module. For instance, in a face detection application, you can output coordinates via serial port when a face is detected."},"/maixpy/doc/en/basic/os.html":{"title":"Upgrade and burn system.","content":" title: Upgrade and burn system. ## Introduction If you have purchased the official (Sipeed) package with a TF card, typically the system has already been pre programmed at the factory and can be used directly without further steps. However, to avoid using an outdated version of the pre programmed system, it is highly recommended to first upgrade to the latest system following the tutorial. ## How to Confirm if System Upgrade is Needed * Upon booting up to the main menu, click on `Settings`, then `Device Info` to check the system's version number. * Visit the [MaixPy Release History page](https://github.com/sipeed/MaixPy/releases) to review the update logs, which contain information on MaixPy firmware and system image updates. If there are significant updates after your current version, it is advisable to upgrade. > If the latest system update only includes routine MaixPy firmware updates compared to your current system, you may choose not to upgrade. You can simply update `MaixPy` separately in `Settings` under `Update MaixPy`. ## Obtaining the Latest System Visit the [MaixPy Release page](https://github.com/sipeed/MaixPy/releases) to find the latest system image file, such as `maixcam_os_20240401_maixpy_v4.1.0.xz`. Alternate link: * [Sourceforge](https://sourceforge.net/projects/maixpy/files/) ## Burning the System Image to MaixCAM Refer to the [MaixCAM System Flashing Guide](https://wiki.sipeed.com/hardware/zh/maixcam/os.html)."},"/maixpy/doc/en/basic/python_pkgs.html":{"title":"Add extra Python packages.","content":" title: Add extra Python packages. ## Introduction MaixPy is based on the Python language and provides a wide range of functionalities and APIs for embedded application development. In addition to this, you can also use other Python packages to extend its functionality. ## Installing Additional Python Packages > Please note that not all Python packages are supported. Generally, only pure Python packages are supported, not C extension packages. C extension packages may require you to manually cross compile them on a computer (which is quite complex and won't be covered here). ### Method 1: Installing Using Python Code You can install the package you need in MaixVision using Python code, for example: ```python import os os.system(\"pip install package_name\") ``` To update a package, you can use: ```python import os os.system(\"pip install upgrade package_name\") ``` ### Method 2: Installing Using the Terminal and pip Command Follow the terminal usage method introduced in [Linux Basics](./linux_basic.html) and use `pip install package_name` to install the package you need."},"/maixpy/doc/en/basic/app_usage.html":{"title":"Application User Guide","content":" title: Application User Guide After powering on, it will automatically enter the application selection interface, where various built in applications are available in the [MaixHub App Store](https://maixhub.com/app). Here you can find descriptions and instructions for using each corresponding application. The commonly used settings are `Settings > Language`, as well as `Settings > WiFi`. The `App Store` application can be used for upgrading and installing applications. Once connected to a WiFi network that has internet access, you can scan and install applications from the [MaixHub App Store](https://maixhub.com/app). Moreover, applications you develop can also be uploaded to the [MaixHub App Store](https://maixhub.com/app) to share with others. High quality and outstanding applications will receive official red envelope rewards, and excellent applications will gain recognition and support from everyone. Whether it's a simple application for collecting sensor data or a complex function application, let's work together to create more interesting things!"},"/maixpy/doc/en/source_code/build.html":{"title":"MaixPy develop source code guide","content":" title: MaixPy develop source code guide ## Get source code ```shell mkdir p ~/maix cd ~/maix git clone https://github.com/sipeed/MaixPy ``` ## Getting MaixCDK Source Code The MaixPy project depends on MaixCDK. You need to clone it first and place it in a directory on your computer (do not place it under the MaixPy directory). ```shell cd ~/maix git clone https://github.com/sipeed/MaixCDK ``` Then, you need to set the environment variable MAIXCAK_PATH to specify the path to MaixCDK, which can be added in ~/.bashrc or ~/.zshrc (depending on your shell): ```shell export MAIXCAK_PATH ~/maix/MaixCDK ``` Only after successfully setting the environment variable can MaixPy locate the MaixCDK source code. ## Build and pack to wheel ```shell cd ~/maix/MaixPy python setup.py bdist_wheel maixcam ``` `maixcam` Can be replaced with other board config, see [setup.py]([./configs](https://github.com/sipeed/MaixPy/blob/main/setup.py)) 's `platform_names` variable. After build success, you will find wheel file in `dist` directory, use `pip install U MaixPy****.wheel` on your device to install or upgrade. > `python setup.py bdist_wheel maixcam skip build` will not execute build command and only pack wheel, so you can use `maixcdk menuconfig` and `maixcdk build` first to customize building. > Additionally, if you are debugging APIs and need to install frequently, using pip can be slow. You can compile and then copy the maix directory directly to the /usr/lib/python3.11/site packages directory on your device to overwrite the old files. ## Build manually ```shell maixcdk build ``` ## Run test after modify source code * First, build source code by ```shell maixcdk build ``` * If build for PC self(platform `linux`): Then execute `./run.sh your_test_file_name.py` to run python script. ```shell cd test ./run.sh examples/hello_maix.py ``` * If cross compile for borad: * The fastest way is copy `maix` dir to device's `/usr/lib/python3.11/site packages/` directory, then run script on device. * Or pack wheel and install on device by `pip install U MaixPy****.wheel`, then run script on device. ## Preview documentation locally Documentation in [docs](https://github.com/sipeed/MaixPy/tree/main/docs) directory, use `Markdown` format, you can use [teedoc](https://github.com/teedoc/teedoc) to generate web version documentation. And the API doc is generated when build MaixPy firmware, **if you don't build MaixPy, the API doc will be empty**. ```shell pip install teedoc U cd docs teedoc install i https://pypi.tuna.tsinghua.edu.cn/simple teedoc serve ``` Then visit `http://127.0.0.1:2333` to preview documentation on web browser. ## For developers who want to contribute See [MaixPy develop source code guide](./contribute.html) If you encounter any problems when use source code, please refer to [FAQ](./faq.html) first."},"/maixpy/doc/en/source_code/maixcdk.html":{"title":"Switching to MaixCDK for C/C++ Application Development","content":" title: Switching to MaixCDK for C/C++ Application Development In addition to developing with MaixPy, there is also a corresponding C/C++ SDK available, called [MaixCDK](https://github.com/sipeed/MaixCDK). ## Introduction to MaixCDK MaixPy is built on top of MaixCDK, and most of MaixPy's APIs are automatically generated based on MaixCDK's APIs. Therefore, any functionality available in MaixPy is also included in MaixCDK. If you are more familiar with C/C++ programming or require higher performance, you can use MaixCDK for development. ## Using MaixCDK The MaixCDK code repository is located at [github.com/sipeed/MaixCDK](https://github.com/sipeed/MaixCDK), where you can find the MaixCDK code and documentation."},"/maixpy/doc/en/source_code/add_c_module.html":{"title":"Adding a C/C++ Module to MaixPy","content":" title: Adding a C/C++ Module to MaixPy ## Introduction Sometimes we need to execute a function efficiently, and the speed of Python cannot meet the requirements. In such cases, we can use C/C++ or other compiled languages to implement the function. ## General Function Encapsulation If the function you want to encapsulate does not depend on other functionalities of MaixPy, you can directly use the general method of adding C/C++ modules with Python, such as ffi, ctype, etc. You can search for relevant methods online. > Welcome to contribute methods via PR ## If Your Module Needs to Depend on Other Basic APIs of MaixPy You need to learn how to compile and use [MaixCDK](https://github.com/sipeed/MaixCDK) first, because MaixPy is generated from MaixCDK APIs. Some functionalities in MaixPy are also available in MaixCDK, and then... TODO"},"/maixpy/doc/en/source_code/contribute.html":{"title":"Contributing to MaixPy Documentation Modification and Code Contribution","content":" title: Contributing to MaixPy Documentation Modification and Code Contribution ## Contributing to MaixPy Documentation Modification * Click the \"Edit this page\" button in the top right corner of the documentation you want to modify to enter the GitHub source documentation page. * Make sure you are logged in to your GitHub account. * Click the pencil icon in the top right corner of the GitHub preview documentation page to modify the content. * GitHub will prompt you to fork a copy to your own repository. Click the \"Fork\" button. > This step forks the MaixPy source code repository to your own account, allowing you to freely modify it. * Modify the documentation content, then fill in the modification description at the bottom of the page, and click \"Commit changes\". * Then find the \"Pull requests\" button in your repository and click to create a new Pull request. * In the pop up page, fill in the modification description and click \"Submit Pull request\". Others and administrators can then see your modifications on the [Pull requests page](https://github.com/sipeed/MaixPy/pulls). * Wait for the administrator to review and approve, and your modifications will be merged into the MaixPy source code repository. * After the merge is successful, the documentation will be automatically updated to the [MaixPy official documentation](https://wiki.sipeed.com/maixpy). > Due to CDN caching, it may take some time to see the update. For urgent updates, you can contact the administrator for manual refreshing. > You can also visit [en.wiki.sipeed.com/maixpy](https://en.wiki.sipeed.com/maixpy) to view the GitHub Pages service version, which is updated in real time without caching. ## Contributing to MaixPy Code Contribution * Visit the MaixPy code repository address: [github.com/sipeed/MaixPy](https://github.com/sipeed/MaixPy) * Before modifying the code, it is best to create an [issue](https://github.com/sipeed/MaixPy/issues) first, describing the content you want to modify to let others know your ideas and plans, so that everyone can participate in the modification discussion and avoid duplication of effort. * Click the \"Fork\" button in the top right corner to fork a copy of the MaixPy code repository to your own account. * Then clone a copy of the code from your account to your local machine. * After modifying the code, commit it to your repository. * Then find the \"Pull requests\" button in your repository and click to create a new Pull request. * In the pop up page, fill in the modification description and click \"Submit Pull request\". Others and administrators can then see your modifications on the [Pull requests page](https://github.com/sipeed/MaixPy/pulls). * Wait for the administrator to review and approve, and your modifications will be merged into the MaixPy source code repository. > Note that most of the MaixPy code is automatically generated from [MaixCDK](https://github.com/sipeed/MaixCDK), so if you modify the C/C++ source code, you may need to modify this repository first."},"/maixpy/doc/en/peripheral/wdt.html":{"title":"Using Watchdog Timer in MaixPy","content":"# Using Watchdog Timer in MaixPy ## Introduction To prevent program issues, a watchdog timer (WDT) is often used to automatically restart the system when the program encounters a problem. The principle is that there is a countdown timer that we need to periodically reset within the program logic (also called \"feeding the dog\"). If our program gets stuck and fails to reset the countdown timer, the hardware will trigger a system reboot when the timer reaches 0. ## Using WDT in MaixPy ```python from maix import wdt, app, time w wdt.WDT(0, 1000) while not app.need_exit(): w.feed() # Here, sleep operation is our task # 200 ms is normal; if it exceeds 1000 ms, it will cause a system reset time.sleep_ms(200) ``` This code sets up a watchdog timer that requires feeding every 1000 ms. If the program fails to feed the watchdog within this period, the system will reset."},"/maixpy/doc/en/faq.html":{"title":"MaixPy FAQ (Frequently Asked Questions)","content":" title: MaixPy FAQ (Frequently Asked Questions) This page lists common questions and solutions related to MaixPy. If you encounter any issues, please search for answers here first. If you cannot find an answer on this page, you can post your question with detailed steps on the [MaixHub Discussion Forum](https://maixhub.com/discussion). If you use MaixCAM, you can also refer to [MaixCAM FAQ](https://wiki.sipeed.com/hardware/zh/maixcam/faq.html) ## MaixVision cannot find the device? First, confirm whether the connection method is WiFi or USB cable. **WiFi**: * Ensure that WiFi is correctly connected and has obtained an IP address. You can view the `ip` in `Settings > Device Info` or `Settings > WiFi`. **USB Cable**: * Ensure that the device is connected to the computer via a Type C data cable, and the device is powered on and has entered the function selection interface. * Ensure that the device driver is installed: * On Windows, check if there is a USB virtual network adapter device in `Device Manager`. If there is an exclamation mark, it means the driver is not installed properly. Follow the instructions in [Quick Start](./index.html) to install the driver. * On Linux, you can check if there is a `usb0` device by running `ifconfig` or `ip addr`, or check all USB devices with `lsusb`. Linux already includes the driver, so if the device is not recognized, check the hardware connection, ensure the device system is up to date, and ensure the device has booted up properly. * On macOS, follow the same steps as Linux. * Additionally, check the quality of the USB cable and try using a high quality cable. * Additionally, check the quality of the computer's USB port. For example, some small form factor PCs have poor EMI design on their USB ports, and connecting a good quality USB hub may allow the device to work. You can also try a different USB port or a different computer. ## MaixVision camera example shows choppy video The default GC4653 camera has a maximum frame rate of 30 frames per second (FPS). Under normal circumstances, the MaixVision display should not appear choppy to the naked eye. If choppiness occurs, first consider transmission issues: * Check the network connection quality, such as WiFi. * If using a USB connection, check the USB cable quality, computer USB port quality, and try using a different computer, USB port, or USB cable for comparison. ## What is the difference between MaixPy v4 and v1/v3? * MaixPy v4 uses the Python language and is the culmination of the experiences from v1 and v3, offering better supporting software and ecosystem, more features, simpler usage, and more comprehensive documentation. While the hardware has significant improvements, the pricing is even more affordable compared to the other two versions. Additionally, it provides compatibility with the K210 user experience and API, making it easier for users to migrate quickly from v1 to v4. * v1 used the Micropython language and had many limitations, such as limited third party library support. Additionally, due to the hardware performance limitations of the Maix I (K210), there was not enough memory, limited AI model support, and lack of hardware acceleration for many codecs. * v3 also used the Python language and was based on the Maix II Dock (v831) hardware. However, the hardware had limited AI model support, and the Allwinner ecosystem was not open enough, with an incomplete API. This version was only intended for use with the Maix II Dock (v831) and will not receive further updates. ## Does MaixPy currently only support MaixCAM, or can it work with other boards using the same chipset? MaixPy currently only supports the MaixCAM series of boards. Other boards using the same chipset, including Sipeed's boards like the LicheeRV Nano, are not supported. It is strongly recommended not to attempt using MaixPy with other boards, as it may result in device damage (such as smoke or screen burn), for which you will be solely responsible. In the future, Sipeed's Maix series of products will continue to be supported by MaixPy. If you have any needs that cannot be met by MaixCAM, you can post your requirements on the [MaixHub Discussion Forum](https://maixhub.com/discussion) or send an email to support@sipeed.com. ## Can I use a camera or screen other than the officially bundled ones? It is not recommended to use cameras or screens other than the officially bundled ones, unless you have sufficient software and hardware knowledge and experience. Otherwise, it may result in device damage. The officially bundled accessories have been fine tuned for both software and hardware, ensuring the best performance and allowing for out of the box usage. Other accessories may have different interfaces, drivers, and software, requiring you to calibrate them yourself, which is an extremely complex process. However, if you are an expert, we welcome you to submit a pull request! ## Model running error: cvimodel built for xxxcv181x CANNOT run on platform cv181x. Failure to parse the model file is generally caused by file corruption. Ensure that your model file is not damaged. For example: * If it was downloaded from the internet, make sure the download was not corrupted. Typically, files on the internet provide sha256sum/md5 checksums. After downloading, you can compare these values; for specific methods, please search online or ask ChatGPT. * If it comes from a compressed archive, ensure that the decompression process was error free. You can decompress the archive again to make sure there were no errors in the process. * Ensure that the file was not damaged during the transfer to the device. You can compare the sha256sum values of the file on the device and on your computer; for specific methods, please search online or ask ChatGPT. ## Power on Black Screen, No Display on the Screen * Check if the TF (micro SD) card is installed. * Check if the latest system image is burned onto the TF card (strongly recommended to update to the latest system image); see documentation for specific burning methods. * Check if the TF card is fully inserted into the TF card slot, ensuring there are no gaps and it is not loose. * Check if the screen and camera ribbon cables are correctly and securely connected; there should be no looseness. * Check if the power LED (red light) and the system operation status LED (blue light) on the board are lit. If the red light is off, consider hardware issues such as no power supply, insufficient power supply, or a damaged board. * Connect the board to a computer using a USB to TTL cable, open the serial port assistant on the computer, restart the board, and check the boot logs for any errors. > If there is no log output, try swapping the TX and RX wires. For MaixCAM, the orientation of the Type C to serial port adapter may vary, and TX RX might be reversed, meaning it does not support reversible plugging."},"/maixpy/doc/en/projects/line_tracking_robot.html":{"title":"MaixPy Line Tracking Robot (/Car)","content":" title: MaixPy Line Tracking Robot (/Car) update: date: 2024 05 09 author: lxowalle version: 1.0.0 content: Initial documentation Before reading this article, make sure you know how to develop with MaixCAM. For details, please read [Quick Start](../index.html). ## Introduction This article describes how to implement a line tracking robot using MaixPy. ## How to implement line tracking robot using MaixPy 1. Preparation of MaixCAM and trolley 2. Implementing the line tracking function 3. Implement the trolley control function ### Preparation of MaixCAM and trolley TODO ### Implementing the line tracking function You can quickly find straight lines using the `get_regression` of the `image` module, see [Line tracking](. /line_tracking.html). Code： ```python from maix import camera, display, image cam camera.Camera(320, 240) disp display.Display() # thresholds [[0, 80, 40, 80, 10, 80]] # red thresholds [[0, 80, 120, 10, 0, 30]] # green # thresholds [[0, 80, 30, 100, 120, 60]] # blue while 1: img cam.read() lines img.get_regression(thresholds, area_threshold 100) for a in lines: img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2) theta a.theta() rho a.rho() if theta > 90: theta 270 theta else: theta 90 theta img.draw_string(0, 0, \"theta: \" + str(theta) + \", rho: \" + str(rho), image.COLOR_BLUE) disp.show(img) ``` The above code implements the function of finding a straight line, note: Use `a.theta()` to get the angle of the line. Use `a.rho()` to get the distance between the line and the origin (the origin is in the upper left corner). After find the straight line with reference to the above code, you can use `a.theta()` and `a.rho()` to control the direction of the cart. ### Implement the trolley control function TODO"},"/maixpy/doc/en/projects/index.html":{"title":"Practical Projects with MaixPy, Introduction and Collection","content":" title: Practical Projects with MaixPy, Introduction and Collection ## Introduction Here we provide some common practical project examples for community members to refer to and replicate for use. This also helps to inspire everyone to create more and better applications and projects. There are several ways to find projects implemented with MaixPy: ## MaixPy Official Documentation You can find practical projects in the documentation on the left, such as \"Line Following Car.\" If you have a good project or a recommended project, you can also contribute by adding it to the documentation. ## MaixHub Project Sharing Square Projects can be found in the [MaixHub Project Sharing](https://maixhub.com/share?type project) section. High quality shares will also be linked to the MaixPy official documentation. You can also share your project making methods, which will receive official rewards (guaranteed) and cash tips from community members (usually, high quality projects that meet urgent needs are more likely to be tipped). Recommend Projects: * maixcam deploy yolov5s model: https://maixhub.com/share/23 ## MaixHub App Sharing In addition to project sharing, you can also find directly runnable applications at the [MaixHub App Store](https://maixhub.com/app), some of which might be written in MaixPy. If the author has provided the source code or written detailed tutorials, these can also be referred to. Recommend Projects: * Simple HTTP Streaming Server: https://maixhub.com/app/19 * Desktop Computer Performance Monitor: https://maixhub.com/app/13 * Safety Helmet Detection Model Application: https://maixhub.com/app/10"},"/maixpy/doc/en/basic/python.html":{"title":"Basic Knowledge of Python","content":" title: Basic Knowledge of Python The tutorial documentation of MaixPy does not delve into specific Python syntax tutorials because there are already too many excellent Python tutorials available. Here, we only introduce what needs to be learned, provide guidance on directions and paths. ## Introduction to Python Python is an interpreted, object oriented, dynamically typed high level programming language. * Interpreted: It does not require compilation, runs directly. The advantage is rapid development, while a minor drawback is the slower execution speed due to code interpretation on each run. However, most often, the bottleneck lies in the developer's code rather than the language itself. * Object oriented: It supports object oriented programming, allowing the definition of classes and objects. Compared to procedural languages, it is easier to organize code. For more details, please search independently. * Dynamically typed: Variables do not need to declare types, can be assigned directly, and the type will be automatically determined based on the assignment. This reduces code volume, but can also lead to type errors, requiring the developer's attention. In conclusion, for developers unfamiliar with Python, it is very easy to get started as Python offers plenty of ready to use libraries, a large developer community, short application development cycles, making it highly worthwhile to learn! ## Python Environment Setup You can install Python on your computer according to the Python tutorial you are following for learning. Alternatively, you can connect to a device via MaixVision on MaixVision and then run the program on the development board. ## What Python Basics are Needed to Use MaixPy? * Basic concepts of Python. * Basic concepts of object oriented programming. * Basic syntax of Python, including: * Tab indentation alignment syntax. * Variables, functions, classes, objects, comments, etc. * Control statements such as if, for, while, etc. * Modules and importing modules. * Basic data types such as int, float, str, list, dict, tuple, etc. * Difference between bytes and str, and conversion. * Exception handling, try except. * Common built in functions like print, open, len, range, etc. * Common built in modules like os, sys, time, random, math, etc. Mastering the above foundational knowledge will enable you to smoothly program with MaixPy. With the help of subsequent tutorials and examples, if unsure, you can refer to search engines, official documentation, or ask ChatGPT to successfully complete your development tasks. ## For Developers Experienced in Another Object Oriented Programming Language If you are already proficient in an object oriented language like C++/Java/C#, you simply need to quickly review Python syntax before starting to use it. You can refer to resources like [Runoob Tutorial](https://www.runoob.com/python3/python3 tutorial.html) or the [Python Official Tutorial](https://docs.python.org/3/tutorial/index.html). Alternatively, you can explore individual developers' blogs, such as [Wow! It's Python](https://neucrack.com/p/59). ## For Developers with C Language Experience but No Object Oriented Programming Experience If you only know C and lack understanding of object oriented concepts, you can start by learning about object oriented programming concepts before diving into Python. It's relatively quick and you can search for video tutorials for entry level guidance. After following introductory video tutorials, you can then refer to documentation tutorials such as [Runoob Tutorial](https://www.runoob.com/python3/python3 tutorial.html) or the [Python Official Tutorial](https://docs.python.org/3/tutorial/index.html) to get started! Once you have acquired the basic knowledge, you can start using MaixPy for programming based on the documentation and examples. ## For Programming Beginners If you have never dealt with programming before, you will need to start learning Python from scratch. Python is also quite suitable as an introductory language. You can search for video tutorials for specific guidance. After mastering the basic syntax, you will be able to use MaixPy for programming by following examples provided."},"/maixpy/doc/en/basic/linux_basic.html":{"title":"Basic Knowledge of Linux","content":" title: Basic Knowledge of Linux ## Introduction For beginners just starting out, you can skip this chapter for now and come back to it after mastering the basics of MaixPy development. The latest MaixPy supports running Linux on the MaixCAM hardware, so the underlying MaixPy development is based on the Linux system. Although Sipeed has done a lot of work for developers with MaixPy, making it possible to enjoy using it without knowledge of the Linux system, there might be situations where some low level operations are necessary or for the convenience of developers unfamiliar with Linux. In this section, we will cover some basic Linux knowledge. ## Why Linux System is Needed Specific reasons can be researched individually. Here are a few examples in simplified terms that may not sound too technical but are easy for beginners to understand: * In microcontrollers, our program is usually a loop, but with Linux, we can run multiple programs simultaneously, each appearing to run independently, where the actual execution is handled by the operating system. * With a large community of Linux based developers, required functionalities and drivers can be easily found without the need to implement them from scratch. * Linux offers a rich set of accompanying software tools for convenient development and debugging. Some Linux common tools not mentioned in this tutorial can theoretically be used as well. ## File System What is a file system? * Similar to a computer's file system, Linux manages hardware disks using a file system, making it easy for us to read and write data to the disk. * For students who have learned about microcontrollers but not familiar with file system development, imagine having a Flash or TF card where data can be read and written through APIs even after power loss. However, Flash has read/write limitations, requiring a program to ensure its longevity. A file system is like a mature program that manages the Flash space and read/write operations. By calling the file system's APIs, we can significantly reduce development work and ensure stability and security with proven programs. ## Transferring Files between Computer and Device (Development Board) Since the device has Linux and a file system, how do we send files to it? For MaixPy, we offer MaixVision for file management in future versions. Before that, you can use the following method: Here we mainly discuss transferring files through the network. Other methods can be explored on your own by searching for \"transferring files to Linux\": * Ensure the device and computer are connected to the same local network, for example: * When the MaixCAM's USB port is connected to the computer, a virtual network card is created which can be seen in the device manager on the computer, and the device's IP can be found in the device's `Settings > Device Information`. * Alternatively, connect to the same local network on the device through `Settings > WiFi`. * Use SCP or SFTP protocols on the computer to transfer files to the device. There are many specific software options and methods, such as: * On Windows, you can use WinSCP, FileZilla, or the scp command. * On Linux, use FileZilla or the scp command. * On Mac, use FileZilla or the scp command. ## Terminal and Command Line The terminal is a tool for communicating with and operating the Linux system, similar to Windows' `cmd` or `PowerShell`. For example, we can enter `ssh root@maixcam xxxx.local` in the Terminal tool on a Windows system with PowerShell or on a Linux system. You can find the specific name in the device's `Settings >Device Information`, which allows us to connect to the device through the terminal (both username and password are `root`). Then, we can operate the device by entering commands. For instance, the `ls` command can list the files in the current directory of the device, while `cd` is used to switch to a different directory (similar to clicking folders in file management on a computer), ```shell cd / # Switch to the root directory ls # Display all files in the current directory (root directory) ``` This will display similar content as below: ```shell bin lib media root tmp boot lib64 mnt run usr dev linuxrc opt sbin var etc lost+found proc sys ``` For more command learning, please search for `Linux command line usage tutorials` on your own. This is just to introduce beginners to basic concepts so that when developers mention them, they can understand what they mean."},"/maixpy/doc/en/vision/self_learn_detector.html":{"title":"MaixPy Self-Learning Detector","content":" title: MaixPy Self Learning Detector ## MaixPy Self Learning Detector Similar to the self learning classifier, the self learning detector does not require training. Simply taking a few photos of the object to be detected can enable detection, which is very useful in simple detection scenarios. Unlike the self learning classifier, since it is a detector, it will provide the coordinates and size of the object. ## Using the Self Learning Detector in MaixPy TODO:"},"/maixpy/doc/en/basic/maixpy_upgrade.html":{"title":"Update MaixPy.","content":" title: Update MaixPy. There are two methods to begin with. If you are new to this and want to keep things simple, you can try using the pre installed MaixPy firmware on the TF card that comes with the device. You can consider updating it later. However, since we don't know when the TF card you received was manufactured, it is recommended to update the system. ## Updating the System Directly Follow the steps in [Upgrading and Flashing the System](./os.html) to upgrade to the latest system, which already includes the newest MaixPy firmware. ## Updating Only the MaixPy Firmware Check the latest version information and release notes in the [MaixPy repository release page](https://github.com/sipeed/MaixPy/releases). It includes details about the MaixPy firmware and the system information corresponding to each version. If you prefer not to update the system (since system changes are usually minimal, you can check if there are any system related changes in the MaixPy update notes before deciding whether to update the system), you can simply update the MaixPy firmware. * Set up WiFi in the settings to connect the system to the internet. * Click on `Update MaixPy` in the settings app to proceed with the update. > If you are comfortable using the terminal, you can also update MaixPy by using `pip install MaixPy U` in the terminal."},"/maixpy/doc/en/pro/compile_os.html":{"title":"","content":""},"/maixpy/doc/en/modules/thermal_cam.html":{"title":"","content":""},"/maixpy/doc/en/modules/tof.html":{"title":"","content":""},"/maixpy/doc/en/modules/acc.html":{"title":"","content":""},"/maixpy/doc/en/vision/yolov5.html":{"title":"Using YOLOv5 Model for Object Detection with MaixPy","content":" title: Using YOLOv5 Model for Object Detection with MaixPy ## Concept of Object Detection Object detection refers to identifying the position and category of targets in an image or video, such as detecting objects like apples and airplanes in a picture, and marking the position of these objects. Unlike classification, object detection includes positional information, so the result is usually a rectangular box that frames the location of the object. ## Using Object Detection in MaixPy MaixPy comes with the `YOLOv5` model by default, which can be used directly: ```python from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.5, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{detector.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` Demonstration video: <video playsinline controls autoplay loop muted preload src \"https://wiki.sipeed.com/maixpy/static/video/detector.mp4\" type \"video/mp4\"> This setup uses a camera to capture images, which are then sent to the `detector` for detection. The results (classification name and position) are displayed on the screen. For more API usage, refer to the documentation of the [maix.nn](/api/maix/nn.html) module. ## Training Your Own Object Detection Model Please visit [MaixHub](https://maixhub.com) to learn and train object detection models. When creating a project, select `Object Detection Model`."},"/maixpy/doc/en/vision/camera.html":{"title":"MaixPy Camera Usage","content":" title: MaixPy Camera Usage update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial documentation ## Introduction For the MaixCAM, it comes with a pre installed GC4653 camera, or an optional OS04A10 camera or global shutter camera, and even an HDMI to MIPI module, all of which can be directly used with simple API calls. ## API Documentation This article introduces common methods. For more API usage, refer to the documentation of the [maix.camera](/api/maix/camera.html) module. ## Camera Switching Different cameras use different drivers, and the correct driver needs to be selected in the system. TODO: How to switch between cameras, such as between GC4653 and OS04A10. ## Getting Images from the Camera Using MaixPy to easily get images: ```python from maix import camera cam camera.Camera(640, 480) while 1: img cam.read() print(img) ``` Here we import the `camera` module from the `maix` module, then create a `Camera` object, specifying the width and height of the image. Then, in a loop, we continuously read the images. The default output is in `RGB` format. If you need `BGR` format or other formats, please refer to the API documentation. ## Skipping Initial Frames During the brief initialization period of the camera, the image acquisition may not be stable, resulting in strange images. You can use the `skip_frames` function to skip the initial few frames: ```python cam camera.Camera(640, 480) cam.skip_frames(30) # Skip the first 30 frames ``` ## Displaying Images MaixPy provides the `display` module, which can conveniently display images: ```python from maix import camera, display cam camera.Camera(640, 480) disp display.Display() while 1: img cam.read() disp.show(img) ```"},"/maixpy/doc/en/vision/find_blobs.html":{"title":"MaixPy Find Blobs","content":" title: MaixPy Find Blobs update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial documentation date: 2024 04 03 author: lxowalle version: 1.0.1 content: Added detailed usage for finding blobs Before reading this article, make sure you know how to develop with MaixCAM. For details, please read [Quick Start](../index.html). ## Introduction This article will introduce how to use MaixPy to find color blobs and how to use the default application of MaixCam to find color blobs. In vision applications, finding color blobs is a very common requirement, such as robots finding color blobs, automated production lines finding color blobs, etc., which requires identifying specific color areas in the image and obtaining information such as the position and size of these areas. ## Using MaixPy to Find Blobs The `maix.image.Image` module in MaixPy provides the `find_blobs` method, which can conveniently find color blobs. ### How to Find Blobs A simple example to find color blobs and draw bounding boxes: ```python from maix import image, camera, display cam camera.Camera(320, 240) disp display.Display() # Select the corresponding configuration based on the color of the blob thresholds [[0, 80, 40, 80, 10, 80]] # red # thresholds [[0, 80, 120, 10, 0, 30]] # green # thresholds [[0, 80, 30, 100, 120, 60]] # blue while 1: img cam.read() blobs img.find_blobs(thresholds, pixels_threshold 500) for blob in blobs: img.draw_rect(blob[0], blob[1], blob[2], blob[3], image.COLOR_GREEN) disp.show(img) ``` Steps: 1. Import the image, camera, and display modules ```python from maix import image, camera, display ``` 2. Initialize the camera and display ```python cam camera.Camera(320, 240)\t# Initialize the camera with an output resolution of 320x240 in RGB format disp display.Display() ``` 3. Get the image from the camera and display it ```python while 1: img cam.read() disp.show(img) ``` 4. Call the `find_blobs` method to find color blobs in the camera image and draw them on the screen ```python blobs img.find_blobs(thresholds, pixels_threshold 500) for blob in blobs: img.draw_rect(blob[0], blob[1], blob[2], blob[3], image.COLOR_GREEN) ``` `img` is the camera image obtained through `cam.read()`. When initialized with `cam camera.Camera(320, 240)`, the `img` object is an RGB image with a resolution of 320x240. `img.find_blobs` is used to find color blobs. `thresholds` is a list of color thresholds, where each element is a color threshold. Multiple thresholds can be passed in to find multiple colors simultaneously. Each color threshold is in the format `[L_MIN, L_MAX, A_MIN, A_MAX, B_MIN, B_MAX]`, where `L`, `A`, and `B` are the three channels in the LAB color space. The `L` channel represents brightness, the `A` channel represents the red green component, and the `B` channel represents the blue yellow component. `pixels_threshold` is a pixel count threshold used to filter out unwanted small blobs. `img.draw_rect` is used to draw bounding boxes around the color blobs. `blob[0]`, `blob[1]`, `blob[1]`, and `blob[1]` represent the x coordinate of the top left corner of the blob, the y coordinate of the top left corner of the blob, the width of the blob, and the height of the blob, respectively. ### Common Parameter Explanations Here are explanations of commonly used parameters. If you cannot find parameters that can implement your application, you may need to consider using other algorithms or extending the required functionality based on the current algorithm's results. Parameter Description Example thresholds Thresholds based on the LAB color space, thresholds [[l_min, l_max, a_min, a_max, b_min, b_max]], representing:<br/>Brightness range [l_min, l_max]<br/>Green to red component range [a_min, a_max]<br/>Blue to yellow component range [b_min, b_max]<br/>Multiple thresholds can be set simultaneously Set two thresholds to detect red and green<br/>```img.find_blobs(thresholds [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```<br/>Red threshold is [0, 80, 40, 80, 10, 80]<br/>Green threshold is [0, 80, 120, 10, 0, 30] invert Enable threshold inversion, when enabled, the passed thresholds are inverted. Default is False. Enable threshold inversion<br/>```img.find_blobs(invert True)``` roi Set the rectangular region for the algorithm to compute, roi [x, y, w, h], where x and y represent the coordinates of the top left corner of the rectangle, and w and h represent the width and height of the rectangle, respectively. The default is the entire image. Compute the region at (50, 50) with a width and height of 100<br/>```img.find_blobs(roi [50, 50, 100, 100])``` area_threshold Filter out blobs with a pixel area smaller than area_threshold, in units of pixels. The default is 10. This parameter can be used to filter out some useless small blobs. Filter out blobs with an area smaller than 1000<br/>```img.find_blobs(area_threshold 1000)``` pixels_threshold Filter out blobs with fewer valid pixels than pixels_threshold. The default is 10. This parameter can be used to filter out some useless small blobs. Filter out blobs with fewer than 1000 valid pixels<br/>```img.find_blobs(pixels_threshold 1000)``` This article introduces commonly used methods. For more APIs, please see the [image](../../../api/maix/image.html) section of the API documentation. ## Using the Find Blobs App To quickly verify the find blobs functionality, you can first use the find blobs application provided by MaixCam to experience the effect of finding color blobs. ### Usage Open the device, select the `Find Blobs` app, then select the color to be recognized from the bottom options or customize a color, and you can recognize the corresponding color. At the same time, the serial port will also output the recognized coordinates and color information. <video src \"/static/video/find_blobs.mp4\" controls \"controls\" width \"100%\" height \"auto\"></video> ### Detailed Explanation The app interface is as follows: ![](../../../static/image/find_blobs_app.jpg) #### Using Default Configuration The find blobs app provides four default configurations: `red`, `green`, `blue`, and `user`. `red`, `green`, and `blue` are used to `find red, green, and blue color blobs`, respectively, while `user` is mainly provided for `user defined color blob finding`. The method for customizing configurations is described below. For a quick experience, you can switch to the corresponding configuration by `clicking` the `buttons` at the bottom of the interface. #### Finding Custom Color Blobs The app provides two ways to find custom color blobs: using adaptive LAB thresholds and manually setting LAB thresholds. ##### 1. Finding Color Blobs with Adaptive LAB Thresholds Steps: 1. `Click` the `options icon` in the bottom left corner to enter configuration mode. 2. Point the `camera` at the `object` you need to `find`, `click` on the `target object` on the screen, and the `left side` will display a `rectangular frame` of the object's color and show the LAB values of that color. 3. Click on the appearing `rectangular frame`, and the system will `automatically set` the LAB thresholds. At this point, the image will outline the edges of the object. ##### 2. Manually Setting LAB Thresholds to Find Color Blobs Manual setting allows for more precise targeting of the desired color blobs. Steps: 1. `Click` the `options icon` in the bottom left corner to enter configuration mode. 2. Point the `camera` at the `object` you need to `find`, `click` on the `target object` on the screen, and the `left side` will display a `rectangular frame` of the object's color and show the `LAB values` of that color. 3. Click on the bottom options `L Min`, `L Max`, `A Min`, `A Max`, `B Min`, `B Max`. After clicking, a slider will appear on the right side to set the value for that option. These values correspond to the minimum and maximum values of the L, A, and B channels in the LAB color format, respectively. 4. Referring to the `LAB values` of the object color calculated in step 2, adjust `L Min`, `L Max`, `A Min`, `A Max`, `B Min`, `B Max` to appropriate values to identify the corresponding color blobs. For example, if `LAB (20, 50, 80)`, since `L 20`, to accommodate a certain range, set `L Min 10` and `L Max 30`. Similarly, since `A 50`, set `A Min 40` and `A Max 60`. Since `B 80`, set `B Min 70` and `B Max 90`. #### Getting Detection Data via Serial Protocol The find blobs app supports reporting information about detected color blobs via the serial port (default baud rate is 115200). Since only one report message is sent, we can illustrate the content of the report message with an example. For instance, if the report message is: ``` shellCopy code AA CA AC BB 14 00 00 00 E1 08 EE 00 37 00 15 01 F7 FF 4E 01 19 00 27 01 5A 00 A7 20 ``` `AA CA AC BB`: Protocol header, content is fixed `14 00 00 00`: Data length, the total length excluding the protocol header and data length `E1`: Flag, used to identify the serial message flag `08`: Command type, for the find blobs app application, this value is fixed at 0x08 `EE 00 37 00 15 01 F7 FF 4E 01 19 00 27 01 5A 00`: Coordinates of the four vertices of the found color blob, with each value represented by 2 bytes in little endian format. `EE 00` and `37 00` represent the first vertex coordinate as (238, 55), `15 01` and `F7 FF` represent the second vertex coordinate as (277, 9), `4E 01` and `19 00` represent the third vertex coordinate as (334, 25), `27 01` and `5A 00` represent the fourth vertex coordinate as (295, 90). `A7 20`: CRC checksum value, used to verify if the frame data has errors during transmission. ## About the LAB Color Space The LAB color space, like the RGB color space, is a way to represent colors. LAB can represent all colors visible to the human eye. If you need to learn more about LAB, you can search for relevant articles online, which will provide more details. However, for you, it should be sufficient to understand why LAB is advantageous for MaixPy. Advantages of LAB for MaixPy: 1. The color gamut of the LAB color space is larger than that of RGB, so it can completely replace RGB. 2. In the LAB color space, since the L channel is the brightness channel, we often set it to a relatively large range (commonly [0, 80]), and when coding, we mainly focus on the A and B channels. This can save a lot of time spent struggling with how to select color thresholds. 3. The color perception in the LAB color space is more uniform and easier to debug with code. For example, if you only need to find red color blobs, you can fix the values of the L and B channels and only adjust the value of the A channel (in cases where high color accuracy is not required). For RGB channels, you generally need to adjust all three R, G, and B channels simultaneously to find suitable thresholds."},"/maixpy/doc/en/vision/classify.html":{"title":"Using AI Models for Object Classification in MaixPy","content":" title: Using AI Models for Object Classification in MaixPy ## Object Classification Concept For example, if there are two images in front of you, one with an apple and the other with an airplane, the task of object classification is to input these two images into an AI model one by one. The model will then output two results, one for apple and one for airplane. ## Using Object Classification in MaixPy MaixPy provides a pre trained `1000` classification model based on the `imagenet` dataset, which can be used directly: ```python from maix import camera, display, image, nn classifier nn.Classifier(model \"/root/models/mobilenetv2.mud\") cam camera.Camera(classifier.input_width(), classifier.input_height(), classifier.input_format()) dis display.Display() while 1: img cam.read() res classifier.classify(img) max_idx, max_prob res[0] msg f\"{max_prob:5.2f}: {classifier.labels[max_idx]}\" img.draw_string(10, 10, msg, image.COLOR_RED) dis.show(img) ``` Result video: <video playsinline controls autoplay loop muted preload src \"https://wiki.sipeed.com/maixpy/static/video/classifier.mp4\" type \"video/mp4\"> Classifier Result video </video> Here, the camera captures an image, which is then passed to the `classifier` for recognition. The result is displayed on the screen. For more API usage, refer to the documentation for the [maix.nn](/api/maix/nn.html) module. ## Training Your Own Classification Model Please go to [MaixHub](https://maixhub.com) to learn and train classification models. When creating a project, select `Classification Model`."},"/maixpy/doc/en/audio/recognize.html":{"title":"","content":""},"/maixpy/doc/en/index.html":{"title":"MaixPy Quick Start","content":" title: MaixPy Quick Start <div style \"font size: 1.2em;border: 2px solid green; border color:#c33d45;padding:1em; text align:center; background: #c33d45; color: white\"> <div> <span>The only official website for MaixPy:</span> <a target \"_blank\" style \"color: #ffe0e0\" href \"https://wiki.sipeed.com/maixpy\"> wiki.sipeed.com/maixpy </a> <br> <div style \"height:0.4em\"></div> <span>MaixPy examples and source code:</span> <a target \"_blank\" style \"color: #ffe0e0\" href \"https://github.com/sipeed/MaixPy\"> github.com/sipeed/MaixPy </a> </div> <div style \"padding: 1em 0 0 0\"> <a target \"_blank\" style \"color: white; font size: 0.9em; border radius: 0.3em; padding: 0.5em; background color: #a80202\" href \"https://item.taobao.com/item.htm?id 784724795837\">Taobao</a> <a target \"_blank\" style \"color: white; font size: 0.9em; border radius: 0.3em; padding: 0.5em; background color: #a80202\" href \"https://www.aliexpress.com/store/911876460\">AliExpress</a> </div> </div> <br> > For an introduction to MaixPy, please see the [MaixPy official website homepage](../../index.html) ## Get a MaixCAM Device Purchase the <a href \"https://wiki.sipeed.com/maixcam\" target \"_blank\">MaixCAM</a> development board from the [Sipeed Taobao](https://item.taobao.com/item.htm?id 784724795837) or [Sipeed AliExpress](https://www.aliexpress.com/store/911876460) store. **It is recommended to purchase the bundle with a `TF card`, `camera`, `2.3 inch touchscreen`, `case`, `Type C data cable`, `Type C one to two mini board`, and `4P serial port socket+cable`**, which will be convenient for later use and development. **The following tutorials assume that you already have these accessories** (including the screen). If you did not purchase a TF card, you will need to **prepare** a **TF card reader** to flash the system. >! Note that currently only the MaixCAM development board is supported. Other development boards with the same chip are not supported, including Sipeed's development boards with the same chip. Please be careful not to purchase the wrong board, which could result in unnecessary waste of time and money. ## Getting Started ### Prepare the TF Image Card and Insert it into the Device If the package you purchased includes a TF card, it already contains the factory image. If the TF card was not installed in the device at the factory, you will first need to carefully open the case (be careful not to tear the ribbon cables inside) and then insert the TF card. Additionally, since the firmware from the factory may be outdated, you can follow the instructions on [Upgrading and Flashing the System](https://wiki.sipeed.com/maixpy/doc/zh/basic/os.html) to upgrade the system to the latest version. If you did not purchase a TF card, you need to flash the system onto a self provided TF card. Please refer to [Upgrading and Flashing the System](./basic/os.html) for the flashing method, and then install it on the board. ### Power On Use a `Type C` data cable to connect the `MaixCAM` device and power it on. Wait for the device to boot up and enter the function selection interface. ![maixcam_font](../../static/image/maixcam_font.png) If the screen does not display: * Please confirm that you purchased the bundled TF card. If you confirm that you have a TF card and it is inserted into the device, you can try [updating to the latest system](./basic/os.html). * If you did not purchase the TF card bundle, you need to follow the instructions in [Upgrading and Flashing the System](./basic/os.html) to flash the latest system onto the TF card. * Also, ensure that the screen and camera cables are not loose. The screen cable can easily come off when opening the case, so be careful. ### Connect to the Network For the first run, you need to connect to the network, as you will need it later to activate the device and use the IDE. * On the device, click `Settings`, select `WiFi`, and click the `Scan` button to start scanning for nearby `WiFi`. You can click several times to refresh the list. * Find your WiFi hotspot. If you don't have a router, you can use your phone as a hotspot. * Enter the password and click the `Connect` button to connect. * Wait for the `IP` address to be obtained. This may take `10` to `30` seconds. If the interface does not refresh, you can exit the `WiFi` function and re enter to check, or you can also see the `IP` information in `Settings` > `Device Info`. ### Update the Runtime Libraries **This step is very important!!!** If this step is not done properly, other applications and functions may not work (e.g., they may crash). * First, ensure that you have completed the previous step of connecting to WiFi and have obtained an IP address to access the internet. * On the device, click `Settings`, and select `Install Runtime Libraries`. * After the installation is complete, you will see that it has been updated to the latest version. Then exit. If it shows `Request failed` or `请求失败` (Request failed), please first check if the network is connected. You need to be able to connect to the internet. If it still doesn't work, please take a photo and contact customer service for assistance. ### Use Built in Applications Many applications are built in, such as Find Blobs, AI Detector, Line Follower, etc. For example, Find Blobs: <video playsinline controls autoplay loop muted preload class \"pl 6 pb 4 self end\" src \"/static/video/find_blobs.mp4\" type \"video/mp4\"> Classifier Result video </video> Please explore other applications on your own. More applications will be updated in the future. For usage documentation and application updates, please see the [MaixHub App Store](https://maixhub.com/app). **Note: The applications only include a part of the functionality that MaixPy can achieve. Using MaixPy, you can create even more features.** ## Use as a Serial Module > If you want to use the device as the main controller (or if you don't understand what a serial module is), you can skip this step. The built in applications can be used directly as serial modules, such as `Find Blobs`, `Find Faces`, `Find QR Codes`, etc. Usage: * Hardware connection: You can connect the device to the `Type C one to two mini board`, which allows you to connect the device via serial to your main controller, such as `Arduino`, `Raspberry Pi`, `STM32`, etc. * Open the application you want to use, such as QR code recognition. When the device scans a QR code, it will send the result to your main controller via serial. > The serial baud rate is `115200`, the data format is `8N1`, and the protocol follows the [Maix Serial Communication Protocol Standard](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md). You can find the corresponding application introduction on the [MaixHub APP](https://maixhub.com/app) to view the protocol. ## Prepare to Connect the Computer and Device To allow the computer (PC) and the device (MaixCAM) to communicate later, we need to have them on the same local area network. Two methods are provided: * **Method 1 (strongly recommended)**: Wireless connection. The device uses WiFi to connect to the same router or WiFi hotspot as the computer. You can connect to your WiFi in the device's `Settings > WiFi Settings`. * **Method 2**: Wired connection. The device connects to the computer via a USB cable, and the device will act as a virtual USB network card, allowing it to be on the same local area network as the computer via USB. > Method 2 may encounter some problems due to the need for USB and drivers, so it is recommended to start with WiFi instead. You can find common issues in the [FAQ](./faq.html). .. details::Method 2 has different setup methods on different computer systems, click to expand * **Linux**: No additional setup is required. Just plug in the USB cable. Use `ifconfig` or `ip addr` to view the `usb0` network card. **Note** that the IP address you see here, e.g., `10.131.167.100`, is the computer's IP. The device's IP is the last octet changed to `1`, i.e., `10.131.167.1`. * **Windows**: You can first confirm if a RNDIS device has been added in the `Network Adapters`. If so, you can use it directly. Otherwise, you need to manually install the RNDIS network card driver: * Open the computer's `Device Manager`. * Then find a RNDIS device with a question mark under `Other Devices`, right click and select `Update Driver Software`. * Select `Browse my computer for driver software`. * Select `Let me pick from a list of available drivers on my computer`. * Select `Network Adapters`, then click `Next`. * On the left, select `Microsoft`, on the right, select `Remote NDIS Compatible Device`, then click `Next`, and select `Yes`. * After installation, the effect is as follows: ![RNDIS](../../static/image/rndis_windows.jpg) * **MacOS**: No additional setup is required. Just plug in the USB cable. Use `ifconfig` or `ip addr` to view the `usb0` network card. **Note** that the IP address you see here, e.g., `10.131.167.100`, is the computer's IP. The device's IP is the last octet changed to `1`, i.e., `10.131.167.1`. ## Prepare the Development Environment * Download and install [MaixVision](https://wiki.sipeed.com/maixvision). * Connect the device and computer with a Type C cable, open MaixVision, and click the `\"Connect\"` button in the bottom left corner. It will automatically search for devices. After a short wait, you will see the device, and you can click the connect button next to it to connect to the device. If **no device is detected**, you can also manually enter the device's IP address in the **device**'s `Settings > Device Info`. You can also find solutions in the [FAQ](./faq.html). **After a successful connection, the function selection interface on the device will disappear, and the screen will turn black, releasing all hardware resources. If there is still an image displayed, you can disconnect and reconnect.** Here is a video example of using MaixVision: <video style \"width:100%\" controls muted preload src \"/static/video/maixvision.mp4\"></video> ## Run Examples Click `Example Code` on the left side of MaixVision, select an example, and click the `Run` button in the bottom left to send the code to the device for execution. For example: * `hello_maix.py`: Click the `Run` button, and you will see messages printed from the device in the MaixVision terminal, as well as an image in the upper right corner. * `camera_display.py`: This example will open the camera and display the camera view on the screen. ```python from maix import camera, display, app disp display.Display() # Construct a display object and initialize the screen cam camera.Camera(640, 480) # Construct a camera object, manually set the resolution to 640x480, and initialize the camera while not app.need_exit(): # Keep looping until the program exits (you can exit by pressing the function key on the device or clicking the stop button in MaixVision) img cam.read() # Read the camera view and save it to the variable img, you can print(img) to print the details of img disp.show(img) # Display img on the screen ``` * `yolov5.py` will detect objects in the camera view, draw bounding boxes around them, and display them on the screen. It supports detection of 80 object types. For more details, please see [YOLOv5 Object Detection](./vision/yolov5.html). You can try other examples on your own. > If you encounter image display stuttering when using the camera examples, it may be due to poor network connectivity, or the quality of the USB cable or the host's USB being too poor. You can try changing the connection method or replacing the cable, host USB port, or computer. ## Install Applications on the Device The above examples run code on the device, but the code will stop running when `MaixVision` is disconnected. If you want the code to appear in the boot menu, you can package it as an application and install it on the device. Click the `Install App` button in the bottom left corner of `MaixVision`, fill in the application information, and the application will be installed on the device. Then you will be able to see the application on the device. You can also choose to package the application and share your application to the [MaixHub App Store](https://maixhub.com/app). > The default examples do not explicitly write an exit function, so you can exit the application by pressing the function key on the device. (For MaixCAM, it is the user key.) If you want the program to start automatically on boot, you can set it in `Settings > Boot Startup`. ## Next Steps If you like what you've seen so far, **please be sure to give the MaixPy open source project a star on [GitHub](https://github.com/sipeed/MaixPy) (you need to log in to GitHub first). Your star and recognition is the motivation for us to continue maintaining and adding new features!** Up to this point, you've experienced the usage and development workflow. Next, you can learn about `MaixPy` syntax and related features. Please follow the left sidebar to learn. If you have any questions about using the API, you can look it up in the [API documentation](/api/). It's best to learn with a specific purpose in mind, such as working on an interesting small project. This way, the learning effect will be better. You can share your projects and experiences on the [MaixHub Share Plaza](https://maixhub.com/share) and receive cash rewards! ## Share and Discuss * **[MaixHub Project and Experience Sharing](https://maixhub.com/share)**: Share your projects and experiences, and receive cash rewards. The basic requirements for receiving official rewards are: * **Reproducible**: A relatively complete process for reproducing the project. * **Showcase**: No detailed project reproduction process, but an attractive project demonstration. * **Bug solving experience**: Sharing the process and specific solution for resolving a particular issue. * [MaixPy Official Forum](https://maixhub.com/discussion/maixpy) (for asking questions and discussion) * Telegram: [MaixPy](https://t.me/maixpy) * MaixPy Source Code Issues: [MaixPy issue](https://github.com/sipeed/MaixPy/issues) * For business cooperation or bulk purchases, please contact support@sipeed.com."},"/maixpy/doc/en/video/jpeg_streaming.html":{"title":"MaixPy Video Stream JPEG Streaming / Sending Images to Server","content":" title: MaixPy Video Stream JPEG Streaming / Sending Images to Server update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial document ## Introduction Sometimes it is necessary to send images to a server or push video from a camera to a server. Here, we provide the simplest method, which is to compress images into `JPEG` format and send them one by one to the server. Note, this is a very basic method and not a formal way to stream video. It is also not suitable for high resolution, high frame rate video streams, as it involves sending images one by one. For more efficient video streaming, please use the `RTSP` or `RTMP` modules discussed later. ## How to Use ```python from maix import image import requests # create image img image.Image(640, 480, image.Format.FMT_RGB) # draw something img.draw_rect(60, 60, 80, 80, image.Color.from_rgb(255, 0, 0)) # convert to jpeg jpeg img.to_format(image.Format.FMT_JPEG) # image.Format.FMT_PNG # get jpeg bytes jpeg_bytes jpeg.to_bytes() # faster way, borrow memory from jpeg object, # but be careful, when jpeg object is deleted, jpeg_bytes object MUST NOT be used, or program will crash # jpeg_bytes jpeg.to_bytes(copy False) # send image binary bytes to server url \"http://192.168.0.123:8080/upload\" res requests.post(url, data jpeg_bytes) print(res.status_code) print(res.text) ``` As you can see, the image is first converted into `JPEG` format, and then the binary data of the `JPEG` image is sent to the server via `TCP`."},"/maixpy/doc/en/source_code/faq.html":{"title":"MaixPy Source Code FAQ","content":"MaixPy Source Code FAQ ## subprocess.CalledProcessError: Command '('lsb_release', ' a')' returned non zero exit status 1. Edit `/usr/bin/lsb_release` as root, change the first line from `#!/usr/bin/python3` to `python3`. Then compile again and it should work. ## ImportError: arg(): could not convert default argument 'format: maix::image::Format' in method '<class 'maix._maix.camera.Camera'>.__init__' into a Python object (type not registered yet?) Pybind11 need you to register `image::Format` first, then you can use it in `camera::Camera`, to we must fist define `image::Format` in generated `build/maixpy_wrapper.cpp` source file. To achieve this, edit `components/maix/headers_priority.txt`, the depended on should be placed before the one use it. e.g. ``` maix_image.hpp maix_camera.hpp ``` ## /usr/bin/ld: /lib/libgdal.so.30: undefined reference to `std::condition_variable::wait(std::unique_lock<std::mutex>&)@GLIBCXX_3.4.30' collect2: error: ld returned 1 exit status This issue commonly arises when building for Linux and using a conda environment, due to some libraries in the conda environment having compilation parameter problems. The solution is to not use conda, or to individually locate the problematic library within conda and replace it with the system's version or simply delete it (the system will then locate the necessary library)."},"/maixpy/doc/en/vision/apriltag.html":{"title":"MaixPy Apriltag Recognition","content":" title: MaixPy Apriltag Recognition update: date: 2024 04 03 author: lxowalle version: 1.0.0 content: Initial documentation Before reading this article, make sure you are familiar with how to develop with MaixCAM. For more details, please read [Quick Start](../index.html). ## Introduction This article introduces how to use MaixPy to recognize Apriltag labels. ## Using MaixPy to Recognize Apriltag Labels MaixPy's `maix.image.Image` provides the `find_apriltags` method, which can be used to recognize Apriltag labels. ### How to Recognize Apriltag Labels A simple example of recognizing Apriltag labels and drawing bounding boxes: ```python from maix import image, camera, display cam camera.Camera() disp display.Display() families image.ApriltagFamilies.TAG36H11 x_scale cam.width() / 160 y_scale cam.height() / 120 while 1: img cam.read() new_img img.resize(160, 120) apriltags new_img.find_apriltags(families families) for a in apriltags: corners a.corners() for i in range(4): corners[i][0] int(corners[i][0] * x_scale) corners[i][1] int(corners[i][1] * y_scale) x int(a.x() * x_scale) y int(a.y() * y_scale) w int(a.w() * x_scale) h int(a.h() * y_scale) for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(x + w, y, \"id: \" + str(a.id()), image.COLOR_RED) img.draw_string(x + w, y + 15, \"family: \" + str(a.family()), image.COLOR_RED) disp.show(img) ``` Steps: 1. Import the image, camera, and display modules ```python from maix import image, camera, display ``` 2. Initialize the camera and display ```python cam camera.Camera() disp display.Display() ``` 3. Get the image from the camera and display it ```python while 1: img cam.read() disp.show(img) ``` 4. Call the `find_apriltags` method to recognize Apriltag labels in the camera image ```python new_img img.resize(160, 120) apriltags new_img.find_apriltags(families families) ``` `img` is the camera image obtained through `cam.read()` `img.resize(160, 120)` is used to scale down the image to a smaller size, allowing the algorithm to compute faster with a smaller image `new_img.find_apriltags(families families)` is used to find Apriltag labels, and the query results are saved in `apriltags` for further processing. The `families` parameter is used to select the Apriltag family, defaulting to `image.ApriltagFamilies.TAG36H11` 5. Process the recognized label results and display them on the screen ```python for a in apriltags: # Get position information (and map coordinates to the original image) x int(a.x() * x_scale) y int(a.y() * y_scale) w int(a.w() * x_scale) corners a.corners() for i in range(4): corners[i][0] int(corners[i][0] * x_scale) corners[i][1] int(corners[i][1] * y_scale) # Display for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(x + w, y, \"id: \" + str(a.id()), image.COLOR_RED) img.draw_string(x + w, y + 15, \"family: \" + str(a.family()), image.COLOR_RED) img.draw_string(x + w, y + 30, \"rotation : \" + str(180 * a.rotation() // 3.1415), image.COLOR_RED) ``` Iterate through the members of `apriltags`, which is the result of scanning Apriltag labels through `img.find_apriltags()`. If no labels are found, the members of `apriltags` will be empty. `x_scale` and `y_scale` are used to map coordinates. Since `new_img` is a scaled down image, the coordinates of the Apriltag need to be mapped to be drawn correctly on the original image `img`. `a.corners()` is used to get the coordinates of the four vertices of the detected label, and `img.draw_line()` uses these four vertex coordinates to draw the shape of the label. `img.draw_string` is used to display the label content, where `a.x()` and `a.y()` are used to get the x and y coordinates of the top left corner of the label, `a.id()` is used to get the label ID, `a.family()` is used to get the label family type, and `a.rotation()` is used to get the rotation angle of the label. ### Common Parameter Explanations Here are explanations for common parameters. If you can't find parameters to implement your application, you may need to consider using other algorithms or extending the required functionality based on the current algorithm's results. Parameter Description Example roi Set the rectangular region for the algorithm to compute. roi [x, y, w, h], where x and y represent the coordinates of the top left corner of the rectangle, and w and h represent the width and height of the rectangle. The default is the entire image. Compute the region with coordinates (50,50) and a width and height of 100:<br />```img.find_apriltags(roi [50, 50, 100, 100])``` families Apriltag label family type Scan for labels from the TAG36H11 family:<br />```img.find_apriltags(families image.ApriltagFamilies.TAG36H11)``` This article introduces common methods. For more API information, please refer to the [image](../../../api/maix/image.html) section of the API documentation."},"/maixpy/doc/en/vision/custmize_model.html":{"title":"MaixPy Custom (Offline Training) AI Model and Running","content":" title: MaixPy Custom (Offline Training) AI Model and Running update: date: 2024 4 23 version: v1.0 author: dragonforward content: Added YOLOv5s deployment > This post is contributed by the community user dragonforward > This blog will show you how to deploy your own YOLOv5s model (the author demonstrates a hard hat model) step by step from scratch. The training part refers to the author's previous work, and those who have already trained their models can skip this part, although there are some differences. **Obtain Custom Trained YOLOv5s ONNX Model** ### **Prepare Custom Dataset (The author uses the VOC dataset)** * `Dataset Directory Structure` is as follows: ``` └─VOC2028: Custom dataset ├─Annotations Stores the dataset label files in XML format ├─ImageSets Dataset split files │ └─Main ├─JPEGImages Stores the dataset images ``` * `Split the Dataset` Execute `python3 split_train_val.py` in the `split_train_val.py` file path, and you will get the following directory structure: ``` └─VOC2028: Custom dataset ├─Annotations Stores the dataset label files in XML format ├─ImageSets Dataset split files │ └─Main test.txt └─test.txt └─train.txt └─val.txt ├─JPEGImages Stores the dataset images ├─split_train_val.py Python file for splitting the dataset ``` `split_train_val.py file code`: ```python # * coding: utf 8 * \"\"\" Author: dragonforward Description: Split into training, validation, and test sets in the ratio of 8:1:1, 8 for training, 1 for validation, and 1 for testing. \"\"\" import os import random import argparse parser argparse.ArgumentParser() # Address of the XML files, modify according to your data. XML files are usually stored in Annotations parser.add_argument(' xml_path', default 'Annotations/', type str, help 'input xml label path') # Dataset split, choose the address under your data's ImageSets/Main parser.add_argument(' txt_path', default 'ImageSets/Main/', type str, help 'output txt label path') opt parser.parse_args() train_percent 0.8 # Proportion of the training set val_percent 0.1 # Proportion of the validation set test_persent 0.1 # Proportion of the test set xmlfilepath opt.xml_path txtsavepath opt.txt_path total_xml os.listdir(xmlfilepath) if not os.path.exists(txtsavepath): os.makedirs(txtsavepath) num len(total_xml) list list(range(num)) t_train int(num * train_percent) t_val int(num * val_percent) train random.sample(list, t_train) num1 len(train) for i in range(num1): list.remove(train[i]) val_test [i for i in list if not i in train] val random.sample(val_test, t_val) num2 len(val) for i in range(num2): list.remove(val[i]) file_train open(txtsavepath + '/train.txt', 'w') file_val open(txtsavepath + '/val.txt', 'w') file_test open(txtsavepath + '/test.txt', 'w') for i in train: name total_xml[i][: 4] + '\\n' file_train.write(name) for i in val: name total_xml[i][: 4] + '\\n' file_val.write(name) for i in list: name total_xml[i][: 4] + '\\n' file_test.write(name) file_train.close() file_val.close() file_test.close() ``` * `Convert VOC to labels to obtain label files` Directory structure: ``` └─VOC2028: Custom dataset ├─Annotations Stores the dataset label files in XML format ├─ImageSets Dataset split files │ └─Main ├─JPEGImages Stores the dataset images └─labels YOLOv5 treats this folder as the training annotation folder └─voc_label.py ``` the `voc_label.py` file code: ```python # * coding: utf 8 * import xml.etree.ElementTree as ET import os sets ['train', 'val', 'test'] # If your Main folder doesn't have test.txt, remove 'test' classes [\"hat\", \"people\"] # Change to your own classes, VOC dataset has the following 20 classes # classes [\"brickwork\", \"coil\",\"rebar\"] # Change to your own classes, VOC dataset has the following 20 classes # classes [\"aeroplane\", 'bicycle', 'bird', 'boat', 'bottle', 'bus', 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog', # 'horse', 'motorbike', 'person', 'pottedplant', 'sheep', 'sofa', 'train', 'tvmonitor'] # class names # abs_path os.getcwd() /root/yolov5/data/voc_label.py abs_path '/root/yolov5/data/' def convert(size, box): dw 1. / (size[0]) dh 1. / (size[1]) x (box[0] + box[1]) / 2.0 1 y (box[2] + box[3]) / 2.0 1 w box[1] box[0] h box[3] box[2] x x * dw w w * dw y y * dh h h * dh return x, y, w, h def convert_annotation(image_id): in_file open(abs_path + '/VOC2028/Annotations/%s.xml' % (image_id), encoding 'UTF 8') out_file open(abs_path + '/VOC2028/labels/%s.txt' % (image_id), 'w') tree ET.parse(in_file) root tree.getroot() size root.find('size') w int(size.find('width').text) h int(size.find('height').text) for obj in root.iter('object'): difficult obj.find('difficult').text # difficult obj.find('Difficult').text cls obj.find('name').text if cls not in classes or int(difficult) 1: continue cls_id classes.index(cls) xmlbox obj.find('bndbox') b (float(xmlbox.find('xmin').text), float(xmlbox.find('xmax').text), float(xmlbox.find('ymin').text), float(xmlbox.find('ymax').text)) b1, b2, b3, b4 b # Bounding box correction if b2 > w: b2 w if b4 > h: b4 h b (b1, b2, b3, b4) bb convert((w, h), b) out_file.write(str(cls_id) + \" \" + \" \".join([str(a) for a in bb]) + '\\n') for image_set in sets: if not os.path.exists(abs_path + '/VOC2028/labels/'): os.makedirs(abs_path + '/VOC2028/labels/') image_ids open(abs_path + '/VOC2028/ImageSets/Main/%s.txt' % (image_set)).read().strip().split() list_file open(abs_path + '/VOC2028/%s.txt' % (image_set), 'w') for image_id in image_ids: list_file.write(abs_path + '/VOC2028/JPEGImages/%s.jpg\\n' % (image_id)) # Either complete the path yourself, or only writing half may cause an error convert_annotation(image_id) list_file.close() ``` ![custmize_model8](assets/custmize_model8.png) ### **Train the Model** * Configure the environment ``` git clone https://github.com/ultralytics/yolov5 cd yolov5 pip install r requirements.txt pip install onnx ``` * Download pre trained weights (the author tried both v7.0 and v6.0 pt, and both work) ``` https://github.com/ultralytics/yolov5/releases/download/v7.0/yolov5s.pt ``` ![custmize_model11](assets/custmize_model11.png) * Train the model (the author used the school's cluster for training) ``` python3 train.py weights weights/yolov5s.pt cfg models/yolov5s.yaml data data/safthat.yaml epochs 150 batch size 16 multi scale device 0 ``` ![custmize_model9](assets/custmize_model9.png) ``` python3 detect.py source /root/yolov5/data/images/000000.jpg weights /root/yolov5/runs/train/exp13/weights/best.pt conf thres 0.25 ``` ![custmize_model10](assets/custmize_model10.png) * Export the ONNX model. Since the school server is currently in class, they can allocate me a computer only after their class is over. So I used the local conda environment on my laptop to export it. The reason for using ` imgsz 224 320` is that it is more suitable for the screen. I also tried 640_640, but the camera reported an error, suggesting that it should be 640_480. Then I saw that the Sipeed YOLOv5s was 320*224, so I kept it consistent with theirs. ``` python export.py weights yolov5s_hat.pt include onnx opset 16 imgsz 224 320 ``` ![custmize_model5](assets/custmize_model5.png) You can view the model by entering netron.app in the URL, and there are three outputs: ![custmize_model2](assets/custmize_model2.png) Here are the author's three outputs: ``` onnx::Shape_329 onnx::Shape_384 onnx::Shape_439 ``` ## Model Conversion (Key Step) ### **Install Docker Environment (Skip if already installed)** ``` Install the basic software required for Docker sudo apt get update sudo apt get install apt transport https ca certificates curl gnupg agent software properties common Add official source curl fsSL https://download.docker.com/linux/ubuntu/gpg sudo apt key add sudo add apt repository \"deb [arch amd64] https://download.docker.com/linux/ubuntu $(lsb_release cs) stable\" Install Docker sudo apt get update sudo apt get install docker ce docker ce cli containerd.io ``` ### **Start the Model Quantization Process (!!!)** ### **Preparation** ``` Download from the following URL https://github.com/sophgo/tpu mlir/releases/tag/v1.7 tpu mlir resource.tar and tpu_mlir 1.7 py3 none any.whl ``` ![custmize_model3](assets/custmize_model3.png) The reason for pulling the latest version is that I failed with version 3.1, as the tools are constantly being updated, so it's better to keep up with the latest version. You can see in the image below that I also tried version 3.1. ![custmize_model7](assets/custmize_model7.png) ``` docker pull sophgo/tpuc_dev:latest After entering the container, copy the two prepared files to the workspace directory root@3d517bc7f51f:/workspace/model_yolov5s# cd .. root@3d517bc7f51f:/workspace# ls model_yolov5s tpu mlir resource tpu mlir resource.tar tpu_mlir 1.7 py3 none any.whl root@3d517bc7f51f:/workspace# Choose one of the following two options, I recommend the second one for offline installation pip install tpu_mlir[all] or pip install tpu_mlir * py3 none any.whl[all] The author chose the second option pip install tpu_mlir 1.7 py3 none any.whl And install all its dependencies pip install tpu_mlir 1.7 py3 none any.whl[all] Extract tar xvf tpu mlir resource.tar Rename the folder mv regression/ tpu mlir resource/ mkdir model_yolov5s && cd model_yolov5s cp rf ../tpu_mlir_resource/dataset/COCO2017 . cp rf ../tpu_mlir_resource/image . Transfer the previously prepared 100 images, one test image, and the ONNX model to the following location root@3d517bc7f51f:/workspace# cd model_yolov5s/ root@3d517bc7f51f:/workspace/model_yolov5s# ls COCO2017 image workspace yolov5n_hat.onnx yolov5s_hat.onnx root@3d517bc7f51f:/workspace/model_yolov5s# cd COCO2017/ root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls 000000.jpg 000011.jpg 000022.jpg 000032.jpg 000042.jpg 000053.jpg 000066.jpg 000076.jpg 000086.jpg 000096.jpg 000002.jpg 000012.jpg 000023.jpg 000033.jpg 000043.jpg 000054.jpg 000067.jpg 000077.jpg 000087.jpg 000101.jpg 000003.jpg 000013.jpg 000024.jpg 000034.jpg 000044.jpg 000055.jpg 000068.jpg 000078.jpg 000088.jpg 000102.jpg 000004.jpg 000014.jpg 000025.jpg 000035.jpg 000045.jpg 000058.jpg 000069.jpg 000079.jpg 000089.jpg 000103.jpg 000005.jpg 000015.jpg 000026.jpg 000036.jpg 000046.jpg 000059.jpg 000070.jpg 000080.jpg 000090.jpg 000104.jpg 000006.jpg 000016.jpg 000027.jpg 000037.jpg 000048.jpg 000061.jpg 000071.jpg 000081.jpg 000091.jpg 000105.jpg 000007.jpg 000017.jpg 000028.jpg 000038.jpg 000049.jpg 000062.jpg 000072.jpg 000082.jpg 000092.jpg 000106.jpg 000008.jpg 000019.jpg 000029.jpg 000039.jpg 000050.jpg 000063.jpg 000073.jpg 000083.jpg 000093.jpg 000107.jpg 000009.jpg 000020.jpg 000030.jpg 000040.jpg 000051.jpg 000064.jpg 000074.jpg 000084.jpg 000094.jpg 000108.jpg 000010.jpg 000021.jpg 000031.jpg 000041.jpg 000052.jpg 000065.jpg 000075.jpg 000085.jpg 000095.jpg 000109.jpg root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# ls l grep \"^ \" wc l 100 root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# You can use ls l grep \"^ \" wc l to check the number of images. The author replaced the 100 helmet images and the test image in the COCO2017 folder. Go back to model_yolov5s root@3d517bc7f51f:/workspace/model_yolov5s/COCO2017# cd .. root@3d517bc7f51f:/workspace/model_yolov5s# ls COCO2017 image workspace yolov5n_hat.onnx yolov5s_hat.onnx root@3d517bc7f51f:/workspace/model_yolov5s# Next mkdir workspace && cd workspace Execute the following command to convert ONNX to MLIR (remember to replace output_names with your own) model_transform \\ model_name yolov5s \\ model_def ../yolov5s_hat.onnx \\ input_shapes [[1,3,224,320]] \\ mean 0.0,0.0,0.0 \\ scale 0.0039216,0.0039216,0.0039216 \\ keep_aspect_ratio \\ pixel_format rgb \\ output_names onnx::Shape_329,onnx::Shape_439,onnx::Shape_384 \\ test_input ../image/hat.jpg \\ test_result yolov5s_top_outputs.npz \\ mlir yolov5s.mlir Execute the following command to convert MLIR to INT8 model, before converting to INT8 model, you need to run calibration to obtain the calibration table run_calibration yolov5s.mlir \\ dataset ../COCO2017 \\ input_num 100 \\ o yolov5s_cali_table Then execute the following model_deploy \\ mlir yolov5s.mlir \\ quantize INT8 \\ calibration_table yolov5s_cali_table \\ processor cv181x \\ test_input yolov5s_in_f32.npz \\ test_reference yolov5s_top_outputs.npz \\ tolerance 0.85,0.45 \\ model yolov5s_cv181x_int8_sym.cvimodel Finally, you will get the following: root@3d517bc7f51f:/workspace/model_yolov5s/workspace# ls _weight_map.csv yolov5s_cv181x_int8_sym.cvimodel yolov5s_origin.mlir build_flag.json yolov5s_cv181x_int8_sym_final.mlir yolov5s_top_f32_all_origin_weight.npz final_opt.onnx yolov5s_cv181x_int8_sym_tensor_info.txt yolov5s_top_f32_all_weight.npz yolov5s.mlir yolov5s_cv181x_int8_sym_tpu.mlir yolov5s_top_outputs.npz yolov5s_cali_table yolov5s_in_f32.npz yolov5s_tpu_addressed_cv181x_int8_sym_weight.npz yolov5s_cv181x_int8_sym yolov5s_opt.onnx.prototxt yolov5s_tpu_addressed_cv181x_int8_sym_weight_fix.npz root@3d517bc7f51f:/workspace/model_yolov5s/workspace# ``` Through the above steps, you can obtain the quantized model that can be deployed to the development board. Explanation: The reason why it's cv181x is because I tried it first and got the following ``` [I] load cvimodel from: /root/models/yolov5n.cvimodel cvimodel built for cv180x CANNOT run on platform cv181x failed to parse cvimodel ``` ## running the model on an actual device: * The contents of `yolov5s_hat.mud` are as follows: ``` [basic] type cvimodel model yolov5s_hat_cv181x_int8_sym.cvimodel [extra] model_type yolov5 input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 anchors 10,13, 16,30, 33,23, 30,61, 62,45, 59,119, 116,90, 156,198, 373,326 labels hat,person ``` Run the code: ```python from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s_hat.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() print(\"www\") print(detector.input_width(), detector.input_height(), detector.input_format()) while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.5, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{detector.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` ![custmize_model4](assets/custmize_model4.png) Where 10.84.117.1 is the IP address. Upload the `cvmodel` and `mud` files to the `/root/models/` path. After packaging, install the application and run it, or you can run it in the IDE. ![custmize_model6](assets/custmize_model6.png) Video link: ``` https://www.bilibili.com/video/BV1xz421S7Rx/?spm_id_from 333.999.0.0&vd_source b1fff0f773136d7d05331087929c7739 ``` **Acknowledgments** Thanks to `谁说现在是冬天呢` for some insights."},"/maixpy/doc/en/vision/self_learn_classifier.html":{"title":"MaixPy Self-Learning Classifier","content":" title: MaixPy Self Learning Classifier ## Introduction to MaixPy Self Learning Classifier Typically, to recognize new categories, it is necessary to collect a new dataset and train on a computer, which can be cumbersome and complex. This method eliminates the need for computer based training, allowing for immediate learning of new objects directly on the device, suitable for less complex scenarios. For example, if there are a drink bottle and a mobile phone in front of you, take a photo of each to serve as the basis for two categories. Then, collect several photos from different angles of each item, extract their features and save them. During recognition, the image's features are compared with the saved feature values, and the closest match determines the classification. ## Using the Self Learning Classifier in MaixPy Steps: * Collect n classification images. * Collect n*m images, m images for each category, order does not matter. * Start learning. * Recognize images and output results. Simplified version of the code, for the full version please refer to the complete code in the example. ```python from maix import nn, image classifier nn.SelfLearnClassifier(model \"/root/models/mobilenetv2.mud\", feature_layer None) img1 image.load(\"/root/1.jpg\") img2 image.load(\"/root/2.jpg\") img3 image.load(\"/root/3.jpg\") sample_1 image.load(\"/root/sample_1.jpg\") sample_2 image.load(\"/root/sample_2.jpg\") sample_3 image.load(\"/root/sample_3.jpg\") sample_4 image.load(\"/root/sample_4.jpg\") sample_5 image.load(\"/root/sample_5.jpg\") sample_6 image.load(\"/root/sample_6.jpg\") classifier.add_class(img1) classifier.add_class(img2) classifier.add_class(img3) classifier.add_sample(sample_1) classifier.add_sample(sample_2) classifier.add_sample(sample_3) classifier.add_sample(sample_4) classifier.add_sample(sample_5) classifier.add_sample(sample_6) classifier.learn() img image.load(\"/root/test.jpg\") max_idx, max_score classifier.classify(img) print(max_idx, max_score) ```"},"/maixpy/doc/en/peripheral/spi.html":{"title":"MaixPy ues SPI","content":" title: MaixPy ues SPI TODO:"},"/maixpy/doc/en/peripheral/i2c.html":{"title":"MaixPy Using I2C","content":" title: MaixPy Using I2C For MaixCAM, due to the tight pin resource constraints, the I2C pins overlap with the WiFi module (SDIO1), so you can only use either WiFi or hardware I2C, but not both. Therefore, it is recommended to use IO emulation for I2C. > Note: Requires MaixPy image and firmware > 4.1.2 (not included) ## IO Emulation I2C To emulate `I2C`, you only need to use the `GPIO` functionality for the pins. On `MaixCAM`, the emulated `I2C` is fixed to pins `A15` (`SCL`) and `A27` (`SDA`), with the `i2c` number being `5`. To use it, simply: ```python from maix import i2c, pinmap # pinmap.set_pin_function(\"A15\", \"GPIOA23\") # pinmap.set_pin_function(\"A27\", \"GPIOA24\") bus1 i2c.I2C(5, i2c.Mode.MASTER) slaves bus1.scan() print(\"find slaves:\", slaves) ``` More API visit [i2c API doc](https://wiki.sipeed.com/maixpy/api/maix/peripheral/i2c.html) ## Hardware I2C As mentioned above, for `MaixCAM`, hardware `I2C` and `WiFi` are mutually exclusive. If you must use hardware `I2C`, you need to disable `WiFi` and use the `pinmap` module to set the pin functions to `I2C`, then use the `maix.i2c` module to operate. > TODO: Provide a method to disable WiFi (requires disabling the WiFi driver in the system, which is relatively complex) Hardware `I2C` and its correspond pin see: ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) ```python from maix import i2c, pinmap pinmap.set_pin_function(\"P18\", \"I2C1_SCL\") pinmap.set_pin_function(\"P21\", \"I2C1_SDA\") bus1 i2c.I2C(1, i2c.Mode.MASTER) slaves bus1.scan() print(\"find slaves:\", slaves) ```"},"/maixpy/doc/en/peripheral/gpio.html":{"title":"MaixPy Using GPIO","content":"# MaixPy Using GPIO ## Introduction Using GPIO allows you to control pins for input or output high and low levels, which is commonly used to read signals or output control signals. ## Using GPIO in MaixPy > MaixPy Firmware should > 4.1.2(not include) First, we need to know which pins and GPIOs the device has. For MaixCAM, each pin corresponds to a GPIO controller, as shown in the figure: ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) It is important to note that pins can be used not only as GPIOs but also for other functions like PWM. Before using them, we need to set the pin function to GPIO. For example, on MaixCAM, some pins are already occupied by other functions by default, such as UART0 and WiFi (SDIO1 + A26), so it is not recommended to use them. Other pins can be used, and the A14 pin is connected to the onboard LED, which is used as a system load indicator by default. If initialized, it will automatically disable the system indicator function and can be used as a regular GPIO (note that `A14` can only be used as an output). This way, you can control the LED's on and off state. ```python from maix import gpio, pinmap, time pinmap.set_pin_function(\"A14\", \"GPIOA14\") led gpio.GPIO(\"A14\", gpio.Mode.OUT) led.value(0) while 1: led.toggle() time.sleep_ms(500) ``` Here, we first use `pinmap` to set the function of the `A14` pin to `GPIO`. Of course, for `A14`, since it only has the `GPIO` function, it can be omitted. For the sake of generality, other pins may need to be set, so it is set in this example. For more APIs, please refer to the [GPIO API Documentation](https://wiki.sipeed.com/maixpy/api/maix/peripheral/gpio.html) ## GPIO in Input Mode ```python from maix import gpio, pinmap, time pinmap.set_pin_function(\"A19\", \"GPIOA19\") led gpio.GPIO(\"A19\", gpio.Mode.IN) while 1: print(led.value()) time.sleep_ms(1) # sleep to make cpu free ```"},"/maixpy/doc/en/peripheral/uart.html":{"title":"Introduction to Using UART in MaixPy","content":"# Introduction to Using UART in MaixPy ## Introduction to UART UART (Universal Asynchronous Receiver/Transmitter) is a communication method that includes definitions for both hardware and communication protocols. * **Hardware includes:** * 3 pins: `GND`, `RX`, `TX`. The communication parties connect `RX` and `TX` in a cross configuration, i.e., the `TX` of one side is connected to the `RX` of the other side, and both `GND` pins are connected together. * Controller: Usually inside the chip, also known as a UART peripheral. A chip generally has one or more UART controllers, each with corresponding pins. * **Communication protocol:** To ensure smooth communication between both parties, a set of protocols is defined. You can learn the specifics on your own. Common parameters include baud rate and parity bit, with baud rate being the most frequently used parameter. Using the board's UART, you can communicate with other microcontrollers or SoCs. For instance, you can implement a human detection function on MaixCAM and send the detected coordinates to an STM32 microcontroller via UART. ## Using UART in MaixPy For MaixCAM, a UART is by default exposed through the USB port. By connecting a Type C adapter board, you can directly use the UART pins on it. Alternatively, you can use the `A16 (TX)` and `A17 (RX)` pins on the board directly, which are equivalent to the ones exposed through the USB port. When using the UART exposed through the USB port on MaixCAM, **note** that the `RX` and `TX` pins on the Type C adapter board will switch when you flip the Type C connector. So, if communication fails, it might be due to reversed `RX` and `TX`. Try flipping the Type C connector and check if the communication works properly. This is a design flaw, but it’s manageable with minimal adjustments. After connecting the communicating boards (connecting `RX` to `TX` in a cross configuration and both `GND` pins together), you can use the software. Using UART in MaixPy is simple: ```python from maix import uart devices uart.list_devices() serial uart.UART(devices[0], 115200) serial.write_str(\"hello world\") print(\"received:\", serial.read(timeout 2000)) ``` Here, we list all UART devices in the system and use the first one, which is the one exposed through the Type C port. For more UART APIs, please refer to the [UART API Documentation](../../../api/maix/peripheral/uart.html) ## Other Usage and Using Additional UARTs ```python from maix import app, uart, pinmap, time import sys # pinmap.set_pin_function(\"A16\", \"UART0_TX\") # pinmap.set_pin_function(\"A17\", \"UART0_RX\") device \"/dev/ttyS0\" serial0 uart.UART(device, 115200) serial0.write(\"hello 1\\r\\n\".encode()) serial0.write_str(\"hello 2\\r\\n\") while not app.need_exit(): data serial0.read() if data: print(\"Received, type: {}, len: {}, data: {}\".format(type(data), len(data), data)) serial0.write(data) time.sleep_ms(1) # sleep 1ms to make CPU free ``` Here, we set up pin mapping, especially if you want to use UARTs other than UART0. Use `pinmap.set_pin_function` based on the pin numbers and UART in the diagram: ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) Additionally, a `sleep_ms` function is added in the loop to briefly release the CPU, ensuring that the program does not occupy the CPU fully. There are other methods to achieve this, but this is the simplest and most straightforward approach."},"/maixpy/doc/en/peripheral/pwm.html":{"title":"Using PWM in MaixPy","content":"# Using PWM in MaixPy ## Introduction To use `PWM` in MaixPy (v4), first set the pin function to `PWM` using `pinmap`. Each `PWM` corresponds to a specific pin, as shown in the pin diagram of MaixCAM: ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) We recommend using `PWM6` and `PWM7`. For `MaixCAM`, since `WiFi` uses all pins of `SDIO1`, `PWM4~9` can only be used alternatively with `WiFi`. > TODO: Provide a method to disable WiFi (requires disabling the WiFi driver in the system, which is quite complex) ## Using PWM to Control a Servo in MaixPy Here we take controlling a servo as an example, using `PWM7` and the `A19` pin of `MaixCAM`: ```python from maix import pwm, time, pinmap SERVO_PERIOD 50 # 50Hz 20ms SERVO_MIN_DUTY 2.5 # 2.5% > 0.5ms SERVO_MAX_DUTY 12.5 # 12.5% > 2.5ms # Use PWM7 pwm_id 7 # !! set pinmap to use PWM7 pinmap.set_pin_function(\"A19\", \"PWM7\") def angle_to_duty(percent): return (SERVO_MAX_DUTY SERVO_MIN_DUTY) * percent / 100.0 + SERVO_MIN_DUTY out pwm.PWM(pwm_id, freq SERVO_PERIOD, duty angle_to_duty(0), enable True) for i in range(100): out.duty(angle_to_duty(i)) time.sleep_ms(100) for i in range(100): out.duty(angle_to_duty(100 i)) time.sleep_ms(100) ``` This code controls the servo to rotate from the minimum angle to the maximum angle and then back to the minimum angle."},"/maixpy/doc/en/vision/face_recognition.html":{"title":"MaixPy Face Recognition","content":" title: MaixPy Face Recognition ## Introduction to Face Recognition Face recognition is the process of identifying the location of faces in the current image and determining who they are. In addition to detecting faces, face recognition generally involves a database of known and unknown individuals. ## Recognition Principle * Use an AI model to detect faces and obtain the coordinates and coordinates of facial features. * Use the coordinates of facial features to perform affine transformation on the face in the image, aligning it to a standard face shape, making it easier for the model to extract facial features. * Use a feature extraction model to extract facial feature values. * Compare the extracted feature values with the recorded facial feature values in the database (calculate the cosine distance between the saved and current facial feature values, and find the smallest distance match in the database. If the distance is smaller than a set threshold, it is considered to be the same person in the database.) ## Using MaixPy The MaixPy `maix.nn` module provides an API for face recognition, which can be used directly, and the model is also built in. You can also download it from the [MaixHub Model Zoo](https://maixhub.com/model/zoo) (filter for the corresponding hardware platform, such as maixcam). Recognition: ```python from maix import nn recognizer nn.Face_Recognizer(model \"/root/models/face_recognizer.mud\") if os.path.exists(\"/root/faces.bin\"): recognizer.load_faces(\"/root/faces.bin\") cam camera.Camera(recognizer.input_width(), recognizer.input_height(), recognizer.input_format()) dis display.Display() while 1: img cam.read() faces recognizer.recognize(img) for obj in faces: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) msg f'{recognizer.labels[obj.class_id]}: {obj.score:.2f}' img.draw_string(obj.x, obj.y, msg, color image.COLOR_RED) dis.show(img) ``` When running this code for the first time, you will find that it can detect faces, but it doesn't recognize anyone. We need to enter the add face mode to learn faces first. For example, we can learn faces when the user presses a button: ```python faces recognizer.detect_faces(img) for face in faces: print(face) # Here we consider the case where there are multiple faces in one image # You can decide whether to add the face to the database based on the coordinates of `face` recognizer.add_face(face) recognizer.save_(faces)(\"/too/faces.bin\") ```"},"/maixpy/doc/en/vision/object_track.html":{"title":"","content":""},"/maixpy/doc/en/vision/display.html":{"title":"MaixPy Screen Usage","content":" title: MaixPy Screen Usage update: date: 2024 03 31 author: neucrack version: 1.0.0 content: Initial document ## Introduction MaixPy provides the `display` module, which can display images on the screen, and can also send images to MaixVision for display, facilitating debugging and development. ## API Documentation This document introduces commonly used methods. For more APIs, please refer to the [display](/api/maix/display.html) section of the API documentation. ## Using the Screen * Import the `display` module: ```python from maix import display ``` * Create a `Display` object: ```python disp display.Display() ``` * Display an image: ```python disp.show(img) ``` Here, the `img` object is a `maix.image.Image` object, which can be obtained through the `read` method of the `camera` module, or loaded from an image file in the file system using the `load` method of the `image` module, or created as a blank image using the `Image` class of the `image` module. For example: ```python from maix import image, display disp display.Display() img image.load(\"/root/dog.jpg\") disp.show(img) ``` Here, you need to transfer the `dog.jpg` file to the `/root` directory on the device first. Display text: ```python from maix import image, display disp display.Display() img image.Image(320, 240) img.draw_rectangle(0, 0, disp.width(), disp.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rectangle(10, 10, 100, 100, color image.Color.from_rgb(255, 0, 0)) img.draw_string(10, 10, \"Hello MaixPy!\", color image.Color.from_rgb(255, 255, 255)) disp.show(img) ``` Read an image from the camera and display it: ```python from maix import camera, display, app disp display.Display() cam camera.Camera(320, 240) while not app.need_exit(): img cam.read() disp.show(img) ``` > Here, `while not app.need_exit():` is used to facilitate exiting the loop when the `app.set_exit_flag()` method is called elsewhere. ## Adjusting Backlight Brightness You can manually adjust the backlight brightness in the system's \"Settings\" app. If you want to adjust the backlight brightness programmatically, you can use the `set_backlight` method, with the parameter being the brightness percentage, ranging from 0 to 100: ```python disp.set_backlight(50) ``` Note that when the program exits and returns to the app selection interface, the backlight brightness will automatically revert to the system setting. ## Displaying on MaixVision When running code in MaixVision, images can be displayed on MaixVision for easier debugging and development. When calling the `show` method, the image will be automatically compressed and sent to MaixVision for display. Of course, if you don't have a screen, or to save memory by not initializing the screen, you can also directly call the `send_to_maixvision` method of the `image.Image` object to send the image to MaixVision for display. ```python from maix import image img image.Image(320, 240) img.draw_rectangle(0, 0, img.width(), img.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rectangle(10, 10, 100, 100, color image.Color.from_rgb(255, 0, 0)) img.draw_string(10, 10, \"Hello MaixPy!\", color image.Color.from_rgb(255, 255, 255)) img.send_to_maixvision() ```"},"/maixpy/doc/en/vision/body_key_points.html":{"title":"MaixPy Human Body Keypoint Detection for Pose Estimation","content":" title: MaixPy Human Body Keypoint Detection for Pose Estimation ## Introduction Using MaixPy, you can easily detect the coordinates of human joint keypoints, which can be used for pose estimation such as sitting posture detection, motion controlled game input, and more. ## Usage Using the `maix.nn.BodyKeyPoints` class in MaixPy, you can easily implement this functionality: ```python from maix import nn, image, camera, display detector nn.BodyKeyPoints(model \"/root/models/body_key_points.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() while 1: img cam.read() points detector.detect(img) for point in points: img.draw_circle(point[0], point[1], 3, color image.COLOR_RED, thickness 1) dis.show(img) ```"},"/maixpy/doc/en/vision/qrcode.html":{"title":"MaixPy QR Code Recognition","content":" title: MaixPy QR Code Recognition update: date: 2024 04 03 author: lxowalle version: 1.0.0 content: Initial document Before reading this article, make sure you are familiar with how to develop with MaixCAM. For details, please read [Quick Start](../index.html). ## Introduction This article explains how to use MaixPy for QR code recognition. ## Using MaixPy to Recognize QR Codes MaixPy's `maix.image.Image` includes the `find_qrcodes` method for QR code recognition. ### How to Recognize QR Codes A simple example that recognizes QR codes and draws a bounding box: ```python from maix import image, camera, display cam camera.Camera(320, 240) disp display.Display() while True: img cam.read() qrcodes img.find_qrcodes() for qr in qrcodes: corners qr.corners() for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(qr.x(), qr.y() 15, qr.payload(), image.COLOR_RED) disp.show(img) ``` Steps: 1. Import the image, camera, and display modules: ```python from maix import image, camera, display ``` 2. Initialize the camera and display: ```python cam camera.Camera(320, 240) # Initialize the camera with a resolution of 320x240 in RGB format disp display.Display() ``` 3. Capture and display images from the camera: ```python while True: img cam.read() disp.show(img) ``` 4. Use the `find_qrcodes` method to detect QR codes in the camera image: ```python qrcodes img.find_qrcodes() ``` `img` is the camera image captured by `cam.read()`. When initialized as `cam camera.Camera(320, 240)`, the `img` object is a 320x240 resolution RGB image. `img.find_qrcodes` searches for QR codes and saves the results in `qrcodes` for further processing. 5. Process and display the results of QR code recognition on the screen: ```python for qr in qrcodes: corners qr.corners() for i in range(4): img.draw_line(corners[i][0], corners[i][1], corners[(i + 1) % 4][0], corners[(i + 1) % 4][1], image.COLOR_RED) img.draw_string(qr.x(), qr.y() 15, qr.payload(), image.COLOR_RED) ``` `qrcodes` contains the results from `img.find_qrcodes()`. If no QR codes are found, `qrcodes` will be empty. `qr.corners()` retrieves the coordinates of the four corners of the detected QR code. `img.draw_line()` uses these coordinates to draw the QR code outline. `img.draw_string` displays information about the QR code content and position. `qr.x()` and `qr.y()` retrieve the x and y coordinates of the QR code's top left corner, and `qr.payload()` retrieves the content of the QR code. ### Common Parameter Explanation List common parameters and their explanations. If you cannot find parameters that fit your application, consider whether to use a different algorithm or extend the functionality based on the current algorithm's results. Parameter Description Example roi Sets the rectangular area for the algorithm to compute, where roi [x, y, w, h], x and y denote the top left coordinates of the rectangle, and w and h denote the width and height of the rectangle, defaulting to the entire image. Compute the area with coordinates (50,50) and width and height of 100:<br />`img.find_qrcodes(roi [50, 50, 100, 100])` This article introduces common methods. For more API details, refer to the [image](../../../api/maix/image.html) section of the API documentation."},"/maixpy/doc/en/vision/image_ops.html":{"title":"MaixPy Basic Image Operations","content":" title: MaixPy Basic Image Operations update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial document ## Introduction Images play a very important role in visual applications. Whether it's a picture or a video, since a video is essentially a series of frames, image processing is the foundation of visual applications. ## API Documentation This document introduces common methods. For more APIs, refer to the documentation of the maix.image module. ## Image Formats MaixPy provides a basic image module `image`, where the most important part is the `image.Image` class, which is used for image creation and various basic image operations, as well as image loading and saving. There are many image formats, and we generally use `image.Format.FMT_RGB888` or `image.Format.FMT_RGBA8888` or `image.Format.FMT_GRAYSCALE` or `image.Format.FMT_BGR888`, etc. We all know that the three colors `RGB` can synthesize any color, so in most cases, we use `image.Format.FMT_RGB888`, which is sufficient. `RGB888` is `RGB packed` in memory, i.e., the arrangement in memory is: `pixel1_red, pixel1_green, pixel1_blue, pixel2_red, pixel2_green, pixel2_blue, ...` arranged in sequence. ## Creating an Image Creating an image is very simple, you only need to specify the width and height of the image, and the image format: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) print(img) print(img.width(), img.height(), img.format()) ``` `320` is the width of the image, `240` is the height of the image, and `image.Format.FMT_RGB888` is the format of the image. The format parameter can be omitted, and the default is `image.Format.FMT_RGB888`. Here, you can get the width, height, and format of the image using `img.width()`, `img.height()`, and `img.format()`. ## Displaying on the Screen MaixPy provides the `maix.display.Display` class, which can conveniently display images: ``` from maix import image, display disp display.Display() img image.Image(320, 240, image.Format.FMT_RGB888) disp.show(img) ``` Note that here, since there is no image data, a black image is displayed. See the following sections for how to modify the image. ## Reading Images from the File System MaixPy provides the `maix.image.load` method, which can read images from the file system: ``` from maix import image img image.load(\"/root/image.jpg\") print(img) ``` Note that here, `/root/image.jpg` has been transferred to the board in advance. You can refer to the previous tutorials for the method. It supports `jpg` and `png` image formats. ## Saving Images to the File System MaixPy's `maix.image.Image` provides the `save` method, which can save images to the file system: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) # do something with img img.save(\"/root/image.jpg\") ``` ## Drawing Rectangles `image.Image` provides the `draw_rect` method, which can draw rectangles on the image: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_rect(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0)) ``` Here, the parameters are: `x`, `y`, `w`, `h`, `color`. `x` and `y` are the coordinates of the top left corner of the rectangle, `w` and `h` are the width and height of the rectangle, and `color` is the color of the rectangle, which can be created using the `image.Color.from_rgb` method. You can specify the line width of the rectangle using `thickness`, which defaults to `1`. You can also draw a solid rectangle by passing `thickness 1`: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_rect(10, 10, 100, 100, (255, 0, 0), thickness 1) ``` ## Writing Strings `image.Image` provides the `draw_string` method, which can write text on the image: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_string(10, 10, \"Hello MaixPy\", image.Color.from_rgb(255, 0, 0)) ``` Here, the parameters are: `x`, `y`, `text`, `color`. `x` and `y` are the coordinates of the top left corner of the text, `text` is the text to be written, and `color` is the color of the text, which can be created using the `image.Color.from_rgb` method. You can also enlarge the font by passing the `scale` parameter: ``` img.draw_string(10, 10, \"Hello MaixPy\", image.Color.from_rgb(255, 0, 0), scale 2) ``` Get the width and height of the font: ``` w, h img.string_size(\"Hello MaixPy\", scale 2) print(w, h) ``` **Note** that here, `scale` is the magnification factor, and the default is `1`. It should be consistent with `draw_string`. ## Drawing Lines `image.Image` provides the `draw_line` method, which can draw lines on the image: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_line(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0)) ``` Here, the parameters are: `x1`, `y1`, `x2`, `y2`, `color`. `x1` and `y1` are the coordinates of the starting point of the line, `x2` and `y2` are the coordinates of the end point of the line, and `color` is the color of the line, which can be created using the `image.Color.from_rgb` method. ## Drawing Circles `image.Image` provides the `draw_circle` method, which can draw circles on the image: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_circle(100, 100, 50, image.Color.from_rgb(255, 0, 0)) ``` Here, the parameters are: `x`, `y`, `r`, `color`. `x` and `y` are the coordinates of the center of the circle, `r` is the radius, and `color` is the color of the circle, which can be created using the `image.Color.from_rgb` method. ## Resizing Images `image.Image` provides the `resize` method, which can resize images: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.resize(160, 120) print(img, img_new) ``` Note that here, the `resize` method returns a new image object, and the original image remains unchanged. ## Cropping Images `image.Image` provides the `crop` method, which can crop images: ``` from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.crop(10, 10, 100, 100) print(img, img_new) ``` Note that here, the `crop` method returns a new image object, and the original image remains unchanged. ## Rotating Images `image.Image` provides the `rotate` method, which can rotate images: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.rotate(90) print(img, img_new) ``` Note that here, the `rotate` method returns a new image object, and the original image remains unchanged. ## Copying Images `image.Image` provides the `copy` method, which can copy an independent image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.copy() print(img, img_new) ``` ## Affine Transformations `image.Image` provides the `affine` method, which can perform affine transformations. By providing the coordinates of three or more points in the current image and the corresponding coordinates in the target image, you can automatically perform operations such as rotation, scaling, and translation on the image to transform it into the target image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.affine([(10, 10), (100, 10), (10, 100)], [(10, 10), (100, 20), (20, 100)]) print(img, img_new) ``` For more parameters and usage, please refer to the API documentation. ## Drawing Keypoints `image.Image` provides the `draw_keypoints` method, which can draw keypoints on the image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) keypoints [(10, 10), (100, 10), (10, 100)] img.draw_keypoints(keypoints, image.Color.from_rgb(255, 0, 0), size 10, thickness 1, fill False) ``` This draws three red keypoints at the coordinates `(10, 10)`, `(100, 10)`, and `(10, 100)`. The size of the keypoints is `10`, the line width is `1`, and they are not filled. ## Drawing Crosses `image.Image` provides the `draw_cross` method, which can draw crosses on the image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_cross(100, 100, image.Color.from_rgb(255, 0, 0), size 5, thickness 1) ``` This draws a red cross at the coordinate `(100, 100)`. The extension size of the cross is `5`, so the length of the line segment is `2 * size + thickness`, and the line width is `1`. ## Drawing Arrows `image.Image` provides the `draw_arrow` method, which can draw arrows on the image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img.draw_arrow(10, 10, 100, 100, image.Color.from_rgb(255, 0, 0), thickness 1) ``` This draws a red arrow starting from the coordinate `(10, 10)`, with the end point at `(100, 100)`, and a line width of `1`. ## Drawing Images `image.Image` provides the `draw_image` method, which can draw images on the image: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img2 image.Image(100, 100, image.Format.FMT_RGB888) img2.draw_rect(10, 10, 90, 90, image.Color.from_rgb(255, 0, 0)) img.draw_image(10, 10, img2) ``` ## Converting Formats `image.Image` provides the `to_format` method, which can convert image formats: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_new img.to_format(image.Format.FMT_BGR888) print(img, img_new) img_jpg img.to_format(image.Format.FMT_JPEG) print(img, img_new) ``` Note that here, the `to_format` method returns a new image object, and the original image remains unchanged. ## Converting between Numpy/OpenCV Formats You can also convert to a `numpy` array, which can then be used by libraries such as `numpy` and `opencv`: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) img_np image.image2cv(img) img2 image.cv2image(img_np) print(type(img_np), img_np, img_np.shape) print(type(img2), img2) ``` ## Converting between bytes Data `image.Image` provides the `to_bytes` method, which can convert an image to `bytes` data: ```python from maix import image img image.Image(320, 240, image.Format.FMT_RGB888) data img.to_bytes() print(type(data), len(data), img.data_size()) img2 image.Image(320, 240, image.Format.FMT_RGB888, data) print(img2) ``` Here, `to_bytes` returns a new `bytes` object, which is independent memory and does not affect the original image. The `image.Image` constructor can directly construct an image object from `bytes` data by passing the `data` parameter. Note that the new image is also independent memory and does not affect `data`. Since memory copying is involved, this method is relatively time consuming and should not be used frequently. > If you want to optimize your program without copying (not recommended for casual use, as poorly written code can easily cause crashes), please refer to the API documentation. ## More Basic API Usage For more API usage, please refer to the documentation of the maix.image module."},"/maixpy/doc/en/vision/line_tracking.html":{"title":"MaixPy Line Tracking","content":" title: MaixPy Line Tracking update: date: 2024 05 09 author: lxowalle version: 1.0.0 content: Initial document Before reading this article, make sure you already know how to develop MaixCAM. For details, please read [Quick Start](../index.html). ## Introduction In vision applications, the function of tracking line is often required in applications such as line following robot. In this article, we will describe: How to use MaixPy to tracking line. How to tracking line using MaixCam's default application ## How to use MaixPy to tracking line The `maix.image.Image` module in MaixPy provides the `get_regression` method, which can conveniently tracking line. ### Code example A simple example of finding and drawing a line. ```python from maix import camera, display, image cam camera.Camera(320, 240) disp display.Display() # thresholds [[0, 80, 40, 80, 10, 80]] # red thresholds [[0, 80, 120, 10, 0, 30]] # green # thresholds [[0, 80, 30, 100, 120, 60]] # blue while 1: img cam.read() lines img.get_regression(thresholds, area_threshold 100) for a in lines: img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2) theta a.theta() rho a.rho() if theta > 90: theta 270 theta else: theta 90 theta img.draw_string(0, 0, \"theta: \" + str(theta) + \", rho: \" + str(rho), image.COLOR_BLUE) disp.show(img) ``` Steps: 1. import image, camera, display modules ```python from maix import image, camera, display ``` 2. Initialize camera and display ```python cam camera.Camera(320, 240) # Initialise camera, output resolution 320x240 in RGB format. disp display.Display() ``` 3. Get the image from the camera and display it ```python while 1: img cam.read() disp.show(img) ``` 4. Call the `get_regression` method to find the straight line in the camera image and draw it to the screen ```python lines img.get_regression(thresholds, area_threshold 100) for a in lines: img.draw_line(a.x1(), a.y1(), a.x2(), a.y2(), image.COLOR_GREEN, 2) theta a.theta() rho a.rho() if theta > 90: theta 270 theta else: theta 90 theta img.draw_string(0, 0, \"theta: \" + str(theta) + \", rho: \" + str(rho), image.COLOR_BLUE) ``` `img` is the camera image read via `cam.read()`, when initialised as `cam camera.Camera(320, 240)`, the `img` object is an RGB image with a resolution of 320x240. `img.get_regression` is used to find straight lines, `thresholds` is a list of colour thresholds, each element is a colour threshold, multiple thresholds are passed in if multiple thresholds are found at the same time, and each colour threshold has the format `[L_MIN, L_MAX, A_MIN, A_MAX, B_MIN, B_MAX]`, where ` L`, `A`, `B` are the three channels of `LAB` colour space, `L` channel is the luminance, `A` channel is the red green channel, `B` channel is the blue yellow channel. `pixels_threshold` is a pixel area threshold used to filter some unwanted straight lines. `for a in lines` is used to iterate through the returned `Line` objects, where `a` is the current `Line` object. Normally the `get_regression` function will only return one `Line` object, but if you need to find more than one line, try the `find_line` method. Use `img.draw_line` to draw the found line, `a.x1(), a.y1(), a.x2(), a.y2()` represent the coordinates of the ends of the line. Use `img.draw_string` to show the angle between the line and the x axis in the upper left corner, and `a.theta()` is the angle between the line and the y axis, which is converted to `theta` for easier understanding, `a.rho()` is the length of the vertical line from the origin to the line. 5. Run the code through the maixvision, you can find the line, look at the effect! ![image 20240509110204007](../../../static/image/line_tracking_demo.jpg) ### Common Parameter Explanations Here are explanations of commonly used parameters. If you cannot find parameters that can implement your application, you may need to consider using other algorithms or extending the required functionality based on the current algorithm's results. Parameter Description Example thresholds Thresholds based on the LAB color space, thresholds [[l_min, l_max, a_min, a_max, b_min, b_max]], representing:<br/>Brightness range [l_min, l_max]<br/>Green to red component range [a_min, a_max]<br/>Blue to yellow component range [b_min, b_max]<br/>Multiple thresholds can be set simultaneously Set two thresholds to detect red and green<br/>```img.find_blobs(thresholds [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```<br/>Red threshold is [0, 80, 40, 80, 10, 80]<br/>Green threshold is [0, 80, 120, 10, 0, 30] invert Enable threshold inversion, when enabled, the passed thresholds are inverted. Default is False. Enable threshold inversion<br/>```img.find_blobs(invert True)``` roi Set the rectangular region for the algorithm to compute, roi [x, y, w, h], where x and y represent the coordinates of the top left corner of the rectangle, and w and h represent the width and height of the rectangle, respectively. The default is the entire image. Compute the region at (50, 50) with a width and height of 100<br/>```img.find_blobs(roi [50, 50, 100, 100])``` area_threshold Filter out blobs with a pixel area smaller than area_threshold, in units of pixels. The default is 10. This parameter can be used to filter out some useless small blobs. Filter out blobs with an area smaller than 1000<br/>```img.find_blobs(area_threshold 1000)``` pixels_threshold Filter out blobs with fewer valid pixels than pixels_threshold. The default is 10. This parameter can be used to filter out some useless small blobs. Filter out blobs with fewer than 1000 valid pixels<br/>```img.find_blobs(pixels_threshold 1000)``` This article introduces commonly used methods. For more APIs, please see the [image](../../../api/maix/image.html) section of the API documentation. ## How to tracking line using MaixCam's default application To quickly verify the line tracking functionality, you can use the `line_tracking` application provided by MaixCam to experience the line finding effect. ### How to use it 1. Select and open the `Line tracking` application. 2. Click on the line in the screen that needs to be identified and the colour of the line will be displayed on the left hand side 3. Click on the colour to be detected on the left (the colour below L A B in the screen) 4. The line will be identified and the coordinates and angle of the line will be output from the serial port. ### Demo <video src \"/static/video/line_tracking_app.mp4\" controls \"controls\" width \"100%\" height \"auto\"></video> ### Advanced operations #### Manual adjustment of LAB threshold to tracking line The application provides manual setting of LAB threshold to tracking line accurately. Steps: 1. `Click` the `options icon` in the bottom left corner to enter configuration mode. 2. Point the `camera` at the `object` you need to `find`, `click` on the `target object` on the screen, and the `left side` will display a `rectangular frame` of the object's color and show the `LAB values` of that color. 3. Click on the bottom options `L Min`, `L Max`, `A Min`, `A Max`, `B Min`, `B Max`. After clicking, a slider will appear on the right side to set the value for that option. These values correspond to the minimum and maximum values of the L, A, and B channels in the LAB color format, respectively. 4. Referring to the `LAB values` of the object color calculated in step 2, adjust `L Min`, `L Max`, `A Min`, `A Max`, `B Min`, `B Max` to appropriate values to identify the corresponding color blobs. For example, if `LAB (20, 50, 80)`, since `L 20`, to accommodate a certain range, set `L Min 10` and `L Max 30`. Similarly, since `A 50`, set `A Min 40` and `A Max 60`. Since `B 80`, set `B Min 70` and `B Max 90`. #### Getting Detection Data via Serial Protocol The line tracking application supports reporting detected straight line information via the serial port (default baud rate is 115200). Since only one report message is sent, we can illustrate the content of the report message with an example. For instance, if the report message is: ```shell AA CA AC BB 0E 00 00 00 00 E1 09 FC 01 01 00 E9 01 6F 01 57 00 C1 C6 ``` `AA CA AC BB`: Protocol header, fixed content `0E 00 00 00`: Data length, the total length excluding the protocol header and data length, here means the length is 14. `E1`: Flag bit, used to identify the serial message flag `09`: Command type, for the line tracking application, this value is fixed at 0x09. `FC 01 01 00 E9 01 6F 01 57 00`: The coordinates and angle information for both ends of line, with each value represented as a 2 byte value in little end format. `FC 01` and `01 00` indicate that the coordinates of the first endpoint are (508, 1), `E9 01` and `6F 01` indicate that the coordinates of the second endpoint are (489, 367), and `57 00` indicates that the angle of the line to the x axis is 87 degrees `C1 C6`: CRC checksum value, used to verify if the frame data has errors during transmission."},"/maixpy/doc/en/vision/face_detection.html":{"title":"MaixPy Face Detection and Key Points Detection","content":" title: MaixPy Face Detection and Key Points Detection ## Introduction Face detection can be used in many places, such as providing the step of face detection for face recognition, or applications related to face tracking, and more. The face detection provided here can not only detect faces but also detect 5 key points, including two eyes, one nose, and the two corners of a mouth. ![face detection](../../assets/face_detection.jpg) ## Using Face Detection in MaixPy MaixPy officially provides two face detection models, sourced from the open projects [face detector 1MB with landmark](https://github.com/biubug6/Face Detector 1MB with landmark) and [Retinaface](https://github.com/biubug6/Pytorch_Retinaface). To use them, first download a model, either one as there's not much difference between them: * [face detector 1MB with landmark](https://maixhub.com/model/zoo/377) * [Retinaface](https://maixhub.com/model/zoo/378) Then copy the model file to your device, see [Using MaixVision](../basic/maixvision.html) for how to copy. > The default image contains a file that can be used directly; if not available, you must download it yourself. The downloaded zip package contains multiple resolutions to choose from; the higher the resolution, the more precise but also more time consuming. Next, run the code. The following line of commented code is for loading the `Retinaface` model, choose which line of code to use based on the model you downloaded. > To use this function, MaixPy must > 4.1.4. ```python from maix import camera, display, image, nn, app import math detector nn.FaceDetector(model \"/root/models/face_detector.mud\") # detector nn.Retinaface(model \"/root/models/retinaface.mud\") cam camera.Camera(detector.input_width(), detector.input_height(), detector.input_format()) dis display.Display() while not app.need_exit(): img cam.read() objs detector.detect(img, conf_th 0.4, iou_th 0.45) for obj in objs: img.draw_rect(obj.x, obj.y, obj.w, obj.h, color image.COLOR_RED) radius math.ceil(obj.w / 10) img.draw_keypoints(obj.points, image.COLOR_RED, size radius if radius < 5 else 4) dis.show(img) ```"},"/maixpy/doc/en/vision/maixhub_train.html":{"title":"Using MaixHub to Train AI Models for MaixPy","content":" title: Using MaixHub to Train AI Models for MaixPy update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial document ## Introduction MaixHub offers the functionality to train AI models online, directly within a browser. This eliminates the need for expensive hardware, complex development environments, or coding skills, making it highly suitable for beginners as well as experts who prefer not to delve into code. ## Basic Steps to Train a Model Using MaixHub ### Identify the Data and Model Types To train an AI model, you first need to determine the type of data and model. As of April 2024, MaixHub provides models for image data including `Object Classification Models` and `Object Detection Models`. Object classification models are simpler than object detection models, as the latter require marking the position of objects within images, which can be more cumbersome. Object classification merely requires identifying what is in the image without needing coordinates, making it simpler and recommended for beginners. ### Collect Data As discussed in AI basics, training a model requires a dataset for the AI to learn from. For image training, you need to create a dataset and upload images to it. Ensure the device is connected to the internet (WiFi). Open the MaixHub app on your device and choose to collect data to take photos and upload them directly to MaixHub. You need to create a dataset on MaixHub first, then click on device upload data, which will display a QR code. Scan this QR code with your device to connect to MaixHub. It's important to distinguish between training and validation datasets. To ensure the performance during actual operation matches the training results, the validation dataset must be of the same image quality as those taken during actual operation. It's also advisable to use images taken by the device for the training set. If using internet images, restrict them to the training set only, as the closer the dataset is to actual operational conditions, the better. ### Annotate Data For classification models, images are annotated during upload by selecting the appropriate category for each image. For object detection models, after uploading, you need to manually annotate each image by marking the coordinates, size, and category of the objects to be recognized. This annotation process can also be done offline on your own computer using software like labelimg, then imported into MaixHub using the dataset import feature. Utilize shortcuts during annotation to speed up the process. MaixHub will also add more annotation aids and automatic annotation tools in the future (there is already an automatic annotation tool available for videos that you can try). ### Train the Model Select training parameters, choose the corresponding device platform, select maixcam, and wait in the training queue. You can monitor the training progress in real time and wait for it to complete. ### Deploy the Model Once training is complete, you can use the deploy function in the MaixHub app on your device to scan a code and deploy. The device will automatically download and run the model, storing it locally for future use. If you find the recognition results satisfactory, you can share the model to the model library with a single click for others to use. ## How to Use Please visit [MaixHub](https://maixhub.com) to register an account, then log in. There are video tutorials on the homepage for learning. Note that if the tutorial uses the M2dock development board, the process is similar for MaixCAM, although the MaixHub application on the device might differ slightly. The overall process is the same, so please apply the knowledge flexibly."},"/maixpy/doc/en/vision/ai.html":{"title":"Basic Knowledge of AI Vision","content":" title: Basic Knowledge of AI Vision update: date: 2024 04 03 author: neucrack version: 1.0.0 content: Initial documentation ## Introduction If you don't have an AI background, you can first read [What is Artificial Intelligence (AI) and Machine Learning](https://wiki.sipeed.com/ai/en/basic/what_is_ai.html) to understand the basic concepts of AI before learning about AI. Then, the visual AI we use is generally based on the `deep neural network learning` method. If you are interested, you can check out [Deep Neural Network (DNN) Basics](https://wiki.sipeed.com/ai/en/basic/dnn_basic.html). ## Using Visual AI in MaixPy Using visual AI in MaixPy is very simple. By default, commonly used AI models are provided, and you can use them directly without having to train the models yourself. You can find the `maixcam` models in the [MaixHub Model Library](https://maixhub.com/model/zoo). Additionally, the underlying APIs have been well encapsulated, and you only need to make simple calls to implement them. If you want to train your own model, you can start with [MaixHub Online Training](https://maixhub.com/model/training/project). On the online platform, you can train models just by clicking, without the need to purchase expensive machines, set up complex development environments, or write code, making it very suitable for beginners and also for experienced users who are too lazy to read code. Generally, once you have obtained the model file, you can transfer it to the device and call the MaixPy API to use it. The specific calling methods are discussed in the following sections."},"/maixpy/doc/en/no_translate.html":{"title":"no translation","content":" title: no translation class: md_page <div id \"visit_from\"></div> <div id \"no_translate_hint\">This page not translated yet</div> <div> <span id \"visit_hint\">Please visit</span> <a id \"translate_src\"></a> </div> <div> <script> function getQueryVariable(variable) { var query window.location.search.substring(1); var vars query.split(\"&\"); for (var i 0;i<vars.length;i++) { var pair vars[i].split(\" \"); if(pair[0] variable){return pair[1];} } return(false); } var ref getQueryVariable(\"ref\"); var from getQueryVariable(\"from\"); var link document.getElementById(\"translate_src\"); var fromDis document.getElementById(\"visit_from\"); link.href ref; link.text ref; fromDis.innerHTML from; </script> </div>"}}
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