diff --git a/.github/workflows/build_maixcam.yml b/.github/workflows/build_maixcam.yml new file mode 100755 index 0000000..51295bd --- /dev/null +++ b/.github/workflows/build_maixcam.yml @@ -0,0 +1,107 @@ +# This is a basic workflow to help you get started with Actions + +name: Build MaixCAM + +# Controls when the action will run. +on: + # Triggers the workflow on push or pull request events but only for the main branch + push: + branches: [ main ] + # pull_request: + # branches: [ main ] + + # Allows you to run this workflow manually from the Actions tab + workflow_dispatch: + +permissions: write-all + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # This workflow contains a single job called "build" + build: + # Only run job for specific repository + if: github.repository == 'sipeed/MaixPy' + # The type of runner that the job will run on + runs-on: ubuntu-latest + strategy: + matrix: + python-version: ["3.11"] # MaixCAM use 3.11 + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v4 + - uses: actions/setup-python@v5 + with: + python-version: ${{ matrix.python-version }} + - name: Build MaixPy + run: | + echo "-- Check python version must python 3.11 --" + python3 -c 'import sys;print(sys.version);assert sys.version_info >= (3, 11);assert sys.version_info < (3, 12)' + python -c 'import sys;print(sys.version);assert sys.version_info >= (3, 11);assert sys.version_info < (3, 12)' + whereis python + whereis python3 + # export PATH=~/.local/bin/:$PATH + # pull sipeed/MaixCDK repo here first + pwd_path=$(pwd) + cd ~ + git clone https://github.com/sipeed/MaixCDK --depth=1 + export MAIXCDK_PATH=`pwd`/MaixCDK + cd $pwd_path + python -m pip install -U pip setuptools wheel + python -m pip install -r $MAIXCDK_PATH/requirements.txt + python -m pip install pybind11-stubgen + echo "--------------------------------" + echo "-- Build MaixPy for Linux now --" + echo "--------------------------------" + sudo apt update -y + sudo apt install -y libopencv-dev libopencv-contrib-dev libsdl2-dev cmake + cmake --version + python setup.py bdist_wheel linux + echo "--------------------------------" + echo "-- Test MaixPy basic for Linux now --" + echo "--------------------------------" + chmod +x ./run.sh && ./run.sh test/test_basic.py + mkdir -p artifact + mv dist/* artifact/ + echo "----------------------------------" + echo "-- Build MaixPy for MaixCAM now --" + echo "----------------------------------" + python setup.py bdist_wheel maixcam + mv dist/* artifact/ + + - name: Upload MaixPy Linux firmware as artifact + uses: actions/upload-artifact@v4 + with: + name: maixpy_firmware + path: artifact/*.whl + + # Runs a set of commands using the runners shell + - name: Push doc to github pages + run: | + pip3 install teedoc + cd docs + echo "== install plugins ==" + teedoc install + echo "== start build ==" + teedoc build + echo "== build complete ==" + remote_addr=`git remote get-url --push origin` + remote_addr=`echo $remote_addr| awk -F'://' '{print $2}'` + user_name=`git log -1 --pretty=format:'%an'` + user_email=`git log -1 --pretty=format:'%ae'` + echo "== checkout gh-pages branch ==" + cd out + cp -r ../../.github . + git config --global init.defaultBranch gh-pages + git init + git config user.name "${user_name}" + git config user.email ${user_email} + remote_addr="https://Neutree:${{ secrets.DISPATCH_PAT }}@${remote_addr}" + echo "-- user ${user_name}" + echo "-- remote addr: ${remote_addr}" + git remote add origin "${remote_addr}" + echo "== add web files ==" + git add -A + git commit -m "Rebuild MaixPy doc by commit $GITHUB_REF" + git push origin HEAD:gh-pages --force + echo "== push complete ==" diff --git a/.github/workflows/build_maixcam_dev.yml b/.github/workflows/build_maixcam_dev.yml new file mode 100755 index 0000000..364f567 --- /dev/null +++ b/.github/workflows/build_maixcam_dev.yml @@ -0,0 +1,88 @@ +# This is a basic workflow to help you get started with Actions + +name: Build MaixCAM Dev branch + +# Controls when the action will run. +on: + # Triggers the workflow on push or pull request events but only for the main branch + push: + branches: [ dev ] + # pull_request: + # branches: [ main ] + + # Allows you to run this workflow manually from the Actions tab + workflow_dispatch: + +permissions: write-all + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # This workflow contains a single job called "build" + build: + # Only run job for specific repository + if: github.repository == 'sipeed/MaixPy' + # The type of runner that the job will run on + runs-on: ubuntu-latest + strategy: + matrix: + python-version: ["3.11"] # MaixCAM use 3.11 + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v4 + - uses: actions/setup-python@v5 + with: + python-version: ${{ matrix.python-version }} + - name: Build MaixPy + run: | + echo "-- Check python version must python 3.11 --" + python3 -c 'import sys;print(sys.version);assert sys.version_info >= (3, 11);assert sys.version_info < (3, 12)' + python -c 'import sys;print(sys.version);assert sys.version_info >= (3, 11);assert sys.version_info < (3, 12)' + whereis python + whereis python3 + # export PATH=~/.local/bin/:$PATH + # pull sipeed/MaixCDK repo here first + pwd_path=$(pwd) + cd ~ + git clone https://github.com/sipeed/MaixCDK -b dev --depth=1 + export MAIXCDK_PATH=`pwd`/MaixCDK + cd $pwd_path + python -m pip install -U pip setuptools wheel + python -m pip install -r $MAIXCDK_PATH/requirements.txt + python -m pip install pybind11-stubgen + echo "--------------------------------" + echo "-- Build MaixPy for Linux now --" + echo "--------------------------------" + sudo apt update -y + sudo apt install -y libopencv-dev libopencv-contrib-dev libsdl2-dev cmake + cmake --version + python setup.py bdist_wheel linux + echo "--------------------------------" + echo "-- Test MaixPy basic for Linux now --" + echo "--------------------------------" + chmod +x ./run.sh && ./run.sh test/test_basic.py + mkdir -p artifact + mv dist/* artifact/ + echo "----------------------------------" + echo "-- Build MaixPy for MaixCAM now --" + echo "----------------------------------" + python setup.py bdist_wheel maixcam + mv dist/* artifact/ + + - name: Upload MaixPy Linux firmware as artifact + uses: actions/upload-artifact@v4 + with: + name: maixpy_firmware + path: artifact/*.whl + + # Runs a set of commands using the runners shell + - name: build doc + run: | + pip3 install teedoc + cd docs + echo "== install plugins ==" + teedoc install + echo "== start build ==" + teedoc build + echo "== build complete ==" + diff --git a/.github/workflows/release_maixcam.yml b/.github/workflows/release_maixcam.yml new file mode 100644 index 0000000..8efeb2d --- /dev/null +++ b/.github/workflows/release_maixcam.yml @@ -0,0 +1,125 @@ +name: Relase MaixPy for MaixCAM + +on: + release: + types: [published] + workflow_dispatch: + +permissions: write-all + +jobs: + build: + name: release and upload assets task + strategy: + matrix: + python-version: ["3.11"] # must use str, not int, or 3.10 will be recognized as 3.1 + os: ["ubuntu-latest"] + runs-on: ${{ matrix.os }} + steps: + - uses: actions/checkout@v4 + - uses: actions/setup-python@v5 + with: + python-version: ${{ matrix.python-version }} + - name: Build MaixPy + id: build_maixpy + run: | + echo "-- Check python version must python 3.11 --" + python3 -c 'import sys;print(sys.version);assert sys.version_info >= (3, 11);assert sys.version_info < (3, 12)' + python -c 'import sys;print(sys.version);assert sys.version_info >= (3, 11);assert sys.version_info < (3, 12)' + whereis python + whereis python3 + # export PATH=~/.local/bin/:$PATH + # pull sipeed/MaixCDK repo here first + pwd_path=$(pwd) + cd ~ + git clone https://github.com/sipeed/MaixCDK --depth=1 + export MAIXCDK_PATH=`pwd`/MaixCDK + cd $pwd_path + python -m pip install -U pip setuptools wheel twine + python -m pip install -r $MAIXCDK_PATH/requirements.txt + python -m pip install pybind11-stubgen + echo "--------------------------------" + echo "-- Build MaixPy for Linux now --" + echo "--------------------------------" + sudo apt update -y + sudo apt install -y libopencv-dev libopencv-contrib-dev libsdl2-dev cmake + cmake --version + python setup.py bdist_wheel linux + echo "--------------------------------" + echo "-- Test MaixPy basic for Linux now --" + echo "--------------------------------" + chmod +x ./run.sh && ./run.sh test/test_basic.py + mkdir -p artifact + cp dist/* artifact/ + release_name=`ls artifact|awk '{print $1}'` + release_path=artifact/$release_name + echo "release_linux_path=$release_path" >> $GITHUB_OUTPUT + echo "release_linux_name=$release_name" >> $GITHUB_OUTPUT + echo "----------------------------------" + echo "-- Build MaixPy for MaixCAM now --" + echo "----------------------------------" + python setup.py bdist_wheel maixcam + cp dist/* artifact/ + release_name=`ls dist|awk '{print $1}'` + release_path=dist/$release_name + echo "release_path=$release_path" >> $GITHUB_OUTPUT + echo "release_name=$release_name" >> $GITHUB_OUTPUT + + - name: Build doc + id: build_doc + run: | + pip3 install teedoc + cd docs + echo "== install plugins ==" + teedoc install + echo "== start build ==" + teedoc build + echo "== build complete ==" + remote_addr=`git remote get-url --push origin` + remote_addr=`echo $remote_addr| awk -F'://' '{print $2}'` + user_name=`git log -1 --pretty=format:'%an'` + user_email=`git log -1 --pretty=format:'%ae'` + echo "== checkout gh-pages branch ==" + doc_dir=maixpy_${{ github.ref_name }}_doc + echo "#!/bin/bash" > out/view_doc.sh + echo "python3 -m http.server" >> out/view_doc.sh + echo "python3 -m http.server" > out/view_doc.bat + mv out $doc_dir + zip ${doc_dir}.zip -r $doc_dir + cd .. + release_name=${doc_dir}.zip + release_path=docs/$release_name + echo "release_doc_path=$release_path" >> $GITHUB_OUTPUT + echo "release_doc_name=$release_name" >> $GITHUB_OUTPUT + + - name: Upload MaixPy Doc to release assets + uses: svenstaro/upload-release-action@v2 + with: + file: ${{ steps.build_doc.outputs.release_doc_path }} + asset_name: ${{ steps.build_doc.outputs.release_doc_name }} + tag: ${{ github.ref }} + repo_token: ${{ secrets.GITHUB_TOKEN }} + + - name: Upload MaixPy MaixCAM to release assets + uses: svenstaro/upload-release-action@v2 + with: + file: ${{ steps.build_maixpy.outputs.release_path }} + asset_name: ${{ steps.build_maixpy.outputs.release_name }} + tag: ${{ github.ref }} + repo_token: ${{ secrets.GITHUB_TOKEN }} + + - name: Upload MaixPy Linux to release assets + uses: svenstaro/upload-release-action@v2 + with: + file: ${{ steps.build_maixpy.outputs.release_linux_path }} + asset_name: ${{ steps.build_maixpy.outputs.release_linux_name }} + tag: ${{ github.ref }} + repo_token: ${{ secrets.GITHUB_TOKEN }} + + - name: Publish MaixPy to pypi.org + run: | + echo "[pypi]" > ~/.pypirc + echo " username = __token__" >> ~/.pypirc + echo " password = ${{ secrets.PYPI_TOKEN }}" >> ~/.pypirc + twine upload artifact/*.whl + diff --git a/.github/workflows/release_other_linux.yml b/.github/workflows/release_other_linux.yml new file mode 100644 index 0000000..1aa74cb --- /dev/null +++ b/.github/workflows/release_other_linux.yml @@ -0,0 +1,67 @@ +name: Relase MaixPy for Linux + +on: + release: + types: [published] + workflow_dispatch: + +permissions: write-all + +jobs: + build: + name: release and upload assets task + strategy: + matrix: + python-version: ["3.8", "3.9", "3.10", "3.12"] # 3.11 released by release_maixcam + os: ["ubuntu-latest"] + runs-on: ${{ matrix.os }} + steps: + - uses: actions/checkout@v4 + - uses: actions/setup-python@v5 + with: + python-version: ${{ matrix.python-version }} + - name: Build MaixPy + id: build_maixpy + run: | + whereis python + whereis python3 + # export PATH=~/.local/bin/:$PATH + # pull sipeed/MaixCDK repo here first + pwd_path=$(pwd) + cd ~ + git clone https://github.com/sipeed/MaixCDK --depth=1 + export MAIXCDK_PATH=`pwd`/MaixCDK + cd $pwd_path + python -m pip install -U pip setuptools wheel twine + python -m pip install -r $MAIXCDK_PATH/requirements.txt + python -m pip install pybind11-stubgen + echo "--------------------------------" + echo "-- Build MaixPy for Linux now --" + echo "--------------------------------" + sudo apt update -y + sudo apt install -y libopencv-dev libopencv-contrib-dev libsdl2-dev cmake + cmake --version + python setup.py bdist_wheel linux + echo "--------------------------------" + echo "-- Test MaixPy basic for Linux now --" + echo "--------------------------------" + release_name=`ls dist|awk '{print $1}'` + release_path=dist/$release_name + echo "release_path=$release_path" >> $GITHUB_OUTPUT + echo "release_name=$release_name" >> $GITHUB_OUTPUT + + - name: Publish MaixPy to pypi.org + run: | + echo "[pypi]" > ~/.pypirc + echo " username = __token__" >> ~/.pypirc + echo " password = ${{ secrets.PYPI_TOKEN }}" >> ~/.pypirc + twine upload dist/*.whl + + - name: Upload to release assets + uses: svenstaro/upload-release-action@v2 + with: + file: ${{ steps.build_maixpy.outputs.release_path }} + asset_name: ${{ steps.build_maixpy.outputs.release_name }} + tag: ${{ github.ref }} + repo_token: ${{ secrets.GITHUB_TOKEN }} + diff --git a/.github/workflows/trigger_wiki.yml b/.github/workflows/trigger_wiki.yml new file mode 100755 index 0000000..35e9974 --- /dev/null +++ b/.github/workflows/trigger_wiki.yml @@ -0,0 +1,45 @@ +# This is a basic workflow to help you get started with Actions + +name: trigger wiki + +# Controls when the action will run. +on: + push: + branches: + - gh-pages + pull_request: + branches: + - gh-pages + + # Allows you to run this workflow manually from the Actions tab + workflow_dispatch: + +permissions: write-all + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # This workflow contains a single job called "build" + trigger_wiki: + name: trigger sipeed_wiki + # Only run job for specific repository + # if: github.repository == 'sipeed/MaixPy' + # The type of runner that the job will run on + runs-on: ubuntu-latest + # strategy: + # matrix: + # python-version: [3.8] + + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + - name: trigger sipeed wiki request + uses: actions/github-script@v6 + with: + github-token: ${{ secrets.DISPATCH_PAT }} + script: | + const result = await github.rest.repos.createDispatchEvent({ + owner: 'sipeed', + repo: 'sipeed_wiki', + event_type: 'update_maixpy_doc', + client_payload: {"key": "value"} + }) + console.log(result); diff --git a/maixpy/404.html b/maixpy/404.html new file mode 100644 index 0000000..1653f53 --- /dev/null +++ b/maixpy/404.html @@ -0,0 +1,211 @@ + + + + + + + + + + + + + + + + + + + MaixPy + + + + + + + + + + + +
+
+
+ + +

404 页面未找到

+ + + + + +
+ 返回上一页 首页 +
+ + + +
+
+ +
+ +
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/api.json b/maixpy/api/api.json new file mode 100644 index 0000000..7c0d00a --- /dev/null +++ b/maixpy/api/api.json @@ -0,0 +1,22184 @@ +{ + "type": "top_module", + "members": { + "maix": { + "type": "module", + "doc": { + "breif": "MaixPy C/C++ API from MaixCDK" + }, + "members": { + "err": { + "type": "module", + "doc": { + "brief": "maix.err module" + }, + "members": { + "Err": { + "type": "enum", + "name": "Err", + "doc": { + "brief": "Maix Error code", + "maixpy": "maix.err.Err", + "py_doc": "Maix Error code" + }, + "values": [ + [ + "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", + 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raise exception\n\nArgs:\n - ptr: direction [in], pointer\n - msg: direction [in], error message\n" + }, + "args": [ + [ + "void *", + "ptr", + null + ], + [ + "const std::string &", + "msg", + "\"\"" + ] + ], + "ret_type": "void", + "static": false, + "def": "void check_null_raise(void *ptr, const std::string &msg = \"\")", + "py_def": "def check_null_raise(ptr: capsule, msg: str = '') -> None" + } + }, + "auto_add": true + }, + "tensor": { + "type": "module", + "doc": { + "brief": "maix.tensor module" + }, + "members": { + "DType": { + "type": "enum", + "name": "DType", + "doc": { + "brief": "Tensor data types", + "maixpy": "maix.tensor.DType", + "py_doc": "Tensor data types" + }, + "values": [ + [ + "UINT8", + "0", + "" + ], + [ + "INT8", + "", + "" + ], + [ + "UINT16", + "", + "" + ], + [ + "INT16", + "", + "" + ], + [ + "UINT32", + "", + "" + ], + [ + "INT32", + "", + "" + ], + [ + "FLOAT16", + "", + "" + ], + [ + "FLOAT32", + "", + "" + ], + [ + "FLOAT64", + "", + "" + ], + [ + "BOOL", + "", + "" + ], + [ + "DTYPE_MAX", + "", + "" + ] + ], + "def": "enum DType\n {\n UINT8 = 0,\n INT8,\n UINT16,\n INT16,\n UINT32,\n INT32,\n FLOAT16,\n FLOAT32,\n FLOAT64,\n BOOL,\n // STRING,\n // OBJECT,\n DTYPE_MAX\n }" + }, + "dtype_size": { + "type": "var", + "name": "", + "doc": { + "brief": "Tensor data type size in bytes", + "attention": "It's a copy of this variable in MaixPy,\nso change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.\nSo we add const for this var to avoid this mistake.", + "maixpy": "maix.tensor.dtype_size", + "py_doc": "Tensor data type size in bytes" + }, + "value": "{\n 1, // UINT8\n 1, // INT8\n 2, // UINT16\n 2, // INT16\n 4, // UINT32\n 4, // INT32\n 2, // FLOAT16\n 4, // FLOAT32\n 8, // FLOAT64\n 1, // BOOL\n // 1, // STRING\n // 1, // OBJECT\n 0\n }", + "static": false, + "readonly": true, + "def": "const std::vector dtype_size = {\n 1, // UINT8\n 1, // INT8\n 2, // UINT16\n 2, // INT16\n 4, // UINT32\n 4, // INT32\n 2, // FLOAT16\n 4, // FLOAT32\n 8, // FLOAT64\n 1, // BOOL\n // 1, // STRING\n // 1, // OBJECT\n 0\n }" + }, + "dtype_name": { + "type": "var", + "name": "", + "doc": { + "brief": "Tensor data type name", + "maixpy": "maix.tensor.dtype_name", + "py_doc": "Tensor data type name" + }, + "value": "{\n \"uint8\",\n \"int8\",\n \"uint16\",\n \"int16\",\n \"uint32\",\n \"int32\",\n \"float16\",\n \"float32\",\n \"float64\",\n \"bool\",\n // \"string\",\n // \"object\",\n \"invalid\"\n }", + "static": false, + "readonly": true, + "def": "const std::vector dtype_name = {\n \"uint8\",\n \"int8\",\n \"uint16\",\n \"int16\",\n \"uint32\",\n \"int32\",\n \"float16\",\n \"float32\",\n \"float64\",\n \"bool\",\n // \"string\",\n // \"object\",\n \"invalid\"\n }" + }, + "Tensor": { + "type": "class", + "name": "Tensor", + "doc": { + "brief": "Tensor class", + "maixpy": "maix.tensor.Tensor", + "py_doc": "Tensor class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Tensor", + "doc": { + "brief": "Tensor constructor", + "param": { + "shape": "tensor shape, a int list", + "dtype": "tensor element data type, see DType of this module", + "data": "pointer to data content, can be nullptr, it will automatically alloc memory\nand detroy it when this object is destroyed" + }, + "maixpy": "maix.tensor.Tensor.__init__", + "py_doc": "Tensor constructor\n\nArgs:\n - shape: tensor shape, a int list\n - dtype: tensor element data type, see DType of this module\n - data: pointer to data content, can be nullptr, it will automatically alloc memory\nand detroy it when this object is destroyed\n" + }, + "args": [ + [ + "std::vector", + "shape", + null + ], + [ + "tensor::DType", + "dtype", + null + ], + [ + "void *", + "data", + "nullptr" + ] + ], + "ret_type": null, + "static": false, + "def": "Tensor(std::vector shape, tensor::DType dtype, void *data = nullptr)" + }, + "to_str": { + "type": "func", + "name": "to_str", + "doc": { + "brief": "To string", + "maixpy": "maix.tensor.Tensor.to_str", + "py_doc": "To string" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string to_str()" + }, + "__str__": { + "type": "func", + "name": "__str__", + "doc": { + "brief": "To string", + "maixpy": "maix.tensor.Tensor.__str__", + "py_doc": "To string" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string __str__()" + }, + "shape": { + "type": "func", + "name": "shape", + "doc": { + "brief": "get tensor shape", + "return": "tensor shape, a int list", + "maixpy": "maix.tensor.Tensor.shape", + "py_doc": "get tensor shape\n\nReturns: tensor shape, a int list\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector shape()" + }, + "expand_dims": { + "type": "func", + "name": "expand_dims", + "doc": { + "brief": "expand tensor shape", + "param": { + "axis": "axis to expand" + }, + "maixpy": "maix.tensor.Tensor.expand_dims", + "py_doc": "expand tensor shape\n\nArgs:\n - axis: axis to expand\n" + }, + "args": [ + [ + "int", + "axis", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void expand_dims(int axis)" + }, + "reshape": { + "type": "func", + "name": "reshape", + "doc": { + "brief": "reshape tensor shape, if size not match, it will throw an err::Exception", + "param": { + "shape": "new shape" + }, + "maixpy": "maix.tensor.Tensor.reshape", + "py_doc": "reshape tensor shape, if size not match, it will throw an err::Exception\n\nArgs:\n - shape: new shape\n" + }, + "args": [ + [ + "std::vector", + "shape", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void reshape(std::vector shape)" + }, + "flatten": { + "type": "func", + "name": "flatten", + "doc": { + "brief": "Flatten tensor shape to 1D", + "maixpy": "maix.tensor.Tensor.flatten", + "py_doc": "Flatten tensor shape to 1D" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void flatten()" + }, + "dtype": { + "type": "func", + "name": "dtype", + "doc": { + "brief": "get tensor data type", + "return": "tensor data type, see DType of this module", + "maixpy": "maix.tensor.Tensor.dtype", + "py_doc": "get tensor data type\n\nReturns: tensor data type, see DType of this module\n" + }, + "args": [], + "ret_type": "tensor::DType", + "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*", + "static": false, + "def": "std::valarray* to_float_list()" + }, + "argmax": { + "type": "func", + "name": "argmax", + "doc": { + "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" + }, + "return": "argmax result, you need to delete it after use in C++.", + "maixpy": "maix.tensor.Tensor.argmax", + "py_doc": "argmax of tensor\n\nArgs:\n - axis: By default, the index is into the flattened array, otherwise along the specified axis., wrong axis will throw an err::Exception\n\n\nReturns: argmax result, you need to delete it after use in C++.\n" + }, + "args": [ + [ + "int", + "axis", + "0xffff" + ] + ], + "ret_type": "tensor::Tensor*", + "static": false, + "def": "tensor::Tensor *argmax(int axis = 0xffff)" + }, + "argmax1": { + "type": "func", + "name": "argmax1", + "doc": { + "brief": "argmax1, flattened data max index", + "return": "argmax result, int type", + "maixpy": "maix.tensor.Tensor.argmax1", + "py_doc": "argmax1, flattened data max index\n\nReturns: argmax result, int type\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int argmax1()" + } + }, + "def": "class Tensor" + }, + "Tensors": { + "type": "class", + "name": "Tensors", + "doc": { + "brief": "Tensors", + "maixpy": "maix.tensor.Tensors", + "py_doc": "Tensors" + }, + "members": { + "__init__": { + "type": "func", + "name": "Tensors", + "doc": { + "brief": "Constructor of Tensors", + "maixpy": "maix.tensor.Tensors.__init__", + "maixcdk": "maix.tensor.Tensors.Tensors", + "py_doc": "Constructor of Tensors" + }, + "args": [], + "ret_type": null, + "static": false, + "def": "Tensors()", + "py_def": "def __init__(self) -> None" + }, + "add_tensor": { + "type": "func", + "name": "add_tensor", + "doc": { + "brief": "Add tensor", + "maixpy": "maix.tensor.Tensors.add_tensor", + "py_doc": "Add tensor" + }, + "args": [ + [ + "const std::string &", + "key", + null + ], + [ + "tensor::Tensor *", + "tensor", + null + ], + [ + "bool", + "copy", + null + ], + [ + "bool", + "auto_delete", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void add_tensor(const std::string &key, tensor::Tensor *tensor, bool copy, bool auto_delete)", + "py_def": "def add_tensor(self, key: str, tensor: Tensor, copy: bool, auto_delete: bool) -> None" + }, + "rm_tensor": { + "type": "func", + "name": "rm_tensor", + "doc": { + "brief": "Remove tensor", + "maixpy": "maix.tensor.Tensors.rm_tensor", + "py_doc": "Remove tensor" + }, + "args": [ + [ + "const std::string &", + "key", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void rm_tensor(const std::string &key)", + "py_def": "def rm_tensor(self, key: str) -> None" + }, + "get_tensor": { + "type": "func", + "name": "get_tensor", + "doc": { + "brief": "Get tensor by key", + "maixpy": "maix.tensor.Tensors.get_tensor", + "maixcdk": "maix.tensor.Tensors.get_tensor", + "py_doc": "Get tensor by key" + }, + "args": [ + [ + "const std::string &", + "key", + null + ] + ], + "ret_type": "tensor::Tensor*", + "static": false, + "def": "tensor::Tensor *get_tensor(const std::string &key)", + "py_def": "def get_tensor(self, key: str) -> Tensor" + }, + "__getitem__": { + "type": "func", + "name": "operator[]", + "doc": { + "brief": "Operator []", + "maixpy": "maix.tensor.Tensors.__getitem__", + "maixcdk": "maix.tensor.Tensors.[]", + "py_doc": "Operator []" + }, + "args": [ + [ + "const std::string &", + "key", + null + ] + ], + "ret_type": "tensor::Tensor*", + "static": false, + "def": "tensor::Tensor *operator[](const std::string &key)", + "py_def": "def __getitem__(self, key: str) -> Tensor" + }, + "__len__": { + "type": "func", + "name": "size", + "doc": { + "brief": "Size", + "maixpy": "maix.tensor.Tensors.__len__", + "maixcdk": "maix.tensor.Tensors.size", + "py_doc": "Size" + }, + "args": [], + "ret_type": "size_t", + "static": false, + "def": "size_t size()", + "py_def": "def __len__(self) -> int" + }, + "get_names": { + "type": "func", + "name": "get_names", + "doc": { + "brief": "Get names", + "maixpy": "maix.tensor.Tensors.get_names", + "py_doc": "Get names" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector get_names()", + "py_def": "def get_names(self) -> list[str]" + }, + "tensors": { + "type": "var", + "name": "tensors", + "doc": { + "brief": "Tensors data, dict type", + "maixpy": "maix.tensor.Tensors.tensors", + "py_doc": "Tensors data, dict type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::map tensors" + } + }, + "def": "class Tensors" + } + }, + "auto_add": true + }, + "image": { + "type": "module", + "doc": { + "brief": "maix.image module, image related definition and functions", + "maixpy": "maix.image", + "py_doc": "maix.image module, image related definition and functions" + }, + "members": { + "Format": { + "type": "enum", + "name": "Format", + "doc": { + "brief": "Image formats", + "attention": "for developers, update this enum will also need to update the fmt_size in maix_image.cpp", + "maixpy": "maix.image.Format", + "py_doc": "Image formats" + }, + "values": [ + [ + "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", + "", + "" + ], + [ + "FMT_COMPRESSED_MIN", + "", + "" + ], + [ + "FMT_JPEG", + "", + "" + ], + [ + "FMT_PNG", + "", + "" + ], + [ + "FMT_COMPRESSED_MAX", + "", + "" + ], + [ + "FMT_INVALID", + "0xFF", + "format not valid" + ] + ], + "def": "enum Format\n {\n FMT_RGB888 = 0, // RGBRGB...RGB, R at the lowest address\n FMT_BGR888, // BGRBGR...BGR, B at the lowest address\n FMT_RGBA8888, // RGBARGBA...RGBA, R at the lowest address\n FMT_BGRA8888, // BGRABGRA...BGRA, B at the lowest address\n FMT_RGB565,\n FMT_BGR565,\n FMT_YUV422SP, // YYY...UVUVUV...UVUV\n FMT_YUV422P, // YYY...UUU...VVV\n FMT_YVU420SP, // YYY...VUVUVU...VUVU, NV21\n FMT_YUV420SP, // YYY...UVUVUV...UVUV, NV12\n FMT_YVU420P, // YYY...VVV...UUU\n FMT_YUV420P, // YYY...UUU...VVV\n FMT_GRAYSCALE,\n FMT_UNCOMPRESSED_MAX,\n\n // compressed format below, not compressed should define upper\n FMT_COMPRESSED_MIN,\n FMT_JPEG,\n FMT_PNG,\n FMT_COMPRESSED_MAX,\n\n FMT_INVALID = 0xFF // format not valid\n }" + }, + "fmt_size": { + "type": "var", + "name": "", + "doc": { + "brief": "Image format size in bytes", + "attention": "It's a copy of this variable in MaixPy,\nso change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.\nSo we add const for this var to avoid this mistake.", + "maixpy": "maix.image.fmt_size", + "py_doc": "Image format size in bytes" + }, + "value": "{\n 3,\n 3,\n 4,\n 4,\n 2,\n 2,\n 2,\n 2,\n 1.5,\n 1.5,\n 1.5,\n 1.5,\n 1,\n 0,\n 0,\n 0,\n 0,\n 0\n }", + "static": false, + "readonly": true, + "def": "const std::vector fmt_size = {\n 3,\n 3,\n 4,\n 4,\n 2,\n 2,\n 2,\n 2,\n 1.5,\n 1.5,\n 1.5,\n 1.5,\n 1,\n 0,\n 0,\n 0,\n 0,\n 0\n }" + }, + "fmt_names": { + "type": "var", + "name": "", + "doc": { + "brief": "Image format string", + "maixpy": "maix.image.fmt_names", + "py_doc": "Image format string" + }, + "value": "{\n \"RGB888\",\n \"BGR888\",\n \"RGBA8888\",\n \"BGRA8888\",\n \"RGB565\",\n \"BGR565\",\n \"YUV422SP\",\n \"YUV422P\",\n \"YVU420SP\",\n \"YUV420SP\",\n \"YVU420P\"\n \"YUV420P\",\n \"GRAYSCALE\",\n \"MAX\"}", + "static": false, + "readonly": true, + "def": "const std::vector fmt_names = {\n \"RGB888\",\n \"BGR888\",\n \"RGBA8888\",\n \"BGRA8888\",\n \"RGB565\",\n \"BGR565\",\n \"YUV422SP\",\n \"YUV422P\",\n \"YVU420SP\",\n \"YUV420SP\",\n \"YVU420P\"\n \"YUV420P\",\n \"GRAYSCALE\",\n \"MAX\"}" + }, + "Size": { + "type": "class", + "name": "Size", + "doc": { + "brief": "Image size type", + "maixpy": "maix.image.Size", + "py_doc": "Image size type" + }, + "members": { + "__init__": { + "type": "func", + "name": "Size", + "doc": { + "brief": "Construct a new Size object", + "param": { + "width": "image width", + "height": "image height" + }, + "maixpy": "maix.image.Size.__init__", + "py_doc": "Construct a new Size object\n\nArgs:\n - width: image width\n - height: image height\n" + }, + "args": [ + [ + "int", + "width", + "0" + ], + [ + "int", + "height", + "0" + ] + ], + "ret_type": null, + "static": false, + "def": "Size(int width = 0, int height = 0)", + "py_def": "def __init__(self, width: int = 0, height: int = 0) -> None" + }, + "width": { + "type": "func", + "name": "width", + "doc": { + "brief": "width of size", + "param": { + "width": "set new width, if not set, only return current width" + }, + "maixpy": "maix.image.Size.width", + "py_doc": "width of size\n\nArgs:\n - width: set new width, if not set, only return current width\n" + }, + "args": [ + [ + "int", + "width", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int width(int width = -1)", + "py_def": "def width(self, width: int = -1) -> int" + }, + "height": { + "type": "func", + "name": "height", + "doc": { + "brief": "height of size", + "param": { + "height": "set new height, if not set, only return current height" + }, + "maixpy": "maix.image.Size.height", + "py_doc": "height of size\n\nArgs:\n - height: set new height, if not set, only return current height\n" + }, + "args": [ + [ + "int", + "height", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int height(int height = -1)", + "py_def": "def height(self, height: int = -1) -> int" + }, + "__getitem__": { + "type": "func", + "name": "operator[]", + "doc": { + "brief": "Subscript operator", + "param": { + "index": "0 for width, 1 for height" + }, + "return": "int& width or height", + "maixpy": "maix.image.Size.__getitem__", + "maixcdk": "maix.image.Size.[]", + "py_doc": "Subscript operator\n\nArgs:\n - index: 0 for width, 1 for height\n\n\nReturns: int& width or height\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &operator[](int index)", + "py_def": "def __getitem__(self, index: int) -> int" + }, + "__str__": { + "type": "func", + "name": "__str__", + "doc": { + "brief": "to string", + "maixpy": "maix.image.Size.__str__", + "py_doc": "to string" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string __str__()", + "py_def": "def __str__(self) -> str" + } + }, + "def": "class Size" + }, + "Fit": { + "type": "enum", + "name": "Fit", + "doc": { + "brief": "Object fit method", + "maixpy": "maix.image.Fit", + "py_doc": "Object fit method" + }, + "values": [ + [ + "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", + "", + "" + ] + ], + "def": "enum Fit\n {\n FIT_NONE = -1, // no object fit, keep original\n FIT_FILL = 0, // width to new width, height to new height, may be stretch\n FIT_CONTAIN, // keep aspect ratio, fill blank area with black color\n FIT_COVER, // keep aspect ratio, crop image to fit new size\n FIT_MAX\n }" + }, + "ResizeMethod": { + "type": "enum", + "name": "ResizeMethod", + "doc": { + "brief": "Resize method", + "maixpy": "maix.image.ResizeMethod", + "py_doc": "Resize method" + }, + "values": [ + [ + "NEAREST", + "0", + "" + ], + [ + "BILINEAR", + "", + "" + ], + [ + "BICUBIC", + "", + "" + ], + [ + "AREA", + "", + "" + ], + [ + "LANCZOS", + "", + "" + ], + [ + "HAMMING", + "", + "" + ], + [ + "RESIZE_METHOD_MAX", + "", + "" + ] + ], + "def": "enum ResizeMethod\n {\n NEAREST = 0,\n BILINEAR,\n BICUBIC,\n AREA,\n LANCZOS,\n HAMMING,\n RESIZE_METHOD_MAX\n }" + }, + "ApriltagFamilies": { + "type": "enum", + "name": "ApriltagFamilies", + "doc": { + "brief": "Family of apriltag", + "maixpy": "maix.image.ApriltagFamilies", + "py_doc": "Family of apriltag" + }, + "values": [ + [ + "TAG16H5", + "1", + "" + ], + [ + "TAG25H7", + "2", + "" + ], + [ + "TAG25H9", + "4", + "" + ], + [ + "TAG36H10", + "8", + "" + ], + [ + "TAG36H11", + "16", + "" + ], + [ + "ARTOOLKIT", + "32", + "" + ] + ], + "def": "enum ApriltagFamilies\n {\n TAG16H5 = 1,\n TAG25H7 = 2,\n TAG25H9 = 4,\n TAG36H10 = 8,\n TAG36H11 = 16,\n ARTOOLKIT = 32\n }" + }, + "TemplateMatch": { + "type": "enum", + "name": "TemplateMatch", + "doc": { + "brief": "Template match method", + "maixpy": "maix.image.TemplateMatch", + "py_doc": "Template match method" + }, + "values": [ + [ + "SEARCH_EX", + "", + "Exhaustive search" + ], + [ + "SEARCH_DS", + "", + "Diamond search" + ] + ], + "def": "enum TemplateMatch\n {\n SEARCH_EX, // Exhaustive search\n SEARCH_DS, // Diamond search\n }" + }, + "CornerDetector": { + "type": "enum", + "name": "CornerDetector", + "doc": { + "brief": "CornerDetector class", + "maixpy": "maix.image.CornerDetector", + "py_doc": "CornerDetector class" + }, + "values": [ + [ + "CORNER_FAST", + "", + "" + ], + [ + "CORNER_AGAST", + "", + "" + ] + ], + "def": "enum CornerDetector\n {\n CORNER_FAST,\n CORNER_AGAST\n }" + }, + "EdgeDetector": { + "type": "enum", + "name": "EdgeDetector", + "doc": { + "brief": "EdgeDetector class", + "maixpy": "maix.image.EdgeDetector", + "py_doc": "EdgeDetector class" + }, + "values": [ + [ + "EDGE_CANNY", + "", + "" + ], + [ + "EDGE_SIMPLE", + "", + "" + ] + ], + "def": "enum EdgeDetector\n {\n EDGE_CANNY,\n EDGE_SIMPLE,\n }" + }, + "Line": { + "type": "class", + "name": "Line", + "doc": { + "brief": "Line class", + "maixpy": "maix.image.Line", + "py_doc": "Line class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Line", + "doc": { + "brief": "Line constructor", + "param": { + "x1": "coordinate x1 of the straight line", + "y1": "coordinate y1 of the straight line", + "x2": "coordinate x2 of the straight line", + "y2": "coordinate y2 of the straight line", + "magnitude": "magnitude of the straight line after Hough transformation", + "theta": "angle of the straight line after Hough transformation", + "rho": "p-value of the straight line after Hough transformation" + }, + "maixpy": "maix.image.Line.__init__", + "py_doc": "Line constructor\n\nArgs:\n - x1: coordinate x1 of the straight line\n - y1: coordinate y1 of the straight line\n - x2: coordinate x2 of the straight line\n - y2: coordinate y2 of the straight line\n - magnitude: magnitude of the straight line after Hough transformation\n - theta: angle of the straight line after Hough transformation\n - rho: p-value of the straight line after Hough transformation\n" + }, + "args": [ + [ + "int", + "x1", + null + ], + [ + "int", + "y1", + null + ], + [ + "int", + "x2", + null + ], + [ + "int", + "y2", + null + ], + [ + "int", + "magnitude", + "0" + ], + [ + "int", + "theta", + "0" + ], + [ + "int", + "rho", + "0" + ] + ], + "ret_type": null, + "static": false, + "def": "Line(int x1, int y1, int x2, int y2, int magnitude = 0, int theta = 0, int rho = 0)" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index\n[0]": "get x1 of line\n[1] get y1 of line\n[2] get x2 of line\n[3] get y2 of line\n[4] get length of line\n[5] get magnitude of the straight line after Hough transformation\n[6] get angle of the straight line after Hough transformation (0-179 degrees)\n[7] get p-value of the straight line after Hough transformation" + }, + "return": "int&", + "maixpy": "maix.image.Line.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index\n[0]: get x1 of line\n[1] get y1 of line\n[2] get x2 of line\n[3] get y2 of line\n[4] get length of line\n[5] get magnitude of the straight line after Hough transformation\n[6] get angle of the straight line after Hough transformation (0-179 degrees)\n[7] get p-value of the straight line after Hough transformation\n\n\nReturns: int&\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)" + }, + "x1": { + "type": "func", + "name": "x1", + "doc": { + "brief": "get x1 of line", + "return": "return x1 of the line, type is int", + "maixpy": "maix.image.Line.x1", + "py_doc": "get x1 of line\n\nReturns: return x1 of the line, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int x1()" + }, + "y1": { + "type": "func", + "name": "y1", + "doc": { + "brief": "get y1 of line", + "return": "return y1 of the line, type is int", + "maixpy": "maix.image.Line.y1", + "py_doc": "get y1 of line\n\nReturns: return y1 of the line, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int y1()" + }, + "x2": { + "type": "func", + "name": "x2", + "doc": { + "brief": "get x2 of line", + "return": "return x2 of the line, type is int", + "maixpy": "maix.image.Line.x2", + "py_doc": "get x2 of line\n\nReturns: return x2 of the line, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int x2()" + }, + "y2": { + "type": "func", + "name": "y2", + "doc": { + "brief": "get y2 of line", + "return": "return y2 of the line, type is int", + "maixpy": "maix.image.Line.y2", + "py_doc": "get y2 of line\n\nReturns: return y2 of the line, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int y2()" + }, + "length": { + "type": "func", + "name": "length", + "doc": { + "brief": "get length of line", + "return": "return length of the line, type is int", + "maixpy": "maix.image.Line.length", + "py_doc": "get length of line\n\nReturns: return length of the line, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int length()" + }, + "magnitude": { + "type": "func", + "name": "magnitude", + "doc": { + "brief": "get magnitude of the straight line after Hough transformation", + "return": "return magnitude, type is int", + "maixpy": "maix.image.Line.magnitude", + "py_doc": "get magnitude of the straight line after Hough transformation\n\nReturns: return magnitude, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int magnitude()" + }, + "theta": { + "type": "func", + "name": "theta", + "doc": { + "brief": "get angle of the straight line after Hough transformation (0-179 degrees)", + "return": "return angle, type is int", + "maixpy": "maix.image.Line.theta", + "py_doc": "get angle of the straight line after Hough transformation (0-179 degrees)\n\nReturns: return angle, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int theta()" + }, + "rho": { + "type": "func", + "name": "rho", + "doc": { + "brief": "get p-value of the straight line after Hough transformation", + "return": "return p-value, type is int", + "maixpy": "maix.image.Line.rho", + "py_doc": "get p-value of the straight line after Hough transformation\n\nReturns: return p-value, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int rho()" + } + }, + "def": "class Line" + }, + "Rect": { + "type": "class", + "name": "Rect", + "doc": { + "brief": "Rect class", + "maixpy": "maix.image.Rect", + "py_doc": "Rect class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Rect", + "doc": { + "brief": "Rect constructor", + "param": { + "corners": "corners of rect", + "x": "coordinate x of the straight line", + "y": "coordinate y of the straight line", + "w": "coordinate w of the straight line", + "h": "coordinate h of the straight line", + "magnitude": "magnitude of the straight line after Hough transformation" + }, + "maixpy": "maix.image.Rect.__init__", + "py_doc": "Rect constructor\n\nArgs:\n - corners: corners of rect\n - x: coordinate x of the straight line\n - y: coordinate y of the straight line\n - w: coordinate w of the straight line\n - h: coordinate h of the straight line\n - magnitude: magnitude of the straight line after Hough transformation\n" + }, + "args": [ + [ + "std::vector> &", + "corners", + null + ], + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "w", + null + ], + [ + "int", + "h", + null + ], + [ + "int", + "magnitude", + "0" + ] + ], + "ret_type": null, + "static": false, + "def": "Rect(std::vector> &corners, int x, int y, int w, int h, int magnitude = 0)", + "py_def": "def __init__(self, corners: list[list[int]], x: int, y: int, w: int, h: int, magnitude: int = 0) -> None" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index\n[0]": "get x of rect\n[1] get y of rect\n[2] get w of rect\n[3] get h of rect\n[4] get magnitude of the straight line after Hough transformation" + }, + "return": "int&", + "maixpy": "maix.image.Rect.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index\n[0]: get x of rect\n[1] get y of rect\n[2] get w of rect\n[3] get h of rect\n[4] get magnitude of the straight line after Hough transformation\n\n\nReturns: int&\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)", + "py_def": "def __getitem__(self, index: int) -> int" + }, + "corners": { + "type": "func", + "name": "corners", + "doc": { + "brief": "get corners of rect", + "return": "return the coordinate of the rect.", + "maixpy": "maix.image.Rect.corners", + "py_doc": "get corners of rect\n\nReturns: return the coordinate of the rect.\n" + }, + "args": [], + "ret_type": "std::vector>", + "static": false, + "def": "std::vector> corners()", + "py_def": "def corners(self) -> list[list[int]]" + }, + "rect": { + "type": "func", + "name": "rect", + "doc": { + "brief": "get rectangle of rect", + "return": "return the rectangle of the rect. format is {x, y, w, h}, type is std::vector", + "maixpy": "maix.image.Rect.rect", + "py_doc": "get rectangle of rect\n\nReturns: return the rectangle of the rect. format is {x, y, w, h}, type is std::vector\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector rect()", + "py_def": "def rect(self) -> list[int]" + }, + "x": { + "type": "func", + "name": "x", + "doc": { + "brief": "get x of rect", + "return": "return x of the rect, type is int", + "maixpy": "maix.image.Rect.x", + "py_doc": "get x of rect\n\nReturns: return x of the rect, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int x()", + "py_def": "def x(self) -> int" + }, + "y": { + "type": "func", + "name": "y", + "doc": { + "brief": "get y of rect", + "return": "return y of the rect, type is int", + "maixpy": "maix.image.Rect.y", + "py_doc": "get y of rect\n\nReturns: return y of the rect, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int y()", + "py_def": "def y(self) -> int" + }, + "w": { + "type": "func", + "name": "w", + "doc": { + "brief": "get w of rect", + "return": "return w of the rect, type is int", + "maixpy": "maix.image.Rect.w", + "py_doc": "get w of rect\n\nReturns: return w of the rect, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int w()", + "py_def": "def w(self) -> int" + }, + "h": { + "type": "func", + "name": "h", + "doc": { + "brief": "get h of rect", + "return": "return h of the rect, type is int", + "maixpy": "maix.image.Rect.h", + "py_doc": "get h of rect\n\nReturns: return h of the rect, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int h()", + "py_def": "def h(self) -> int" + }, + "magnitude": { + "type": "func", + "name": "magnitude", + "doc": { + "brief": "get magnitude of the straight line after Hough transformation", + "return": "return magnitude, type is int", + "maixpy": "maix.image.Rect.magnitude", + "py_doc": "get magnitude of the straight line after Hough transformation\n\nReturns: return magnitude, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int magnitude()", + "py_def": "def magnitude(self) -> int" + } + }, + "def": "class Rect" + }, + "Circle": { + "type": "class", + "name": "Circle", + "doc": { + "brief": "circle class", + "maixpy": "maix.image.Circle", + "py_doc": "circle class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Circle", + "doc": { + "brief": "Circle constructor", + "param": { + "x": "coordinate x of the circle", + "y": "coordinate y of the circle", + "r": "coordinate r of the circle", + "magnitude": "coordinate y2 of the straight line" + }, + "maixpy": "maix.image.Circle.__init__", + "py_doc": "Circle constructor\n\nArgs:\n - x: coordinate x of the circle\n - y: coordinate y of the circle\n - r: coordinate r of the circle\n - magnitude: coordinate y2 of the straight line\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "r", + null + ], + [ + "int", + "magnitude", + null + ] + ], + "ret_type": null, + "static": false, + "def": "Circle(int x, int y, int r, int magnitude)", + "py_def": "def __init__(self, x: int, y: int, r: int, magnitude: int) -> None" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index\n[0]": "get x of circle\n[1] get y of circle\n[2] get r of circle\n[3] get magnitude of the circle after Hough transformation" + }, + "return": "int&", + "maixpy": "maix.image.Circle.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index\n[0]: get x of circle\n[1] get y of circle\n[2] get r of circle\n[3] get magnitude of the circle after Hough transformation\n\n\nReturns: int&\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)", + "py_def": "def __getitem__(self, index: int) -> int" + }, + "x": { + "type": "func", + "name": "x", + "doc": { + "brief": "get x of circle", + "return": "return x of the circle, type is int", + "maixpy": "maix.image.Circle.x", + "py_doc": "get x of circle\n\nReturns: return x of the circle, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int x()", + "py_def": "def x(self) -> int" + }, + "y": { + "type": "func", + "name": "y", + "doc": { + "brief": "get y of circle", + "return": "return y of the circle, type is int", + "maixpy": "maix.image.Circle.y", + "py_doc": "get y of circle\n\nReturns: return y of the circle, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int y()", + "py_def": "def y(self) -> int" + }, + "r": { + "type": "func", + "name": "r", + "doc": { + "brief": "get r of circle", + "return": "return r of the circle, type is int", + "maixpy": "maix.image.Circle.r", + "py_doc": "get r of circle\n\nReturns: return r of the circle, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int r()", + "py_def": "def r(self) -> int" + }, + "magnitude": { + "type": "func", + "name": "magnitude", + "doc": { + "brief": "get magnitude of the circle after Hough transformation", + "return": "return magnitude, type is int", + "maixpy": "maix.image.Circle.magnitude", + "py_doc": "get magnitude of the circle after Hough transformation\n\nReturns: return magnitude, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int magnitude()", + "py_def": "def magnitude(self) -> int" + } + }, + "def": "class Circle" + }, + "Blob": { + "type": "class", + "name": "Blob", + "doc": { + "brief": "Blob class", + "maixpy": "maix.image.Blob", + "py_doc": "Blob class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Blob", + "doc": { + "brief": "Blob constructor", + "param": { + "rect": "blob rect, type is std::vector", + "corners": "blob corners, type is std::vector>", + "mini_corners": "blob mini_corners, type is std::vector>", + "cx": "blob center x, type is float", + "cy": "blob center y, type is float", + "pixels": "blob pixels, type is int", + "rotation": "blob rotation, type is float", + "code": "blob code, type is int", + "count": "blob count, type is int", + "perimeter": "blob perimeter, type is int", + "roundness": "blob roundness, type is float", + "x_hist_bins": "blob x_hist_bins, type is std::vector", + "y_hist_bins": "blob y_hist_bins, type is std::vector" + }, + "maixpy": "maix.image.Blob.__init__", + "py_doc": "Blob constructor\n\nArgs:\n - rect: blob rect, type is std::vector\n - corners: blob corners, type is std::vector>\n - mini_corners: blob mini_corners, type is std::vector>\n - cx: blob center x, type is float\n - cy: blob center y, type is float\n - pixels: blob pixels, type is int\n - rotation: blob rotation, type is float\n - code: blob code, type is int\n - count: blob count, type is int\n - perimeter: blob perimeter, type is int\n - roundness: blob roundness, type is float\n - x_hist_bins: blob x_hist_bins, type is std::vector\n - y_hist_bins: blob y_hist_bins, type is std::vector\n" + }, + "args": [ + [ + "std::vector &", + "rect", + null + ], + [ + "std::vector> &", + "corners", + null + ], + [ + "std::vector> &", + "mini_corners", + null + ], + [ + "float", + "cx", + null + ], + [ + "float", + "cy", + null + ], + [ + "int", + "pixels", + null + ], + [ + "float", + "rotation", + null + ], + [ + "int", + "code", + null + ], + [ + "int", + "count", + null + ], + [ + "int", + "perimeter", + null + ], + [ + "float", + "roundness", + null + ], + [ + "std::vector &", + "x_hist_bins", + null + ], + [ + "std::vector &", + "y_hist_bins", + null + ] + ], + "ret_type": null, + "static": false, + "def": "Blob(std::vector &rect, std::vector> &corners, std::vector> &mini_corners,float cx, float cy, int pixels, float rotation, int code, int count, int perimeter, float roundness, std::vector &x_hist_bins, std::vector &y_hist_bins)" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index\n[0]": "Returns the blob\u2019s bounding box x coordinate\n[1] Returns the blob\u2019s bounding box y coordinate\n[2] Returns the blob\u2019s bounding box w coordinate\n[3] Returns the blob\u2019s bounding box h coordinate\n[4] Returns the number of pixels that are part of this blob\n[5] Returns the centroid x position of the blob\n[6] Returns the centroid y position of the blob" + }, + "return": "int& width or height", + "maixpy": "maix.image.Blob.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index\n[0]: Returns the blob\u2019s bounding box x coordinate\n[1] Returns the blob\u2019s bounding box y coordinate\n[2] Returns the blob\u2019s bounding box w coordinate\n[3] Returns the blob\u2019s bounding box h coordinate\n[4] Returns the number of pixels that are part of this blob\n[5] Returns the centroid x position of the blob\n[6] Returns the centroid y position of the blob\n\n\nReturns: int& width or height\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)" + }, + "corners": { + "type": "func", + "name": "corners", + "doc": { + "brief": "get blob corners", + "return": "Returns a list of 4 (x,y) tuples of the 4 corners of the object.\n(x0, y0)___________(x1, y1)\n| |\n| |\n| |\n|___________|\n(x3, y3) (x2, y2)\nnote: the order of corners may change", + "maixpy": "maix.image.Blob.corners", + "py_doc": "get blob corners\n\nReturns: Returns a list of 4 (x,y) tuples of the 4 corners of the object.\n(x0, y0)___________(x1, y1)\n| |\n| |\n| |\n|___________|\n(x3, y3) (x2, y2)\nnote: the order of corners may change\n" + }, + "args": [], + "ret_type": "std::vector>", + "static": false, + "def": "std::vector> corners()" + }, + "mini_corners": { + "type": "func", + "name": "mini_corners", + "doc": { + "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.\n(x0, y0)___________(x1, y1)\n| |\n| |\n| |\n|___________|\n(x3, y3) (x2, y2)\nnote: the order of corners may change", + "maixpy": "maix.image.Blob.mini_corners", + "py_doc": "get blob mini corners\n\nReturns: Returns a list of 4 (x,y) tuples of the 4 corners than bound the min area rectangle of the blob.\n(x0, y0)___________(x1, y1)\n| |\n| |\n| |\n|___________|\n(x3, y3) (x2, y2)\nnote: the order of corners may change\n" + }, + "args": [], + "ret_type": "std::vector>", + "static": false, + "def": "std::vector> mini_corners()" + }, + "rect": { + "type": "func", + "name": "rect", + "doc": { + "brief": "get blob rect", + "return": "Returns the center coordinates and width and height of the rectangle. format is (x, y, w, h)\nw\n(x, y) ___________\n| |\n| | h\n| |\n|___________|", + "maixpy": "maix.image.Blob.rect", + "py_doc": "get blob rect\n\nReturns: Returns the center coordinates and width and height of the rectangle. format is (x, y, w, h)\nw\n(x, y) ___________\n| |\n| | h\n| |\n|___________|\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector rect()" + }, + "x": { + "type": "func", + "name": "x", + "doc": { + "brief": "get blob x of the upper left coordinate", + "return": "Returns the x coordinate of the upper left corner of the rectangle.", + "maixpy": "maix.image.Blob.x", + "py_doc": "get blob x of the upper left coordinate\n\nReturns: Returns the x coordinate of the upper left corner of the rectangle.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int x()" + }, + "y": { + "type": "func", + "name": "y", + "doc": { + "brief": "get blob y of the upper left coordinate", + "return": "Returns the y coordinate of the upper left corner of the rectangle.", + "maixpy": "maix.image.Blob.y", + "py_doc": "get blob y of the upper left coordinate\n\nReturns: Returns the y coordinate of the upper left corner of the rectangle.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int y()" + }, + "w": { + "type": "func", + "name": "w", + "doc": { + "brief": "get blob width", + "return": "Returns the blob\u2019s bounding box w coordinate", + "maixpy": "maix.image.Blob.w", + "py_doc": "get blob width\n\nReturns: Returns the blob\u2019s bounding box w coordinate\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int w()" + }, + "h": { + "type": "func", + "name": "h", + "doc": { + "brief": "get blob height", + "return": "Returns the blob\u2019s bounding box h coordinate", + "maixpy": "maix.image.Blob.h", + "py_doc": "get blob height\n\nReturns: Returns the blob\u2019s bounding box h coordinate\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int h()" + }, + "pixels": { + "type": "func", + "name": "pixels", + "doc": { + "brief": "get blob pixels", + "return": "Returns the number of pixels that are part of this blob.", + "maixpy": "maix.image.Blob.pixels", + "py_doc": "get blob pixels\n\nReturns: Returns the number of pixels that are part of this blob.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int pixels()" + }, + "cx": { + "type": "func", + "name": "cx", + "doc": { + "brief": "get blob center x", + "return": "Returns the centroid x position of the blob", + "maixpy": "maix.image.Blob.cx", + "py_doc": "get blob center x\n\nReturns: Returns the centroid x position of the blob\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int cx()" + }, + "cy": { + "type": "func", + "name": "cy", + "doc": { + "brief": "get blob center y", + "return": "Returns the centroid y position of the blob", + "maixpy": "maix.image.Blob.cy", + "py_doc": "get blob center y\n\nReturns: Returns the centroid y position of the blob\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int cy()" + }, + "cxf": { + "type": "func", + "name": "cxf", + "doc": { + "brief": "get blob center x", + "return": "Returns the centroid x position of the blob", + "maixpy": "maix.image.Blob.cxf", + "py_doc": "get blob center x\n\nReturns: Returns the centroid x position of the blob\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float cxf()" + }, + "cyf": { + "type": "func", + "name": "cyf", + "doc": { + "brief": "get blob center y", + "return": "Returns the centroid y position of the blob", + "maixpy": "maix.image.Blob.cyf", + "py_doc": "get blob center y\n\nReturns: Returns the centroid y position of the blob\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float cyf()" + }, + "rotation": { + "type": "func", + "name": "rotation", + "doc": { + "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.", + "maixpy": "maix.image.Blob.rotation", + "py_doc": "get blob rotation\n\nReturns: 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.\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float rotation()" + }, + "rotation_rad": { + "type": "func", + "name": "rotation_rad", + "doc": { + "brief": "get blob rotation_rad", + "return": "Returns the rotation of the blob in radians", + "maixpy": "maix.image.Blob.rotation_rad", + "py_doc": "get blob rotation_rad\n\nReturns: Returns the rotation of the blob in radians\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float rotation_rad()" + }, + "rotation_deg": { + "type": "func", + "name": "rotation_deg", + "doc": { + "brief": "get blob rotation_deg", + "return": "Returns the rotation of the blob in degrees.", + "maixpy": "maix.image.Blob.rotation_deg", + "py_doc": "get blob rotation_deg\n\nReturns: Returns the rotation of the blob in degrees.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int rotation_deg()" + }, + "code": { + "type": "func", + "name": "code", + "doc": { + "brief": "get blob code", + "return": "Returns a 32-bit binary number with a bit set in it for each color threshold that\u2019s part of this blob", + "maixpy": "maix.image.Blob.code", + "py_doc": "get blob code\n\nReturns: Returns a 32-bit binary number with a bit set in it for each color threshold that\u2019s part of this blob\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int code()" + }, + "count": { + "type": "func", + "name": "count", + "doc": { + "brief": "get blob count", + "return": "Returns the number of blobs merged into this blob.", + "maixpy": "maix.image.Blob.count", + "py_doc": "get blob count\n\nReturns: Returns the number of blobs merged into this blob.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int count()" + }, + "perimeter": { + "type": "func", + "name": "perimeter", + "doc": { + "brief": "get blob merge_cnt", + "return": "Returns the number of pixels on this blob\u2019s perimeter.", + "maixpy": "maix.image.Blob.perimeter", + "py_doc": "get blob merge_cnt\n\nReturns: Returns the number of pixels on this blob\u2019s perimeter.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int perimeter()" + }, + "roundness": { + "type": "func", + "name": "roundness", + "doc": { + "brief": "get blob roundness", + "return": "Returns a value between 0 and 1 representing how round the object is", + "maixpy": "maix.image.Blob.roundness", + "py_doc": "get blob roundness\n\nReturns: Returns a value between 0 and 1 representing how round the object is\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float roundness()" + }, + "elongation": { + "type": "func", + "name": "elongation", + "doc": { + "brief": "get blob elongation", + "returnReturns": "a value between 0 and 1 representing how long (not round) the object is", + "maixpy": "maix.image.Blob.elongation", + "py_doc": "get blob elongation" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float elongation()" + }, + "area": { + "type": "func", + "name": "area", + "doc": { + "brief": "get blob area", + "return": "Returns the area of the bounding box around the blob", + "maixpy": "maix.image.Blob.area", + "py_doc": "get blob area\n\nReturns: Returns the area of the bounding box around the blob\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int area()" + }, + "density": { + "type": "func", + "name": "density", + "doc": { + "brief": "get blob density", + "return": "Returns the density ratio of the blob", + "maixpy": "maix.image.Blob.density", + "py_doc": "get blob density\n\nReturns: Returns the density ratio of the blob\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float density()" + }, + "extent": { + "type": "func", + "name": "extent", + "doc": { + "brief": "Alias for blob.density()", + "return": "Returns the density ratio of the blob", + "maixpy": "maix.image.Blob.extent", + "py_doc": "Alias for blob.density()\n\nReturns: Returns the density ratio of the blob\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float extent()" + }, + "compactness": { + "type": "func", + "name": "compactness", + "doc": { + "brief": "get blob compactness", + "return": "Returns the compactness ratio of the blob", + "maixpy": "maix.image.Blob.compactness", + "py_doc": "get blob compactness\n\nReturns: Returns the compactness ratio of the blob\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float compactness()" + }, + "solidity": { + "type": "func", + "name": "solidity", + "doc": { + "brief": "get blob solidity", + "return": "Returns the solidity ratio of the blob", + "maixpy": "maix.image.Blob.solidity", + "py_doc": "get blob solidity\n\nReturns: Returns the solidity ratio of the blob\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float solidity()" + }, + "convexity": { + "type": "func", + "name": "convexity", + "doc": { + "brief": "get blob convexity", + "return": "Returns a value between 0 and 1 representing how convex the object is", + "maixpy": "maix.image.Blob.convexity", + "py_doc": "get blob convexity\n\nReturns: Returns a value between 0 and 1 representing how convex the object is\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float convexity()" + }, + "x_hist_bins": { + "type": "func", + "name": "x_hist_bins", + "doc": { + "brief": "get blob x_hist_bins", + "return": "Returns the x_hist_bins of the blob", + "maixpy": "maix.image.Blob.x_hist_bins", + "py_doc": "get blob x_hist_bins\n\nReturns: Returns the x_hist_bins of the blob\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector x_hist_bins()" + }, + "y_hist_bins": { + "type": "func", + "name": "y_hist_bins", + "doc": { + "brief": "get blob y_hist_bins", + "return": "Returns the y_hist_bins of the blob", + "maixpy": "maix.image.Blob.y_hist_bins", + "py_doc": "get blob y_hist_bins\n\nReturns: Returns the y_hist_bins of the blob\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector y_hist_bins()" + }, + "major_axis_line": { + "type": "func", + "name": "major_axis_line", + "doc": { + "brief": "get blob major_axis_line", + "return": "Returns a line tuple (x1, y1, x2, y2) of the minor axis of the blob.", + "maixpy": "maix.image.Blob.major_axis_line", + "py_doc": "get blob major_axis_line\n\nReturns: Returns a line tuple (x1, y1, x2, y2) of the minor axis of the blob.\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector major_axis_line()" + }, + "minor_axis_line": { + "type": "func", + "name": "minor_axis_line", + "doc": { + "brief": "get blob minor_axis_line", + "return": "Returns a line tuple (x1, y1, x2, y2) of the minor axis of the blob.", + "maixpy": "maix.image.Blob.minor_axis_line", + "py_doc": "get blob minor_axis_line\n\nReturns: Returns a line tuple (x1, y1, x2, y2) of the minor axis of the blob.\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector minor_axis_line()" + }, + "enclosing_circle": { + "type": "func", + "name": "enclosing_circle", + "doc": { + "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.", + "maixpy": "maix.image.Blob.enclosing_circle", + "py_doc": "get blob enclosing_circle\n\nReturns: Returns a circle tuple (x, y, r) of the circle that encloses the min area rectangle of a blob.\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector enclosing_circle()" + }, + "enclosed_ellipse": { + "type": "func", + "name": "enclosed_ellipse", + "doc": { + "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.", + "maixpy": "maix.image.Blob.enclosed_ellipse", + "py_doc": "get blob enclosed_ellipse\n\nReturns: Returns an ellipse tuple (x, y, rx, ry, rotation) of the ellipse that fits inside of the min area rectangle of a blob.\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector enclosed_ellipse()" + } + }, + "def": "class Blob" + }, + "QRCode": { + "type": "class", + "name": "QRCode", + "doc": { + "brief": "QRCode class", + "maixpy": "maix.image.QRCode", + "py_doc": "QRCode class" + }, + "members": { + "__init__": { + "type": "func", + "name": "QRCode", + "doc": { + "brief": "QRCode constructor", + "param": { + "rect": "rect of corners, type is std::vector", + "corners": "corners of QRCode", + "payload": "payload of the QRCode", + "version": "version of the QRCode", + "ecc_level": "ecc_level of the QRCode", + "mask": "mask of the QRCode", + "data_type": "data_type of the QRCode", + "eci": "eci of the QRCode" + }, + "maixpy": "maix.image.QRCode.__init__", + "py_doc": "QRCode constructor\n\nArgs:\n - rect: rect of corners, type is std::vector\n - corners: corners of QRCode\n - payload: payload of the QRCode\n - version: version of the QRCode\n - ecc_level: ecc_level of the QRCode\n - mask: mask of the QRCode\n - data_type: data_type of the QRCode\n - eci: eci of the QRCode\n" + }, + "args": [ + [ + "std::vector &", + "rect", + null + ], + [ + "std::vector> &", + "corners", + null + ], + [ + "std::string &", + "payload", + null + ], + [ + "int", + "version", + null + ], + [ + "int", + "ecc_level", + null + ], + [ + "int", + "mask", + null + ], + [ + "int", + "data_type", + null + ], + [ + "int", + "eci", + null + ] + ], + "ret_type": null, + "static": false, + "def": "QRCode(std::vector &rect, std::vector> &corners, std::string &payload, int version, int ecc_level, int mask, int data_type, int eci)" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index\n[0]": "Returns the qrcode\u2019s bounding box x coordinate\n[1] Returns the qrcode\u2019s bounding box y coordinate\n[2] Returns the qrcode\u2019s bounding box w coordinate\n[3] Returns the qrcode\u2019s bounding box h coordinate\n[4] Not support this index, try to use payload() method\n[5] Returns the version of qrcode\n[6] Returns the error correction level of qrcode\n[7] Returns the mask of qrcode\n[8] Returns the datatype of qrcode\n[9] Returns the eci of qrcode" + }, + "return": "int&", + "maixpy": "maix.image.QRCode.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index\n[0]: Returns the qrcode\u2019s bounding box x coordinate\n[1] Returns the qrcode\u2019s bounding box y coordinate\n[2] Returns the qrcode\u2019s bounding box w coordinate\n[3] Returns the qrcode\u2019s bounding box h coordinate\n[4] Not support this index, try to use payload() method\n[5] Returns the version of qrcode\n[6] Returns the error correction level of qrcode\n[7] Returns the mask of qrcode\n[8] Returns the datatype of qrcode\n[9] Returns the eci of qrcode\n\n\nReturns: int&\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)" + }, + "corners": { + "type": "func", + "name": "corners", + "doc": { + "brief": "get coordinate of QRCode", + "return": "return the coordinate of the QRCode.", + "maixpy": "maix.image.QRCode.corners", + "py_doc": "get coordinate of QRCode\n\nReturns: return the coordinate of the QRCode.\n" + }, + "args": [], + "ret_type": "std::vector>", + "static": false, + "def": "std::vector> corners()" + }, + "rect": { + "type": "func", + "name": "rect", + "doc": { + "brief": "get rectangle of QRCode", + "return": "return the rectangle of the QRCode. format is {x, y, w, h}, type is std::vector", + "maixpy": "maix.image.QRCode.rect", + "py_doc": "get rectangle of QRCode\n\nReturns: return the rectangle of the QRCode. format is {x, y, w, h}, type is std::vector\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector rect()" + }, + "x": { + "type": "func", + "name": "x", + "doc": { + "brief": "get x of QRCode", + "return": "return x of the QRCode, type is int", + "maixpy": "maix.image.QRCode.x", + "py_doc": "get x of QRCode\n\nReturns: return x of the QRCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int x()" + }, + "y": { + "type": "func", + "name": "y", + "doc": { + "brief": "get y of QRCode", + "return": "return y of the QRCode, type is int", + "maixpy": "maix.image.QRCode.y", + "py_doc": "get y of QRCode\n\nReturns: return y of the QRCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int y()" + }, + "w": { + "type": "func", + "name": "w", + "doc": { + "brief": "get w of QRCode", + "return": "return w of the QRCode, type is int", + "maixpy": "maix.image.QRCode.w", + "py_doc": "get w of QRCode\n\nReturns: return w of the QRCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int w()" + }, + "h": { + "type": "func", + "name": "h", + "doc": { + "brief": "get h of QRCode", + "return": "return h of the QRCode, type is int", + "maixpy": "maix.image.QRCode.h", + "py_doc": "get h of QRCode\n\nReturns: return h of the QRCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int h()" + }, + "payload": { + "type": "func", + "name": "payload", + "doc": { + "brief": "get QRCode payload", + "return": "return area of the QRCode", + "maixpy": "maix.image.QRCode.payload", + "py_doc": "get QRCode payload\n\nReturns: return area of the QRCode\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string payload()" + }, + "version": { + "type": "func", + "name": "version", + "doc": { + "brief": "get QRCode version", + "return": "return version of the QRCode", + "maixpy": "maix.image.QRCode.version", + "py_doc": "get QRCode version\n\nReturns: return version of the QRCode\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int version()" + }, + "ecc_level": { + "type": "func", + "name": "ecc_level", + "doc": { + "brief": "get QRCode error correction level", + "return": "return error correction level of the QRCode", + "maixpy": "maix.image.QRCode.ecc_level", + "py_doc": "get QRCode error correction level\n\nReturns: return error correction level of the QRCode\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int ecc_level()" + }, + "mask": { + "type": "func", + "name": "mask", + "doc": { + "brief": "get QRCode mask", + "return": "return mask of the QRCode", + "maixpy": "maix.image.QRCode.mask", + "py_doc": "get QRCode mask\n\nReturns: return mask of the QRCode\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int mask()" + }, + "data_type": { + "type": "func", + "name": "data_type", + "doc": { + "brief": "get QRCode dataType", + "return": "return mask of the QRCode", + "maixpy": "maix.image.QRCode.data_type", + "py_doc": "get QRCode dataType\n\nReturns: return mask of the QRCode\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int data_type()" + }, + "eci": { + "type": "func", + "name": "eci", + "doc": { + "brief": "get QRCode eci", + "return": "return data of the QRCode", + "maixpy": "maix.image.QRCode.eci", + "py_doc": "get QRCode eci\n\nReturns: return data of the QRCode\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int eci()" + }, + "is_numeric": { + "type": "func", + "name": "is_numeric", + "doc": { + "brief": "check QRCode is numeric", + "return": "return true if the result type of the QRCode is numeric", + "maixpy": "maix.image.QRCode.is_numeric", + "py_doc": "check QRCode is numeric\n\nReturns: return true if the result type of the QRCode is numeric\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_numeric()" + }, + "is_alphanumeric": { + "type": "func", + "name": "is_alphanumeric", + "doc": { + "brief": "check QRCode is alphanumeric", + "return": "return true if the result type of the QRCode is alphanumeric", + "maixpy": "maix.image.QRCode.is_alphanumeric", + "py_doc": "check QRCode is alphanumeric\n\nReturns: return true if the result type of the QRCode is alphanumeric\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_alphanumeric()" + }, + "is_binary": { + "type": "func", + "name": "is_binary", + "doc": { + "brief": "check QRCode is binary", + "return": "return true if the result type of the QRCode is binary", + "maixpy": "maix.image.QRCode.is_binary", + "py_doc": "check QRCode is binary\n\nReturns: return true if the result type of the QRCode is binary\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_binary()" + }, + "is_kanji": { + "type": "func", + "name": "is_kanji", + "doc": { + "brief": "check QRCode is kanji", + "return": "return true if the result type of the QRCode is kanji", + "maixpy": "maix.image.QRCode.is_kanji", + "py_doc": "check QRCode is kanji\n\nReturns: return true if the result type of the QRCode is kanji\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_kanji()" + } + }, + "def": "class QRCode" + }, + "AprilTag": { + "type": "class", + "name": "AprilTag", + "doc": { + "brief": "AprilTag class", + "maixpy": "maix.image.AprilTag", + "py_doc": "AprilTag class" + }, + "members": { + "__init__": { + "type": "func", + "name": "AprilTag", + "doc": { + "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", + "corners": "Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector>", + "id": "The id of the AprilTag", + "famliy": "The family of the AprilTag", + "centroid_x": "The x coordinate of the center of the AprilTag", + "centroid_y": "The y coordinate of the center of the AprilTag", + "rotation": "The rotation of the AprilTag", + "decision_margin": "The decision_margin of the AprilTag", + "hamming": "The hamming of the AprilTag", + "goodness": "The goodness of the AprilTag", + "x_translation": "The x_translation of the AprilTag", + "y_translation": "The y_translation of the AprilTag", + "z_translation": "The z_translation of the AprilTag", + "x_rotation": "The x_rotation of the AprilTag", + "y_rotation": "The y_rotation of the AprilTag", + "z_rotation": "The z_rotation of the AprilTag" + }, + "maixpy": "maix.image.AprilTag.__init__", + "py_doc": "AprilTag constructor\n\nArgs:\n - rect: Inlucdes the top-left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector\n - corners: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector>\n - id: The id of the AprilTag\n - famliy: The family of the AprilTag\n - centroid_x: The x coordinate of the center of the AprilTag\n - centroid_y: The y coordinate of the center of the AprilTag\n - rotation: The rotation of the AprilTag\n - decision_margin: The decision_margin of the AprilTag\n - hamming: The hamming of the AprilTag\n - goodness: The goodness of the AprilTag\n - x_translation: The x_translation of the AprilTag\n - y_translation: The y_translation of the AprilTag\n - z_translation: The z_translation of the AprilTag\n - x_rotation: The x_rotation of the AprilTag\n - y_rotation: The y_rotation of the AprilTag\n - z_rotation: The z_rotation of the AprilTag\n" + }, + "args": [ + [ + "std::vector &", + "rect", + null + ], + [ + "std::vector> &", + "corners", + null + ], + [ + "int", + "id", + null + ], + [ + "int", + "famliy", + null + ], + [ + "float", + "centroid_x", + null + ], + [ + "float", + "centroid_y", + null + ], + [ + "float", + "rotation", + null + ], + [ + "float", + "decision_margin", + null + ], + [ + "int", + "hamming", + null + ], + [ + "float", + "goodness", + null + ], + [ + "float", + "x_translation", + null + ], + [ + "float", + "y_translation", + null + ], + [ + "float", + "z_translation", + null + ], + [ + "float", + "x_rotation", + null + ], + [ + "float", + "y_rotation", + null + ], + [ + "float", + "z_rotation", + null + ] + ], + "ret_type": null, + "static": false, + "def": "AprilTag(std::vector &rect, std::vector> &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)", + "py_def": "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" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index\n[0]": "Returns the apriltag\u2019s bounding box x coordinate\n[1] Returns the apriltag\u2019s bounding box y coordinate\n[2] Returns the apriltag\u2019s bounding box w coordinate\n[3] Returns the apriltag\u2019s bounding box h coordinate\n[4] Returns the apriltag\u2019s id\n[5] Returns the apriltag\u2019s family\n[6] Not support\n[7] Not support\n[8] Not support\n[9] Not support\n[10] Returns the apriltag\u2019s hamming\n[11] Not support\n[12] Not support\n[13] Not support\n[14] Not support\n[15] Not support\n[16] Not support\n[17] Not support" + }, + "return": "int&", + "maixpy": "maix.image.AprilTag.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index\n[0]: Returns the apriltag\u2019s bounding box x coordinate\n[1] Returns the apriltag\u2019s bounding box y coordinate\n[2] Returns the apriltag\u2019s bounding box w coordinate\n[3] Returns the apriltag\u2019s bounding box h coordinate\n[4] Returns the apriltag\u2019s id\n[5] Returns the apriltag\u2019s family\n[6] Not support\n[7] Not support\n[8] Not support\n[9] Not support\n[10] Returns the apriltag\u2019s hamming\n[11] Not support\n[12] Not support\n[13] Not support\n[14] Not support\n[15] Not support\n[16] Not support\n[17] Not support\n\n\nReturns: int&\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)", + "py_def": "def __getitem__(self, index: int) -> int" + }, + "corners": { + "type": "func", + "name": "corners", + "doc": { + "brief": "get coordinate of AprilTag", + "return": "return the coordinate of the AprilTag.", + "maixpy": "maix.image.AprilTag.corners", + "py_doc": "get coordinate of AprilTag\n\nReturns: return the coordinate of the AprilTag.\n" + }, + "args": [], + "ret_type": "std::vector>", + "static": false, + "def": "std::vector> corners()", + "py_def": "def corners(self) -> list[list[int]]" + }, + "rect": { + "type": "func", + "name": "rect", + "doc": { + "brief": "get rectangle of AprilTag", + "return": "return the rectangle of the AprilTag. format is {x, y, w, h}, type is std::vector", + "maixpy": "maix.image.AprilTag.rect", + "py_doc": "get rectangle of AprilTag\n\nReturns: return the rectangle of the AprilTag. format is {x, y, w, h}, type is std::vector\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector rect()", + "py_def": "def rect(self) -> list[int]" + }, + "x": { + "type": "func", + "name": "x", + "doc": { + "brief": "get x of AprilTag", + "return": "return x of the AprilTag, type is int", + "maixpy": "maix.image.AprilTag.x", + "py_doc": "get x of AprilTag\n\nReturns: return x of the AprilTag, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int x()", + "py_def": "def x(self) -> int" + }, + "y": { + "type": "func", + "name": "y", + "doc": { + "brief": "get y of AprilTag", + "return": "return y of the AprilTag, type is int", + "maixpy": "maix.image.AprilTag.y", + "py_doc": "get y of AprilTag\n\nReturns: return y of the AprilTag, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int y()", + "py_def": "def y(self) -> int" + }, + "w": { + "type": "func", + "name": "w", + "doc": { + "brief": "get w of AprilTag", + "return": "return w of the AprilTag, type is int", + "maixpy": "maix.image.AprilTag.w", + "py_doc": "get w of AprilTag\n\nReturns: return w of the AprilTag, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int w()", + "py_def": "def w(self) -> int" + }, + "h": { + "type": "func", + "name": "h", + "doc": { + "brief": "get h of AprilTag", + "return": "return h of the AprilTag, type is int", + "maixpy": "maix.image.AprilTag.h", + "py_doc": "get h of AprilTag\n\nReturns: return h of the AprilTag, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int h()", + "py_def": "def h(self) -> int" + }, + "id": { + "type": "func", + "name": "id", + "doc": { + "brief": "get id of AprilTag", + "return": "return id of the AprilTag, type is int", + "maixpy": "maix.image.AprilTag.id", + "py_doc": "get id of AprilTag\n\nReturns: return id of the AprilTag, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int id()", + "py_def": "def id(self) -> int" + }, + "family": { + "type": "func", + "name": "family", + "doc": { + "brief": "get family of AprilTag", + "return": "return family of the AprilTag, type is int", + "maixpy": "maix.image.AprilTag.family", + "py_doc": "get family of AprilTag\n\nReturns: return family of the AprilTag, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int family()", + "py_def": "def family(self) -> int" + }, + "cx": { + "type": "func", + "name": "cx", + "doc": { + "brief": "get cx of AprilTag", + "return": "return cx of the AprilTag, type is int", + "maixpy": "maix.image.AprilTag.cx", + "py_doc": "get cx of AprilTag\n\nReturns: return cx of the AprilTag, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int cx()", + "py_def": "def cx(self) -> int" + }, + "cxf": { + "type": "func", + "name": "cxf", + "doc": { + "brief": "get cxf of AprilTag", + "return": "return cxf of the AprilTag, type is float", + "maixpy": "maix.image.AprilTag.cxf", + "py_doc": "get cxf of AprilTag\n\nReturns: return cxf of the AprilTag, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float cxf()", + "py_def": "def cxf(self) -> float" + }, + "cy": { + "type": "func", + "name": "cy", + "doc": { + "brief": "get cy of AprilTag", + "return": "return cy of the AprilTag, type is int", + "maixpy": "maix.image.AprilTag.cy", + "py_doc": "get cy of AprilTag\n\nReturns: return cy of the AprilTag, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int cy()", + "py_def": "def cy(self) -> int" + }, + "cyf": { + "type": "func", + "name": "cyf", + "doc": { + "brief": "get cyf of AprilTag", + "return": "return cyf of the AprilTag, type is float", + "maixpy": "maix.image.AprilTag.cyf", + "py_doc": "get cyf of AprilTag\n\nReturns: return cyf of the AprilTag, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float cyf()", + "py_def": "def cyf(self) -> float" + }, + "rotation": { + "type": "func", + "name": "rotation", + "doc": { + "brief": "get rotation of AprilTag", + "return": "return rotation of the AprilTag, type is float", + "maixpy": "maix.image.AprilTag.rotation", + "py_doc": "get rotation of AprilTag\n\nReturns: return rotation of the AprilTag, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float rotation()", + "py_def": "def rotation(self) -> float" + }, + "decision_margin": { + "type": "func", + "name": "decision_margin", + "doc": { + "brief": "Get decision_margin of AprilTag", + "return": "Returns the quality of the apriltag match (0.0 - 1.0) where 1.0 is the best.", + "maixpy": "maix.image.AprilTag.decision_margin", + "py_doc": "Get decision_margin of AprilTag\n\nReturns: Returns the quality of the apriltag match (0.0 - 1.0) where 1.0 is the best.\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float decision_margin()", + "py_def": "def decision_margin(self) -> float" + }, + "hamming": { + "type": "func", + "name": "hamming", + "doc": { + "brief": "get hamming of AprilTag", + "return": "Returns the number of accepted bit errors for this tag.\nreturn 0, means 0 bit errors will be accepted.\n1 is TAG25H7, means up to 1 bit error may be accepted\n2 is TAG25H9, means up to 3 bit errors may be accepted\n3 is TAG36H10, means up to 3 bit errors may be accepted\n4 is TAG36H11, means up to 4 bit errors may be accepted\n5 is ARTOOLKIT, means 0 bit errors will be accepted", + "maixpy": "maix.image.AprilTag.hamming", + "py_doc": "get hamming of AprilTag\n\nReturns: Returns the number of accepted bit errors for this tag.\nreturn 0, means 0 bit errors will be accepted.\n1 is TAG25H7, means up to 1 bit error may be accepted\n2 is TAG25H9, means up to 3 bit errors may be accepted\n3 is TAG36H10, means up to 3 bit errors may be accepted\n4 is TAG36H11, means up to 4 bit errors may be accepted\n5 is ARTOOLKIT, means 0 bit errors will be accepted\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int hamming()", + "py_def": "def hamming(self) -> int" + }, + "goodness": { + "type": "func", + "name": "goodness", + "doc": { + "brief": "get goodness of AprilTag", + "return": "return goodness of the AprilTag, type is float\nNote: This value is always 0.0 for now.", + "maixpy": "maix.image.AprilTag.goodness", + "py_doc": "get goodness of AprilTag\n\nReturns: return goodness of the AprilTag, type is float\nNote: This value is always 0.0 for now.\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float goodness()", + "py_def": "def goodness(self) -> float" + }, + "x_translation": { + "type": "func", + "name": "x_translation", + "doc": { + "brief": "get x_translation of AprilTag", + "return": "return x_translation of the AprilTag, type is float", + "maixpy": "maix.image.AprilTag.x_translation", + "py_doc": "get x_translation of AprilTag\n\nReturns: return x_translation of the AprilTag, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float x_translation()", + "py_def": "def x_translation(self) -> float" + }, + "y_translation": { + "type": "func", + "name": "y_translation", + "doc": { + "brief": "get y_translation of AprilTag", + "return": "return y_translation of the AprilTag, type is float", + "maixpy": "maix.image.AprilTag.y_translation", + "py_doc": "get y_translation of AprilTag\n\nReturns: return y_translation of the AprilTag, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float y_translation()", + "py_def": "def y_translation(self) -> float" + }, + "z_translation": { + "type": "func", + "name": "z_translation", + "doc": { + "brief": "get z_translation of AprilTag", + "return": "return z_translation of the AprilTag, type is float", + "maixpy": "maix.image.AprilTag.z_translation", + "py_doc": "get z_translation of AprilTag\n\nReturns: return z_translation of the AprilTag, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float z_translation()", + "py_def": "def z_translation(self) -> float" + }, + "x_rotation": { + "type": "func", + "name": "x_rotation", + "doc": { + "brief": "get x_rotation of AprilTag", + "return": "return x_rotation of the AprilTag, type is float", + "maixpy": "maix.image.AprilTag.x_rotation", + "py_doc": "get x_rotation of AprilTag\n\nReturns: return x_rotation of the AprilTag, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float x_rotation()", + "py_def": "def x_rotation(self) -> float" + }, + "y_rotation": { + "type": "func", + "name": "y_rotation", + "doc": { + "brief": "get y_rotation of AprilTag", + "return": "return y_rotation of the AprilTag, type is float", + "maixpy": "maix.image.AprilTag.y_rotation", + "py_doc": "get y_rotation of AprilTag\n\nReturns: return y_rotation of the AprilTag, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float y_rotation()", + "py_def": "def y_rotation(self) -> float" + }, + "z_rotation": { + "type": "func", + "name": "z_rotation", + "doc": { + "brief": "get z_rotation of AprilTag", + "return": "return z_rotation of the AprilTag, type is float", + "maixpy": "maix.image.AprilTag.z_rotation", + "py_doc": "get z_rotation of AprilTag\n\nReturns: return z_rotation of the AprilTag, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float z_rotation()", + "py_def": "def z_rotation(self) -> float" + } + }, + "def": "class AprilTag" + }, + "DataMatrix": { + "type": "class", + "name": "DataMatrix", + "doc": { + "brief": "DataMatrix class", + "maixpy": "maix.image.DataMatrix", + "py_doc": "DataMatrix class" + }, + "members": { + "__init__": { + "type": "func", + "name": "DataMatrix", + "doc": { + "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", + "corners": "Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector>", + "payload": "The payload of the DataMatrix", + "rotation": "The rotation of the DataMatrix", + "rows": "The rows of the DataMatrix", + "columns": "The columns of the DataMatrix", + "capacity": "The capacity of the DataMatrix", + "padding": "The padding of the DataMatrix" + }, + "maixpy": "maix.image.DataMatrix.__init__", + "py_doc": "DataMatrix constructor\n\nArgs:\n - rect: Inlucdes the top-left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector\n - corners: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector>\n - payload: The payload of the DataMatrix\n - rotation: The rotation of the DataMatrix\n - rows: The rows of the DataMatrix\n - columns: The columns of the DataMatrix\n - capacity: The capacity of the DataMatrix\n - padding: The padding of the DataMatrix\n" + }, + "args": [ + [ + "std::vector &", + "rect", + null + ], + [ + "std::vector> &", + "corners", + null + ], + [ + "std::string &", + "payload", + null + ], + [ + "float", + "rotation", + null + ], + [ + "int", + "rows", + null + ], + [ + "int", + "columns", + null + ], + [ + "int", + "capacity", + null + ], + [ + "int", + "padding", + null + ] + ], + "ret_type": null, + "static": false, + "def": "DataMatrix(std::vector &rect, std::vector> &corners, std::string &payload, float rotation, int rows, int columns, int capacity, int padding)" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index\n[0]": "get x of DataMatrix\n[1] get y of DataMatrix\n[2] get w of DataMatrix\n[3] get h of DataMatrix\n[4] Not support this index, try to use payload() method\n[5] Not support this index, try to use rotation() method\n[6] get rows of DataMatrix\n[7] get columns of DataMatrix\n[8] get capacity of DataMatrix\n[9] get padding of DataMatrix" + }, + "return": "int&", + "maixpy": "maix.image.DataMatrix.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index\n[0]: get x of DataMatrix\n[1] get y of DataMatrix\n[2] get w of DataMatrix\n[3] get h of DataMatrix\n[4] Not support this index, try to use payload() method\n[5] Not support this index, try to use rotation() method\n[6] get rows of DataMatrix\n[7] get columns of DataMatrix\n[8] get capacity of DataMatrix\n[9] get padding of DataMatrix\n\n\nReturns: int&\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)" + }, + "corners": { + "type": "func", + "name": "corners", + "doc": { + "brief": "get coordinate of DataMatrix", + "return": "return the coordinate of the DataMatrix.", + "maixpy": "maix.image.DataMatrix.corners", + "py_doc": "get coordinate of DataMatrix\n\nReturns: return the coordinate of the DataMatrix.\n" + }, + "args": [], + "ret_type": "std::vector>", + "static": false, + "def": "std::vector> corners()" + }, + "rect": { + "type": "func", + "name": "rect", + "doc": { + "brief": "get rectangle of DataMatrix", + "return": "return the rectangle of the DataMatrix. format is {x, y, w, h}, type is std::vector", + "maixpy": "maix.image.DataMatrix.rect", + "py_doc": "get rectangle of DataMatrix\n\nReturns: return the rectangle of the DataMatrix. format is {x, y, w, h}, type is std::vector\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector rect()" + }, + "x": { + "type": "func", + "name": "x", + "doc": { + "brief": "get x of DataMatrix", + "return": "return x of the DataMatrix, type is int", + "maixpy": "maix.image.DataMatrix.x", + "py_doc": "get x of DataMatrix\n\nReturns: return x of the DataMatrix, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int x()" + }, + "y": { + "type": "func", + "name": "y", + "doc": { + "brief": "get y of DataMatrix", + "return": "return y of the DataMatrix, type is int", + "maixpy": "maix.image.DataMatrix.y", + "py_doc": "get y of DataMatrix\n\nReturns: return y of the DataMatrix, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int y()" + }, + "w": { + "type": "func", + "name": "w", + "doc": { + "brief": "get w of DataMatrix", + "return": "return w of the DataMatrix, type is int", + "maixpy": "maix.image.DataMatrix.w", + "py_doc": "get w of DataMatrix\n\nReturns: return w of the DataMatrix, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int w()" + }, + "h": { + "type": "func", + "name": "h", + "doc": { + "brief": "get h of DataMatrix", + "return": "return h of the DataMatrix, type is int", + "maixpy": "maix.image.DataMatrix.h", + "py_doc": "get h of DataMatrix\n\nReturns: return h of the DataMatrix, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int h()" + }, + "payload": { + "type": "func", + "name": "payload", + "doc": { + "brief": "get payload of DataMatrix", + "return": "return payload of the DataMatrix, type is std::string", + "maixpy": "maix.image.DataMatrix.payload", + "py_doc": "get payload of DataMatrix\n\nReturns: return payload of the DataMatrix, type is std::string\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string payload()" + }, + "rotation": { + "type": "func", + "name": "rotation", + "doc": { + "brief": "get rotation of DataMatrix", + "return": "return rotation of the DataMatrix, type is float", + "maixpy": "maix.image.DataMatrix.rotation", + "py_doc": "get rotation of DataMatrix\n\nReturns: return rotation of the DataMatrix, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float rotation()" + }, + "rows": { + "type": "func", + "name": "rows", + "doc": { + "brief": "get rows of DataMatrix", + "return": "return rows of the DataMatrix, type is int", + "maixpy": "maix.image.DataMatrix.rows", + "py_doc": "get rows of DataMatrix\n\nReturns: return rows of the DataMatrix, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int rows()" + }, + "columns": { + "type": "func", + "name": "columns", + "doc": { + "brief": "get columns of DataMatrix", + "return": "return columns of the DataMatrix, type is int", + "maixpy": "maix.image.DataMatrix.columns", + "py_doc": "get columns of DataMatrix\n\nReturns: return columns of the DataMatrix, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int columns()" + }, + "capacity": { + "type": "func", + "name": "capacity", + "doc": { + "brief": "get capacity of DataMatrix", + "return": "returns how many characters could fit in this data matrix, type is int", + "maixpy": "maix.image.DataMatrix.capacity", + "py_doc": "get capacity of DataMatrix\n\nReturns: returns how many characters could fit in this data matrix, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int capacity()" + }, + "padding": { + "type": "func", + "name": "padding", + "doc": { + "brief": "get padding of DataMatrix", + "return": "returns how many unused characters are in this data matrix, type is int", + "maixpy": "maix.image.DataMatrix.padding", + "py_doc": "get padding of DataMatrix\n\nReturns: returns how many unused characters are in this data matrix, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int padding()" + } + }, + "def": "class DataMatrix" + }, + "BarCode": { + "type": "class", + "name": "BarCode", + "doc": { + "brief": "BarCode class", + "maixpy": "maix.image.BarCode", + "py_doc": "BarCode class" + }, + "members": { + "__init__": { + "type": "func", + "name": "BarCode", + "doc": { + "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", + "corners": "Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector>", + "payload": "The payload of the BarCode", + "type": "The type of the BarCode", + "rotation": "The rotation of the BarCode", + "quality": "The quality of the BarCode" + }, + "maixpy": "maix.image.BarCode.__init__", + "py_doc": "BarCode constructor\n\nArgs:\n - rect: Inlucdes the top-left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector\n - corners: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector>\n - payload: The payload of the BarCode\n - type: The type of the BarCode\n - rotation: The rotation of the BarCode\n - quality: The quality of the BarCode\n" + }, + "args": [ + [ + "std::vector &", + "rect", + null + ], + [ + "std::vector> &", + "corners", + null + ], + [ + "std::string &", + "payload", + null + ], + [ + "int", + "type", + null + ], + [ + "float", + "rotation", + null + ], + [ + "int", + "quality", + null + ] + ], + "ret_type": null, + "static": false, + "def": "BarCode(std::vector &rect, std::vector> &corners, std::string &payload, int type, float rotation, int quality)", + "py_def": "def __init__(self, rect: list[int], corners: list[list[int]], payload: str, type: int, rotation: float, quality: int) -> None" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index\n[0]": "get x of BarCode\n[1] get y of BarCode\n[2] get w of BarCode\n[3] get h of BarCode\n[4] Not support this index, try to use payload() method\n[5] get type of BarCode\n[6] Not support this index, try to use rotation() method\n[7] get quality of BarCode" + }, + "return": "int&", + "maixpy": "maix.image.BarCode.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index\n[0]: get x of BarCode\n[1] get y of BarCode\n[2] get w of BarCode\n[3] get h of BarCode\n[4] Not support this index, try to use payload() method\n[5] get type of BarCode\n[6] Not support this index, try to use rotation() method\n[7] get quality of BarCode\n\n\nReturns: int&\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)", + "py_def": "def __getitem__(self, index: int) -> int" + }, + "corners": { + "type": "func", + "name": "corners", + "doc": { + "brief": "get coordinate of BarCode", + "return": "return the coordinate of the BarCode.", + "maixpy": "maix.image.BarCode.corners", + "py_doc": "get coordinate of BarCode\n\nReturns: return the coordinate of the BarCode.\n" + }, + "args": [], + "ret_type": "std::vector>", + "static": false, + "def": "std::vector> corners()", + "py_def": "def corners(self) -> list[list[int]]" + }, + "rect": { + "type": "func", + "name": "rect", + "doc": { + "brief": "get rectangle of BarCode", + "return": "return the rectangle of the BarCode. format is {x, y, w, h}, type is std::vector", + "maixpy": "maix.image.BarCode.rect", + "py_doc": "get rectangle of BarCode\n\nReturns: return the rectangle of the BarCode. format is {x, y, w, h}, type is std::vector\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector rect()", + "py_def": "def rect(self) -> list[int]" + }, + "x": { + "type": "func", + "name": "x", + "doc": { + "brief": "get x of BarCode", + "return": "return x of the BarCode, type is int", + "maixpy": "maix.image.BarCode.x", + "py_doc": "get x of BarCode\n\nReturns: return x of the BarCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int x()", + "py_def": "def x(self) -> int" + }, + "y": { + "type": "func", + "name": "y", + "doc": { + "brief": "get y of BarCode", + "return": "return y of the BarCode, type is int", + "maixpy": "maix.image.BarCode.y", + "py_doc": "get y of BarCode\n\nReturns: return y of the BarCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int y()", + "py_def": "def y(self) -> int" + }, + "w": { + "type": "func", + "name": "w", + "doc": { + "brief": "get w of BarCode", + "return": "return w of the BarCode, type is int", + "maixpy": "maix.image.BarCode.w", + "py_doc": "get w of BarCode\n\nReturns: return w of the BarCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int w()", + "py_def": "def w(self) -> int" + }, + "h": { + "type": "func", + "name": "h", + "doc": { + "brief": "get h of BarCode", + "return": "return h of the BarCode, type is int", + "maixpy": "maix.image.BarCode.h", + "py_doc": "get h of BarCode\n\nReturns: return h of the BarCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int h()", + "py_def": "def h(self) -> int" + }, + "payload": { + "type": "func", + "name": "payload", + "doc": { + "brief": "get payload of BarCode", + "return": "return payload of the BarCode, type is std::string", + "maixpy": "maix.image.BarCode.payload", + "py_doc": "get payload of BarCode\n\nReturns: return payload of the BarCode, type is std::string\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string payload()", + "py_def": "def payload(self) -> str" + }, + "type": { + "type": "func", + "name": "type", + "doc": { + "brief": "get type of BarCode", + "return": "return type of the BarCode, type is int", + "maixpy": "maix.image.BarCode.type", + "py_doc": "get type of BarCode\n\nReturns: return type of the BarCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int type()", + "py_def": "def type(self) -> int" + }, + "rotation": { + "type": "func", + "name": "rotation", + "doc": { + "brief": "get rotation of BarCode", + "return": "return rotation of the BarCode, type is float. FIXME: always return 0.0", + "maixpy": "maix.image.BarCode.rotation", + "py_doc": "get rotation of BarCode\n\nReturns: return rotation of the BarCode, type is float. FIXME: always return 0.0\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float rotation()", + "py_def": "def rotation(self) -> float" + }, + "quality": { + "type": "func", + "name": "quality", + "doc": { + "brief": "get quality of BarCode", + "return": "return quality of the BarCode, type is int", + "maixpy": "maix.image.BarCode.quality", + "py_doc": "get quality of BarCode\n\nReturns: return quality of the BarCode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int quality()", + "py_def": "def quality(self) -> int" + } + }, + "def": "class BarCode" + }, + "Statistics": { + "type": "class", + "name": "Statistics", + "doc": { + "brief": "Statistics class", + "maixpy": "maix.image.Statistics", + "py_doc": "Statistics class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Statistics", + "doc": { + "brief": "Statistics constructor", + "param": { + "format": "The statistics source image format", + "l_statistics": "The statistics of the L channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector", + "a_statistics": "The statistics of the A channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector", + "b_statistics": "The statistics of the B channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector" + }, + "maixpy": "maix.image.Statistics.__init__", + "py_doc": "Statistics constructor\n\nArgs:\n - format: The statistics source image format\n - l_statistics: The statistics of the L channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector\n - a_statistics: The statistics of the A channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector\n - b_statistics: The statistics of the B channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector\n" + }, + "args": [ + [ + "image::Format", + "format", + null + ], + [ + "std::vector &", + "l_statistics", + null + ], + [ + "std::vector &", + "a_statistics", + null + ], + [ + "std::vector &", + "b_statistics", + null + ] + ], + "ret_type": null, + "static": false, + "def": "Statistics(image::Format format, std::vector &l_statistics, std::vector &a_statistics, std::vector &b_statistics)" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index": "array index" + }, + "return": "int&", + "maixpy": "maix.image.Statistics.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index: array index\n\n\nReturns: int&\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)" + }, + "format": { + "type": "func", + "name": "format", + "doc": { + "brief": "get format of Statistics source image", + "return": "return format of the Statistics source image, type is image::Format", + "maixpy": "maix.image.Statistics.format", + "py_doc": "get format of Statistics source image\n\nReturns: return format of the Statistics source image, type is image::Format\n" + }, + "args": [], + "ret_type": "image::Format", + "static": false, + "def": "image::Format format()" + }, + "l_mean": { + "type": "func", + "name": "l_mean", + "doc": { + "brief": "get L channel mean", + "return": "return L channel mean, type is int", + "maixpy": "maix.image.Statistics.l_mean", + "py_doc": "get L channel mean\n\nReturns: return L channel mean, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int l_mean()" + }, + "l_median": { + "type": "func", + "name": "l_median", + "doc": { + "brief": "get L channel median", + "return": "return L channel median, type is int", + "maixpy": "maix.image.Statistics.l_median", + "py_doc": "get L channel median\n\nReturns: return L channel median, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int l_median()" + }, + "l_mode": { + "type": "func", + "name": "l_mode", + "doc": { + "brief": "get L channel mode", + "return": "return L channel mode, type is int", + "maixpy": "maix.image.Statistics.l_mode", + "py_doc": "get L channel mode\n\nReturns: return L channel mode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int l_mode()" + }, + "l_std_dev": { + "type": "func", + "name": "l_std_dev", + "doc": { + "brief": "get L channel std_dev", + "return": "return L channel std_dev, type is int", + "maixpy": "maix.image.Statistics.l_std_dev", + "py_doc": "get L channel std_dev\n\nReturns: return L channel std_dev, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int l_std_dev()" + }, + "l_min": { + "type": "func", + "name": "l_min", + "doc": { + "brief": "get L channel min", + "return": "return L channel min, type is int", + "maixpy": "maix.image.Statistics.l_min", + "py_doc": "get L channel min\n\nReturns: return L channel min, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int l_min()" + }, + "l_max": { + "type": "func", + "name": "l_max", + "doc": { + "brief": "get L channel max", + "return": "return L channel max, type is int", + "maixpy": "maix.image.Statistics.l_max", + "py_doc": "get L channel max\n\nReturns: return L channel max, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int l_max()" + }, + "l_lq": { + "type": "func", + "name": "l_lq", + "doc": { + "brief": "get L channel lq", + "return": "return L channel lq, type is int", + "maixpy": "maix.image.Statistics.l_lq", + "py_doc": "get L channel lq\n\nReturns: return L channel lq, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int l_lq()" + }, + "l_uq": { + "type": "func", + "name": "l_uq", + "doc": { + "brief": "get L channel uq", + "return": "return L channel uq, type is int", + "maixpy": "maix.image.Statistics.l_uq", + "py_doc": "get L channel uq\n\nReturns: return L channel uq, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int l_uq()" + }, + "a_mean": { + "type": "func", + "name": "a_mean", + "doc": { + "brief": "get A channel mean", + "return": "return A channel mean, type is int", + "maixpy": "maix.image.Statistics.a_mean", + "py_doc": "get A channel mean\n\nReturns: return A channel mean, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int a_mean()" + }, + "a_median": { + "type": "func", + "name": "a_median", + "doc": { + "brief": "get A channea median", + "return": "return A channel median, type is int", + "maixpy": "maix.image.Statistics.a_median", + "py_doc": "get A channea median\n\nReturns: return A channel median, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int a_median()" + }, + "a_mode": { + "type": "func", + "name": "a_mode", + "doc": { + "brief": "get A channel mode", + "return": "return A channel mode, type is int", + "maixpy": "maix.image.Statistics.a_mode", + "py_doc": "get A channel mode\n\nReturns: return A channel mode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int a_mode()" + }, + "a_std_dev": { + "type": "func", + "name": "a_std_dev", + "doc": { + "brief": "get A channel std_dev", + "return": "return A channel std_dev, type is int", + "maixpy": "maix.image.Statistics.a_std_dev", + "py_doc": "get A channel std_dev\n\nReturns: return A channel std_dev, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int a_std_dev()" + }, + "a_min": { + "type": "func", + "name": "a_min", + "doc": { + "brief": "get A channel min", + "return": "return A channel min, type is int", + "maixpy": "maix.image.Statistics.a_min", + "py_doc": "get A channel min\n\nReturns: return A channel min, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int a_min()" + }, + "a_max": { + "type": "func", + "name": "a_max", + "doc": { + "brief": "get A channel max", + "return": "return A channel max, type is int", + "maixpy": "maix.image.Statistics.a_max", + "py_doc": "get A channel max\n\nReturns: return A channel max, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int a_max()" + }, + "a_lq": { + "type": "func", + "name": "a_lq", + "doc": { + "brief": "get A channel lq", + "return": "return A channel lq, type is int", + "maixpy": "maix.image.Statistics.a_lq", + "py_doc": "get A channel lq\n\nReturns: return A channel lq, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int a_lq()" + }, + "a_uq": { + "type": "func", + "name": "a_uq", + "doc": { + "brief": "get A channel uq", + "return": "return A channel uq, type is int", + "maixpy": "maix.image.Statistics.a_uq", + "py_doc": "get A channel uq\n\nReturns: return A channel uq, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int a_uq()" + }, + "b_mean": { + "type": "func", + "name": "b_mean", + "doc": { + "brief": "get B channel mean", + "return": "return B channel mean, type is int", + "maixpy": "maix.image.Statistics.b_mean", + "py_doc": "get B channel mean\n\nReturns: return B channel mean, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int b_mean()" + }, + "b_median": { + "type": "func", + "name": "b_median", + "doc": { + "brief": "get B channea median", + "return": "return B channel median, type is int", + "maixpy": "maix.image.Statistics.b_median", + "py_doc": "get B channea median\n\nReturns: return B channel median, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int b_median()" + }, + "b_mode": { + "type": "func", + "name": "b_mode", + "doc": { + "brief": "get B channel mode", + "return": "return B channel mode, type is int", + "maixpy": "maix.image.Statistics.b_mode", + "py_doc": "get B channel mode\n\nReturns: return B channel mode, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int b_mode()" + }, + "b_std_dev": { + "type": "func", + "name": "b_std_dev", + "doc": { + "brief": "get B channel std_dev", + "return": "return B channel std_dev, type is int", + "maixpy": "maix.image.Statistics.b_std_dev", + "py_doc": "get B channel std_dev\n\nReturns: return B channel std_dev, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int b_std_dev()" + }, + "b_min": { + "type": "func", + "name": "b_min", + "doc": { + "brief": "get B channel min", + "return": "return B channel min, type is int", + "maixpy": "maix.image.Statistics.b_min", + "py_doc": "get B channel min\n\nReturns: return B channel min, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int b_min()" + }, + "b_max": { + "type": "func", + "name": "b_max", + "doc": { + "brief": "get B channel max", + "return": "return B channel max, type is int", + "maixpy": "maix.image.Statistics.b_max", + "py_doc": "get B channel max\n\nReturns: return B channel max, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int b_max()" + }, + "b_lq": { + "type": "func", + "name": "b_lq", + "doc": { + "brief": "get B channel lq", + "return": "return B channel lq, type is int", + "maixpy": "maix.image.Statistics.b_lq", + "py_doc": "get B channel lq\n\nReturns: return B channel lq, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int b_lq()" + }, + "b_uq": { + "type": "func", + "name": "b_uq", + "doc": { + "brief": "get B channel uq", + "return": "return B channel uq, type is int", + "maixpy": "maix.image.Statistics.b_uq", + "py_doc": "get B channel uq\n\nReturns: return B channel uq, type is int\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int b_uq()" + } + }, + "def": "class Statistics" + }, + "Displacement": { + "type": "class", + "name": "Displacement", + "doc": { + "brief": "Displacement class", + "maixpy": "maix.image.Displacement", + "py_doc": "Displacement class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Displacement", + "doc": { + "brief": "Displacement constructor", + "param": { + "x_translation": "The x_translation of the Displacement", + "y_translation": "The y_translation of the Displacement", + "rotation": "The rotation of the Displacement", + "scale": "The scale of the Displacement", + "response": "The response of the Displacement" + }, + "maixpy": "maix.image.Displacement.__init__", + "py_doc": "Displacement constructor\n\nArgs:\n - x_translation: The x_translation of the Displacement\n - y_translation: The y_translation of the Displacement\n - rotation: The rotation of the Displacement\n - scale: The scale of the Displacement\n - response: The response of the Displacement\n" + }, + "args": [ + [ + "float", + "x_translation", + null + ], + [ + "float", + "y_translation", + null + ], + [ + "float", + "rotation", + null + ], + [ + "float", + "scale", + null + ], + [ + "float", + "response", + null + ] + ], + "ret_type": null, + "static": false, + "def": "Displacement(float x_translation, float y_translation, float rotation, float scale, float response)", + "py_def": "def __init__(self, x_translation: float, y_translation: float, rotation: float, scale: float, response: float) -> None" + }, + "__getitem__": { + "type": "func", + "name": "__getitem__", + "doc": { + "brief": "Subscript operator", + "param": { + "index": "array index" + }, + "return": "int&", + "maixpy": "maix.image.Displacement.__getitem__", + "py_doc": "Subscript operator\n\nArgs:\n - index: array index\n\n\nReturns: int&\n" + }, + "args": [ + [ + "int", + "index", + null + ] + ], + "ret_type": "int&", + "static": false, + "def": "int &__getitem__(int index)", + "py_def": "def __getitem__(self, index: int) -> int" + }, + "x_translation": { + "type": "func", + "name": "x_translation", + "doc": { + "brief": "get x_translation of Displacement", + "return": "return x_translation of the Displacement, type is float", + "maixpy": "maix.image.Displacement.x_translation", + "py_doc": "get x_translation of Displacement\n\nReturns: return x_translation of the Displacement, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float x_translation()", + "py_def": "def x_translation(self) -> float" + }, + "y_translation": { + "type": "func", + "name": "y_translation", + "doc": { + "brief": "get y_translation of Displacement", + "return": "return y_translation of the Displacement, type is float", + "maixpy": "maix.image.Displacement.y_translation", + "py_doc": "get y_translation of Displacement\n\nReturns: return y_translation of the Displacement, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float y_translation()", + "py_def": "def y_translation(self) -> float" + }, + "rotation": { + "type": "func", + "name": "rotation", + "doc": { + "brief": "get rotation of Displacement", + "return": "return rotation of the Displacement, type is float", + "maixpy": "maix.image.Displacement.rotation", + "py_doc": "get rotation of Displacement\n\nReturns: return rotation of the Displacement, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float rotation()", + "py_def": "def rotation(self) -> float" + }, + "scale": { + "type": "func", + "name": "scale", + "doc": { + "brief": "get scale of Displacement", + "return": "return scale of the Displacement, type is float", + "maixpy": "maix.image.Displacement.scale", + "py_doc": "get scale of Displacement\n\nReturns: return scale of the Displacement, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float scale()", + "py_def": "def scale(self) -> float" + }, + "response": { + "type": "func", + "name": "response", + "doc": { + "brief": "get response of Displacement", + "return": "return response of the Displacement, type is float", + "maixpy": "maix.image.Displacement.response", + "py_doc": "get response of Displacement\n\nReturns: return response of the Displacement, type is float\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float response()", + "py_def": "def response(self) -> float" + } + }, + "def": "class Displacement" + }, + "LBPKeyPoint": { + "type": "class", + "name": "LBPKeyPoint", + "doc": { + "brief": "LBPKeyPoint class", + "maixpy": "maix.image.LBPKeyPoint", + "py_doc": "LBPKeyPoint class" + }, + "members": { + "__init__": { + "type": "func", + "name": "LBPKeyPoint", + "doc": { + "brief": "LBPKeyPoint constructor", + "param": { + "data": "The data of the LBPKeyPoint" + }, + "maixpy": "maix.image.LBPKeyPoint.__init__", + "py_doc": "LBPKeyPoint constructor\n\nArgs:\n - data: The data of the LBPKeyPoint\n" + }, + "args": [ + [ + "std::valarray &", + "data", + null + ] + ], + "ret_type": null, + "static": false, + "def": "LBPKeyPoint(std::valarray &data)", + "py_def": "def __init__(self, data: list[int]) -> None" + } + }, + "def": "class LBPKeyPoint" + }, + "KeyPoint": { + "type": "class", + "name": "KeyPoint", + "doc": { + "brief": "KeyPoint class", + "maixpy": "maix.image.KeyPoint", + "py_doc": "KeyPoint class" + }, + "members": { + "__init__": { + "type": "func", + "name": "KeyPoint", + "doc": { + "brief": "KeyPoint constructor", + "param": { + "x": "The x of the KeyPoint", + "y": "The y of the KeyPoint", + "score": "The score of the KeyPoint", + "octave": "The octave of the KeyPoint", + "angle": "The angle of the KeyPoint", + "matched": "The matched of the KeyPoint", + "desc": "The desc of the KeyPoint" + }, + "maixpy": "maix.image.KeyPoint.__init__", + "py_doc": "KeyPoint constructor\n\nArgs:\n - x: The x of the KeyPoint\n - y: The y of the KeyPoint\n - score: The score of the KeyPoint\n - octave: The octave of the KeyPoint\n - angle: The angle of the KeyPoint\n - matched: The matched of the KeyPoint\n - desc: The desc of the KeyPoint\n" + }, + "args": [ + [ + "uint16_t", + "x", + null + ], + [ + "uint16_t", + "y", + null + ], + [ + "uint16_t", + "score", + null + ], + [ + "uint16_t", + "octave", + null + ], + [ + "uint16_t", + "angle", + null + ], + [ + "uint16_t", + "matched", + null + ], + [ + "std::vector &", + "desc", + null + ] + ], + "ret_type": null, + "static": false, + "def": "KeyPoint(uint16_t x, uint16_t y, uint16_t score, uint16_t octave, uint16_t angle, uint16_t matched, std::vector &desc)" + } + }, + "def": "class KeyPoint" + }, + "KPTMatch": { + "type": "class", + "name": "KPTMatch", + "doc": { + "brief": "KPTMatch class", + "maixpy": "maix.image.KPTMatch", + "py_doc": "KPTMatch class" + }, + "members": { + "__init__": { + "type": "func", + "name": "KPTMatch", + "doc": { + "brief": "KPTMatch constructor", + "param": { + "cx": "The cx of the KPTMatch", + "cy": "The cy of the KPTMatch", + "x": "The x of the KPTMatch", + "y": "The y of the KPTMatch", + "w": "The w of the KPTMatch", + "h": "The h of the KPTMatch", + "score": "The score of the KPTMatch", + "theta": "The theta of the KPTMatch", + "match": "The match of the KPTMatch" + }, + "maixpy": "maix.image.KPTMatch.__init__", + "py_doc": "KPTMatch constructor\n\nArgs:\n - cx: The cx of the KPTMatch\n - cy: The cy of the KPTMatch\n - x: The x of the KPTMatch\n - y: The y of the KPTMatch\n - w: The w of the KPTMatch\n - h: The h of the KPTMatch\n - score: The score of the KPTMatch\n - theta: The theta of the KPTMatch\n - match: The match of the KPTMatch\n" + }, + "args": [ + [ + "int", + "cx", + null + ], + [ + "int", + "cy", + null + ], + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "w", + null + ], + [ + "int", + "h", + null + ], + [ + "int", + "score", + null + ], + [ + "int", + "theta", + null + ], + [ + "int", + "match", + null + ] + ], + "ret_type": null, + "static": false, + "def": "KPTMatch(int cx, int cy, int x, int y, int w, int h, int score, int theta, int match)", + "py_def": "def __init__(self, cx: int, cy: int, x: int, y: int, w: int, h: int, score: int, theta: int, match: int) -> None" + } + }, + "def": "class KPTMatch" + }, + "ORBKeyPoint": { + "type": "class", + "name": "ORBKeyPoint", + "doc": { + "brief": "ORBKeyPoint class", + "maixpy": "maix.image.ORBKeyPoint", + "py_doc": "ORBKeyPoint class" + }, + "members": { + "__init__": { + "type": "func", + "name": "ORBKeyPoint", + "doc": { + "brief": "ORBKeyPoint constructor", + "param": { + "data": "The data of the ORBKeyPoint", + "threshold": "The threshold of the ORBKeyPoint", + "normalized": "The normalized of the ORBKeyPoint" + }, + "maixpy": "maix.image.ORBKeyPoint.__init__", + "py_doc": "ORBKeyPoint constructor\n\nArgs:\n - data: The data of the ORBKeyPoint\n - threshold: The threshold of the ORBKeyPoint\n - normalized: The normalized of the ORBKeyPoint\n" + }, + "args": [ + [ + "std::vector &", + "data", + null + ], + [ + "int", + "threshold", + null + ], + [ + "bool", + "normalized", + null + ] + ], + "ret_type": null, + "static": false, + "def": "ORBKeyPoint(std::vector &data, int threshold, bool normalized)", + "py_def": "def __init__(self, data: list[KeyPoint], threshold: int, normalized: bool) -> None" + }, + "get_data": { + "type": "func", + "name": "get_data", + "doc": { + "brief": "get data of ORBKeyPoint", + "return": "return data of the ORBKeyPoint, type is std::vector", + "maixpy": "maix.image.ORBKeyPoint.get_data", + "py_doc": "get data of ORBKeyPoint\n\nReturns: return data of the ORBKeyPoint, type is std::vector\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector get_data()", + "py_def": "def get_data(self) -> list[KeyPoint]" + } + }, + "def": "class ORBKeyPoint" + }, + "HaarCascade": { + "type": "class", + "name": "HaarCascade", + "doc": { + "brief": "HaarCascade class", + "maixpy": "maix.image.HaarCascade", + "py_doc": "HaarCascade class" + }, + "members": { + "__init__": { + "type": "func", + "name": "HaarCascade", + "doc": { + "brief": "HaarCascade constructor", + "param": { + "data": "The data of the HaarCascade", + "threshold": "The threshold of the HaarCascade", + "normalized": "The normalized of the HaarCascade" + }, + "maixpy": "maix.image.HaarCascade.__init__", + "py_doc": "HaarCascade constructor\n\nArgs:\n - data: The data of the HaarCascade\n - threshold: The threshold of the HaarCascade\n - normalized: The normalized of the HaarCascade\n" + }, + "args": [], + "ret_type": null, + "static": false, + "def": "HaarCascade()", + "py_def": "def __init__(self) -> None" + } + }, + "def": "class HaarCascade" + }, + "Color": { + "type": "class", + "name": "Color", + "doc": { + "brief": "Color class", + "maixpy": "maix.image.Color", + "py_doc": "Color class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Color", + "doc": { + "brief": "Color constructor", + "param": { + "alpha": "alpha channel, value range: 0 ~ 1" + }, + "maixpy": "maix.image.Color.__init__", + "py_doc": "Color constructor\n\nArgs:\n - alpha: alpha channel, value range: 0 ~ 1\n" + }, + "args": [ + [ + "uint8_t", + "ch1", + null + ], + [ + "uint8_t", + "ch2", + "0" + ], + [ + "uint8_t", + "ch3", + "0" + ], + [ + "float", + "alpha", + "0" + ], + [ + "image::Format", + "format", + "image::FMT_GRAYSCALE" + ] + ], + "ret_type": null, + "static": false, + "def": "Color(uint8_t ch1, uint8_t ch2 = 0, uint8_t ch3 = 0, float alpha = 0, image::Format format = image::FMT_GRAYSCALE)" + }, + "r": { + "type": "var", + "name": "r", + "doc": { + "brief": "Color red channel", + "maixpy": "maix.image.Color.r", + "py_doc": "Color red channel" + }, + "value": null, + "static": false, + "readonly": false, + "def": "uint8_t r" + }, + "g": { + "type": "var", + "name": "g", + "doc": { + "brief": "Color green channel", + "maixpy": "maix.image.Color.g", + "py_doc": "Color green channel" + }, + "value": null, + "static": false, + "readonly": false, + "def": "uint8_t g" + }, + "b": { + "type": "var", + "name": "b", + "doc": { + "brief": "Color blue channel", + "maixpy": "maix.image.Color.b", + "py_doc": "Color blue channel" + }, + "value": null, + "static": false, + "readonly": false, + "def": "uint8_t b" + }, + "alpha": { + "type": "var", + "name": "alpha", + "doc": { + "brief": "Color alpha channel, value from 0.0 to 1.0, float value", + "maixpy": "maix.image.Color.alpha", + "py_doc": "Color alpha channel, value from 0.0 to 1.0, float value" + }, + "value": null, + "static": false, + "readonly": false, + "def": "float alpha" + }, + "gray": { + "type": "var", + "name": "gray", + "doc": { + "brief": "Color gray channel", + "maixpy": "maix.image.Color.gray", + "py_doc": "Color gray channel" + }, + "value": null, + "static": false, + "readonly": false, + "def": "uint8_t gray" + }, + "format": { + "type": "var", + "name": "format", + "doc": { + "brief": "Color format", + "maixpy": "maix.image.Color.format", + "py_doc": "Color format" + }, + "value": null, + "static": false, + "readonly": false, + "def": "image::Format format" + }, + "hex": { + "type": "func", + "name": "hex", + "doc": { + "brief": "Get color's hex value", + "maixpy": "maix.image.Color.hex", + "py_doc": "Get color's hex value" + }, + "args": [], + "ret_type": "uint32_t", + "static": false, + "def": "uint32_t hex()" + }, + "from_rgb": { + "type": "func", + "name": "from_rgb", + "doc": { + "brief": "Create Color object from RGB channels", + "maixpy": "maix.image.Color.from_rgb", + "py_doc": "Create Color object from RGB channels" + }, + "args": [ + [ + "uint8_t", + "r", + null + ], + [ + "uint8_t", + "g", + null + ], + [ + "uint8_t", + "b", + null + ] + ], + "ret_type": "image::Color", + "static": true, + "def": "static image::Color from_rgb(uint8_t r, uint8_t g, uint8_t b)" + }, + "from_bgr": { + "type": "func", + "name": "from_bgr", + "doc": { + "brief": "Create Color object from BGR channels", + "maixpy": "maix.image.Color.from_bgr", + "py_doc": "Create Color object from BGR channels" + }, + "args": [ + [ + "uint8_t", + "b", + null + ], + [ + "uint8_t", + "g", + null + ], + [ + "uint8_t", + "r", + null + ] + ], + "ret_type": "image::Color", + "static": true, + "def": "static image::Color from_bgr(uint8_t b, uint8_t g, uint8_t r)" + }, + "from_gray": { + "type": "func", + "name": "from_gray", + "doc": { + "brief": "Create Color object from gray channel", + "maixpy": "maix.image.Color.from_gray", + "py_doc": "Create Color object from gray channel" + }, + "args": [ + [ + "uint8_t", + "gray", + null + ] + ], + "ret_type": "image::Color", + "static": true, + "def": "static image::Color from_gray(uint8_t gray)" + }, + "from_rgba": { + "type": "func", + "name": "from_rgba", + "doc": { + "brief": "Create Color object from RGBA channels", + "param": { + "alpha": "alpha channel, float value, value range: 0 ~ 1" + }, + "maixpy": "maix.image.Color.from_rgba", + "py_doc": "Create Color object from RGBA channels\n\nArgs:\n - alpha: alpha channel, float value, value range: 0 ~ 1\n" + }, + "args": [ + [ + "uint8_t", + "r", + null + ], + [ + "uint8_t", + "g", + null + ], + [ + "uint8_t", + "b", + null + ], + [ + "float", + "alpha", + null + ] + ], + "ret_type": "image::Color", + "static": true, + "def": "static image::Color from_rgba(uint8_t r, uint8_t g, uint8_t b, float alpha)" + }, + "from_bgra": { + "type": "func", + "name": "from_bgra", + "doc": { + "brief": "Create Color object from BGRA channels", + "param": { + "alpha": "alpha channel, float value, value range: 0 ~ 1" + }, + "maixpy": "maix.image.Color.from_bgra", + "py_doc": "Create Color object from BGRA channels\n\nArgs:\n - alpha: alpha channel, float value, value range: 0 ~ 1\n" + }, + "args": [ + [ + "uint8_t", + "b", + null + ], + [ + "uint8_t", + "g", + null + ], + [ + "uint8_t", + "r", + null + ], + [ + "float", + "alpha", + null + ] + ], + "ret_type": "image::Color", + "static": true, + "def": "static image::Color from_bgra(uint8_t b, uint8_t g, uint8_t r, float alpha)" + }, + "from_hex": { + "type": "func", + "name": "from_hex", + "doc": { + "brief": "Create Color object from hex value", + "param": { + "hex": "hex value, e.g. 0x0000FF00, lower address if first channel", + "format": "color format, @see image::Format" + }, + "maixpy": "maix.image.Color.from_hex", + "py_doc": "Create Color object from hex value\n\nArgs:\n - hex: hex value, e.g. 0x0000FF00, lower address if first channel\n - format: color format, @see image::Format\n" + }, + "args": [ + [ + "uint32_t", + "hex", + null + ], + [ + "image::Format &", + "format", + null + ] + ], + "ret_type": "image::Color", + "static": true, + "def": "static image::Color from_hex(uint32_t hex, image::Format &format)" + }, + "to_format": { + "type": "func", + "name": "to_format", + "doc": { + "brief": "Convert Color format", + "param": { + "format": "format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE." + }, + "maixpy": "maix.image.Color.to_format", + "py_doc": "Convert Color format\n\nArgs:\n - format: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE.\n" + }, + "args": [ + [ + "const image::Format &", + "format", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void to_format(const image::Format &format)" + }, + "to_format2": { + "type": "func", + "name": "to_format2", + "doc": { + "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." + }, + "return": "new Color object, you need to delete it manually in C++.", + "maixpy": "maix.image.Color.to_format2", + "py_doc": "Convert color format and return a new Color object\n\nArgs:\n - format: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE.\n\n\nReturns: new Color object, you need to delete it manually in C++.\n" + }, + "args": [ + [ + "const image::Format &", + "format", + null + ] + ], + "ret_type": "image::Color*", + "static": false, + "def": "image::Color *to_format2(const image::Format &format)" + } + }, + "def": "class Color" + }, + "COLOR_WHITE": { + "type": "var", + "name": "", + "doc": { + "brief": "Predefined color white", + "maixpy": "maix.image.COLOR_WHITE", + "py_doc": "Predefined color white" + }, + "value": "image::Color::from_rgb(255, 255, 255)", + "static": false, + "readonly": true, + "def": "const image::Color COLOR_WHITE = image::Color::from_rgb(255, 255, 255)" + }, + "COLOR_BLACK": { + "type": "var", + "name": "", + "doc": { + "brief": "Predefined color black", + "maixpy": "maix.image.COLOR_BLACK", + "py_doc": "Predefined color black" + }, + "value": "image::Color::from_rgb(0, 0, 0)", + "static": false, + "readonly": true, + "def": "const image::Color COLOR_BLACK = image::Color::from_rgb(0, 0, 0)" + }, + "COLOR_RED": { + "type": "var", + "name": "", + "doc": { + "brief": "Predefined color red", + "maixpy": "maix.image.COLOR_RED", + "py_doc": "Predefined color red" + }, + "value": "image::Color::from_rgb(255, 0, 0)", + "static": false, + "readonly": true, + "def": "const image::Color COLOR_RED = image::Color::from_rgb(255, 0, 0)" + }, + "COLOR_GREEN": { + "type": "var", + "name": "", + "doc": { + "brief": "Predefined color green", + "maixpy": "maix.image.COLOR_GREEN", + "py_doc": "Predefined color green" + }, + "value": "image::Color::from_rgb(0, 255, 0)", + "static": false, + "readonly": true, + "def": "const image::Color COLOR_GREEN = image::Color::from_rgb(0, 255, 0)" + }, + "COLOR_BLUE": { + "type": "var", + "name": "", + "doc": { + "brief": "Predefined color blue", + "maixpy": "maix.image.COLOR_BLUE", + "py_doc": "Predefined color blue" + }, + "value": "image::Color::from_rgb(0, 0, 255)", + "static": false, + "readonly": true, + "def": "const image::Color COLOR_BLUE = image::Color::from_rgb(0, 0, 255)" + }, + "COLOR_YELLOW": { + "type": "var", + "name": "", + "doc": { + "brief": "Predefined color yellow", + "maixpy": "maix.image.COLOR_YELLOW", + "py_doc": "Predefined color yellow" + }, + "value": "image::Color::from_rgb(255, 255, 0)", + "static": false, + "readonly": true, + "def": "const image::Color COLOR_YELLOW = image::Color::from_rgb(255, 255, 0)" + }, + "COLOR_PURPLE": { + "type": "var", + "name": "", + "doc": { + "brief": "Predefined color purple", + "maixpy": "maix.image.COLOR_PURPLE", + "py_doc": "Predefined color purple" + }, + "value": "image::Color::from_rgb(143, 0, 255)", + "static": false, + "readonly": true, + "def": "const image::Color COLOR_PURPLE = image::Color::from_rgb(143, 0, 255)" + }, + "COLOR_ORANGE": { + "type": "var", + "name": "", + "doc": { + "brief": "Predefined color orange", + "maixpy": "maix.image.COLOR_ORANGE", + "py_doc": "Predefined color orange" + }, + "value": "image::Color::from_rgb(255, 127, 0)", + "static": false, + "readonly": true, + "def": "const image::Color COLOR_ORANGE = image::Color::from_rgb(255, 127, 0)" + }, + "COLOR_GRAY": { + "type": "var", + "name": "", + "doc": { + "brief": "Predefined color gray", + "maixpy": "maix.image.COLOR_GRAY", + "py_doc": "Predefined color gray" + }, + "value": "image::Color::from_rgb(127, 127, 127)", + "static": false, + "readonly": true, + "def": "const image::Color COLOR_GRAY = image::Color::from_rgb(127, 127, 127)" + }, + "resize_map_pos": { + "type": "func", + "name": "resize_map_pos", + "doc": { + "brief": "map point position or rectangle position from one image size to another image size(resize)", + "param": { + "int": "h_out target image height", + "fit": "resize method, see maix.image.Fit", + "x": "original point x, or rectagle left-top point's x", + "y": "original point y, or rectagle left-top point's y", + "w": "original rectagle width, can be -1 if not use this arg, default -1.", + "h": "original rectagle height, can be -1 if not use this arg, default -1." + }, + "return": "list type, [x, y] if map point, [x, y, w, h] if resize rectangle.", + "maixpy": "maix.image.resize_map_pos", + "py_doc": "map point position or rectangle position from one image size to another image size(resize)\n\nArgs:\n - int: h_out target image height\n - fit: resize method, see maix.image.Fit\n - x: original point x, or rectagle left-top point's x\n - y: original point y, or rectagle left-top point's y\n - w: original rectagle width, can be -1 if not use this arg, default -1.\n - h: original rectagle height, can be -1 if not use this arg, default -1.\n\n\nReturns: list type, [x, y] if map point, [x, y, w, h] if resize rectangle.\n" + }, + "args": [ + [ + "int", + "w_in", + null + ], + [ + "int", + "h_in", + null + ], + [ + "int", + "w_out", + null + ], + [ + "int", + "h_out", + null + ], + [ + "image::Fit", + "fit", + null + ], + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "w", + "-1" + ], + [ + "int", + "h", + "-1" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector resize_map_pos(int w_in, int h_in, int w_out, int h_out, image::Fit fit, int x, int y, int w = -1, int h = -1)", + "overload": [ + { + "type": "func", + "name": "resize_map_pos", + "doc": { + "brief": "map point position or rectangle position from this image size to another image size(resize)", + "param": { + "int": "h_out target image height", + "fit": "resize method, see maix.image.Fit", + "x": "original point x, or rectagle left-top point's x", + "y": "original point y, or rectagle left-top point's y", + "w": "original rectagle width, can be -1 if not use this arg, default -1.", + "h": "original rectagle height, can be -1 if not use this arg, default -1." + }, + "return": "list type, [x, y] if map point, [x, y, w, h] if resize rectangle.", + "maixpy": "maix.image.resize_map_pos", + "py_doc": "map point position or rectangle position from this image size to another image size(resize)\n\nArgs:\n - int: h_out target image height\n - fit: resize method, see maix.image.Fit\n - x: original point x, or rectagle left-top point's x\n - y: original point y, or rectagle left-top point's y\n - w: original rectagle width, can be -1 if not use this arg, default -1.\n - h: original rectagle height, can be -1 if not use this arg, default -1.\n\n\nReturns: list type, [x, y] if map point, [x, y, w, h] if resize rectangle.\n" + }, + "args": [ + [ + "int", + "w_out", + null + ], + [ + "int", + "h_out", + null + ], + [ + "image::Fit", + "fit", + null + ], + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "w", + "-1" + ], + [ + "int", + "h", + "-1" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector resize_map_pos(int w_out, int h_out, image::Fit fit, int x, int y, int w = -1, int h = -1)" + } + ], + "py_def": "def resize_map_pos(w_in: int, h_in: int, w_out: int, h_out: int, fit: Fit, x: int, y: int, w: int = -1, h: int = -1) -> list[int]" + }, + "resize_map_pos_reverse": { + "type": "func", + "name": "resize_map_pos_reverse", + "doc": { + "brief": "reverse resize_map_pos method, when we call image.resize method resiz image 'a' to image 'b', we want to known the original position on 'a' whith a knew point on 'b'", + "param": { + "int": "h_out image height after resized", + "fit": "resize method, see maix.image.Fit", + "x": "point on resized image x, or rectagle left-top point's x", + "y": "original point y, or rectagle left-top point's y", + "w": "original rectagle width, can be -1 if not use this arg, default -1.", + "h": "original rectagle height, can be -1 if not use this arg, default -1." + }, + "return": "list type, [x, y] if map point, [x, y, w, h] if resize rectangle.", + "maixpy": "maix.image.resize_map_pos_reverse", + "py_doc": "reverse resize_map_pos method, when we call image.resize method resiz image 'a' to image 'b', we want to known the original position on 'a' whith a knew point on 'b'\n\nArgs:\n - int: h_out image height after resized\n - fit: resize method, see maix.image.Fit\n - x: point on resized image x, or rectagle left-top point's x\n - y: original point y, or rectagle left-top point's y\n - w: original rectagle width, can be -1 if not use this arg, default -1.\n - h: original rectagle height, can be -1 if not use this arg, default -1.\n\n\nReturns: list type, [x, y] if map point, [x, y, w, h] if resize rectangle.\n" + }, + "args": [ + [ + "int", + "w_in", + null + ], + [ + "int", + "h_in", + null + ], + [ + "int", + "w_out", + null + ], + [ + "int", + "h_out", + null + ], + [ + "image::Fit", + "fit", + null + ], + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "w", + "-1" + ], + [ + "int", + "h", + "-1" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector resize_map_pos_reverse(int w_in, int h_in, int w_out, int h_out, image::Fit fit, int x, int y, int w = -1, int h = -1)", + "py_def": "def resize_map_pos_reverse(w_in: int, h_in: int, w_out: int, h_out: int, fit: Fit, x: int, y: int, w: int = -1, h: int = -1) -> list[int]" + }, + "Image": { + "type": "class", + "name": "Image", + "doc": { + "brief": "Image class", + "maixpy": "maix.image.Image", + "py_doc": "Image class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Image", + "doc": { + "brief": "Image constructor", + "param": { + "width": "image width, should > 0", + "height": "image height, should > 0", + "format": "image format @see image::Format" + }, + "maixpy": "maix.image.Image.__init__", + "maixcdk": "maix.image.Image.Image", + "py_doc": "Image constructor\n\nArgs:\n - width: image width, should > 0\n - height: image height, should > 0\n - format: image format @see image::Format\n" + }, + "args": [ + [ + "int", + "width", + null + ], + [ + "int", + "height", + null + ], + [ + "image::Format", + "format", + "image::Format::FMT_RGB888" + ] + ], + "ret_type": null, + "static": false, + "def": "Image(int width, int height, image::Format format = image::Format::FMT_RGB888)" + }, + "format": { + "type": "func", + "name": "format", + "doc": { + "brief": "Get image's format", + "see": "image.Format", + "maixpy": "maix.image.Image.format", + "py_doc": "Get image's format" + }, + "args": [], + "ret_type": "image::Format", + "static": false, + "def": "image::Format format()" + }, + "size": { + "type": "func", + "name": "size", + "doc": { + "brief": "Get image's size, [width, height]", + "maixpy": "maix.image.Image.size", + "py_doc": "Get image's size, [width, height]" + }, + "args": [], + "ret_type": "image::Size", + "static": false, + "def": "image::Size size()" + }, + "data_size": { + "type": "func", + "name": "data_size", + "doc": { + "brief": "Get image's data size", + "maixpy": "maix.image.Image.data_size", + "py_doc": "Get image's data size" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int data_size()" + }, + "width": { + "type": "func", + "name": "width", + "doc": { + "brief": "Get image's width", + "maixpy": "maix.image.Image.width", + "py_doc": "Get image's width" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int width()" + }, + "height": { + "type": "func", + "name": "height", + "doc": { + "brief": "Get image's height", + "maixpy": "maix.image.Image.height", + "py_doc": "Get image's height" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int height()" + }, + "data": { + "type": "func", + "name": "data", + "doc": { + "brief": "Get image's data pointer.\\nIn MaixPy is capsule object.", + "maixpy": "maix.image.Image.data", + "py_doc": "Get image's data pointer.\nIn MaixPy is capsule object." + }, + "args": [], + "ret_type": "void*", + "static": false, + "def": "void *data()" + }, + "__str__": { + "type": "func", + "name": "__str__", + "doc": { + "brief": "To string method", + "maixpy": "maix.image.Image.__str__", + "py_doc": "To string method" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string __str__()" + }, + "to_str": { + "type": "func", + "name": "to_str", + "doc": { + "brief": "To string method", + "maixpy": "maix.image.Image.to_str", + "py_doc": "To string method" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string to_str()" + }, + "get_pixel": { + "type": "func", + "name": "get_pixel", + "doc": { + "brief": "Get pixel of image", + "param": { + "x": "pixel's coordinate x. x must less than image's width", + "y": "pixel's coordinate y. y must less than image's height", + "rgbtuple": "switch return value method. rgbtuple decides whether to split the return or not. default is false." + }, + "return": "pixel value,\nAccording to image format and rgbtuple, return different value:\nformat is FMT_RGB888, rgbtuple is true, return [R, G, B]; rgbtuple is false, return [RGB]\nforamt is FMT_BGR888, rgbtuple is true, return [B, G, R]; rgbtuple is false, return [BGR]\nformat is FMT_GRAYSCALE, return [GRAY];", + "maixpy": "maix.image.Image.get_pixel", + "py_doc": "Get pixel of image\n\nArgs:\n - x: pixel's coordinate x. x must less than image's width\n - y: pixel's coordinate y. y must less than image's height\n - rgbtuple: switch return value method. rgbtuple decides whether to split the return or not. default is false.\n\n\nReturns: pixel value,\nAccording to image format and rgbtuple, return different value:\nformat is FMT_RGB888, rgbtuple is true, return [R, G, B]; rgbtuple is false, return [RGB]\nforamt is FMT_BGR888, rgbtuple is true, return [B, G, R]; rgbtuple is false, return [BGR]\nformat is FMT_GRAYSCALE, return [GRAY];\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "bool", + "rgbtuple", + "false" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector get_pixel(int x, int y, bool rgbtuple = false)" + }, + "set_pixel": { + "type": "func", + "name": "set_pixel", + "doc": { + "brief": "Set pixel of image", + "param": { + "x": "pixel's coordinate x. x must less than image's width", + "y": "pixel's coordinate y. y must less than image's height", + "pixel": "pixel value, according to image format and size of pixel, has different operation:\nformat 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\nformat 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\nformat is FMT_GRAYSCALE, pixel size must be 1, will use pixel directly" + }, + "return": "error code, Err::ERR_NONE is ok, other is error", + "maixpy": "maix.image.Image.set_pixel", + "py_doc": "Set pixel of image\n\nArgs:\n - x: pixel's coordinate x. x must less than image's width\n - y: pixel's coordinate y. y must less than image's height\n - pixel: pixel value, according to image format and size of pixel, has different operation:\nformat 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\nformat 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\nformat is FMT_GRAYSCALE, pixel size must be 1, will use pixel directly\n\n\nReturns: error code, Err::ERR_NONE is ok, other is error\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "std::vector", + "pixel", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_pixel(int x, int y, std::vector pixel)" + }, + "to_tensor": { + "type": "func", + "name": "to_tensor", + "doc": { + "brief": "Convert Image object to tensor::Tensor object", + "param": { + "chw": "if true, the shape of tensor is [C, H, W], else [H, W, C]", + "copy": "if true, will alloc memory for tensor data, else will use the memory of Image object" + }, + "return": "tensor::Tensor object pointer, an allocated tensor object", + "maixpy": "maix.image.Image.to_tensor", + "py_doc": "Convert Image object to tensor::Tensor object\n\nArgs:\n - chw: if true, the shape of tensor is [C, H, W], else [H, W, C]\n - copy: if true, will alloc memory for tensor data, else will use the memory of Image object\n\n\nReturns: tensor::Tensor object pointer, an allocated tensor object\n" + }, + "args": [ + [ + "bool", + "chw", + "false" + ], + [ + "bool", + "copy", + "true" + ] + ], + "ret_type": "tensor::Tensor*", + "static": false, + "def": "tensor::Tensor *to_tensor(bool chw = false, bool copy = true)" + }, + "to_bytes": { + "type": "func", + "name": "to_bytes", + "doc": { + "brief": "Get image's data and convert to array bytes", + "param": { + "copy": "if true, will alloc memory and copy data to new buffer,\nelse will use the memory of Image object, delete bytes object will not affect Image object\uff0c\nbut delete Image object will make bytes object invalid, it may cause program crash !!!!\nSo use this param carefully." + }, + "return": "image's data bytes, need be delete by caller in C++.", + "maixpy": "maix.image.Image.to_bytes", + "py_doc": "Get image's data and convert to array bytes\n\nArgs:\n - copy: if true, will alloc memory and copy data to new buffer,\nelse will use the memory of Image object, delete bytes object will not affect Image object\uff0c\nbut delete Image object will make bytes object invalid, it may cause program crash !!!!\nSo use this param carefully.\n\n\nReturns: image's data bytes, need be delete by caller in C++.\n" + }, + "args": [ + [ + "bool", + "copy", + "true" + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *to_bytes(bool copy = true)" + }, + "to_format": { + "type": "func", + "name": "to_format", + "doc": { + "brief": "Convert image to specific format", + "param": { + "format": "format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE, JPEG." + }, + "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_format", + "py_doc": "Convert image to specific format\n\nArgs:\n - format: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE, JPEG.\n\n\nReturns: new image object. Need be delete by caller in C++.\n" + }, + "args": [ + [ + "const image::Format &", + "format", + null + ] + ], + "ret_type": "image::Image*", + "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", + "doc": { + "brief": "Draw image on this image", + "param": { + "x": "left top corner of image point's coordinate x", + "y": "left top corner of image point's coordinate y", + "img": "image object to draw, the caller's channel must <= the args' channel,\ne.g. caller is RGB888, args is RGBA8888, will throw exception, but caller is RGBA8888, args is RGB888 or RGBA8888 is ok" + }, + "return": "this image object self", + "maixpy": "maix.image.Image.draw_image", + "py_doc": "Draw image on this image\n\nArgs:\n - x: left top corner of image point's coordinate x\n - y: left top corner of image point's coordinate y\n - img: image object to draw, the caller's channel must <= the args' channel,\ne.g. caller is RGB888, args is RGBA8888, will throw exception, but caller is RGBA8888, args is RGB888 or RGBA8888 is ok\n\n\nReturns: this image object self\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "image::Image &", + "img", + null + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *draw_image(int x, int y, image::Image &img)" + }, + "draw_rect": { + "type": "func", + "name": "draw_rect", + "doc": { + "brief": "Fill rectangle color to image", + "param": { + "x": "left top corner of rectangle point's coordinate x", + "y": "left top corner of rectangle point's coordinate y", + "w": "rectangle width", + "h": "rectangle height", + "color": "rectangle color", + "thickness": "rectangle thickness(line width), by default(value is 1), -1 means fill rectangle" + }, + "return": "this image object self", + "maixpy": "maix.image.Image.draw_rect", + "py_doc": "Fill rectangle color to image\n\nArgs:\n - x: left top corner of rectangle point's coordinate x\n - y: left top corner of rectangle point's coordinate y\n - w: rectangle width\n - h: rectangle height\n - color: rectangle color\n - thickness: rectangle thickness(line width), by default(value is 1), -1 means fill rectangle\n\n\nReturns: this image object self\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "w", + null + ], + [ + "int", + "h", + null + ], + [ + "const image::Color &", + "color", + null + ], + [ + "int", + "thickness", + "1" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *draw_rect(int x, int y, int w, int h, const image::Color &color, int thickness = 1)" + }, + "draw_line": { + "type": "func", + "name": "draw_line", + "doc": { + "brief": "Draw line on image", + "param": { + "x1": "start point's coordinate x", + "y1": "start point's coordinate y", + "x2": "end point's coordinate x", + "y2": "end point's coordinate y", + "color": "line color @see image::Color", + "thickness": "line thickness(line width), by default(value is 1)" + }, + "return": "this image object self", + "maixpy": "maix.image.Image.draw_line", + "py_doc": "Draw line on image\n\nArgs:\n - x1: start point's coordinate x\n - y1: start point's coordinate y\n - x2: end point's coordinate x\n - y2: end point's coordinate y\n - color: line color @see image::Color\n - thickness: line thickness(line width), by default(value is 1)\n\n\nReturns: this image object self\n" + }, + "args": [ + [ + "int", + "x1", + null + ], + [ + "int", + "y1", + null + ], + [ + "int", + "x2", + null + ], + [ + "int", + "y2", + null + ], + [ + "const image::Color &", + "color", + null + ], + [ + "int", + "thickness", + "1" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *draw_line(int x1, int y1, int x2, int y2, const image::Color &color, int thickness = 1)" + }, + "draw_circle": { + "type": "func", + "name": "draw_circle", + "doc": { + "brief": "Draw circle on image", + "param": { + "x": "circle center point's coordinate x", + "y": "circle center point's coordinate y", + "radius": "circle radius", + "color": "circle color @see image::Color", + "thickness": "circle thickness(line width), by default(value is 1), -1 means fill circle" + }, + "return": "this image object self", + "maixpy": "maix.image.Image.draw_circle", + "py_doc": "Draw circle on image\n\nArgs:\n - x: circle center point's coordinate x\n - y: circle center point's coordinate y\n - radius: circle radius\n - color: circle color @see image::Color\n - thickness: circle thickness(line width), by default(value is 1), -1 means fill circle\n\n\nReturns: this image object self\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "radius", + null + ], + [ + "const image::Color &", + "color", + null + ], + [ + "int", + "thickness", + "1" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *draw_circle(int x, int y, int radius, const image::Color &color, int thickness = 1)" + }, + "draw_ellipse": { + "type": "func", + "name": "draw_ellipse", + "doc": { + "brief": "Draw ellipse on image", + "param": { + "x": "ellipse center point's coordinate x", + "y": "ellipse center point's coordinate y", + "a": "ellipse major axis length", + "b": "ellipse minor axis length", + "angle": "ellipse rotation angle", + "start_angle": "ellipse start angle", + "end_angle": "ellipse end angle", + "color": "ellipse color @see image::Color", + "thickness": "ellipse thickness(line width), by default(value is 1), -1 means fill ellipse" + }, + "return": "this image object self", + "maixpy": "maix.image.Image.draw_ellipse", + "py_doc": "Draw ellipse on image\n\nArgs:\n - x: ellipse center point's coordinate x\n - y: ellipse center point's coordinate y\n - a: ellipse major axis length\n - b: ellipse minor axis length\n - angle: ellipse rotation angle\n - start_angle: ellipse start angle\n - end_angle: ellipse end angle\n - color: ellipse color @see image::Color\n - thickness: ellipse thickness(line width), by default(value is 1), -1 means fill ellipse\n\n\nReturns: this image object self\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "a", + null + ], + [ + "int", + "b", + null + ], + [ + "float", + "angle", + null + ], + [ + "float", + "start_angle", + null + ], + [ + "float", + "end_angle", + null + ], + [ + "const image::Color &", + "color", + null + ], + [ + "int", + "thickness", + "1" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "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": { + "type": "func", + "name": "draw_string", + "doc": { + "brief": "Draw text on image", + "param": { + "x": "text left top point's coordinate x", + "y": "text left top point's coordinate y", + "string": "text content", + "color": "text color @see image::Color, default is white", + "scale": "font scale, by default(value is 1)", + "thickness": "text thickness(line width), if negative, the glyph is filled, by default(value is -1)", + "wrap": "if true, will auto wrap text to next line if text width > image width, by default(value is true)" + }, + "return": "this image object self", + "maixpy": "maix.image.Image.draw_string", + "py_doc": "Draw text on image\n\nArgs:\n - x: text left top point's coordinate x\n - y: text left top point's coordinate y\n - string: text content\n - color: text color @see image::Color, default is white\n - scale: font scale, by default(value is 1)\n - thickness: text thickness(line width), if negative, the glyph is filled, by default(value is -1)\n - wrap: if true, will auto wrap text to next line if text width > image width, by default(value is true)\n\n\nReturns: this image object self\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "const std::string &", + "textstring", + null + ], + [ + "const image::Color &", + "color", + "image::COLOR_WHITE" + ], + [ + "float", + "scale", + "1" + ], + [ + "int", + "thickness", + "-1" + ], + [ + "bool", + "wrap", + "true" + ], + [ + "int", + "wrap_space", + "4" + ], + [ + "const std::string &", + "font", + "\"\"" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "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,\n bool wrap = true, int wrap_space = 4, const std::string &font = \"\")" + }, + "draw_cross": { + "type": "func", + "name": "draw_cross", + "doc": { + "brief": "Draw cross on image", + "param": { + "x": "cross center point's coordinate x", + "y": "cross center point's coordinate y", + "color": "cross color @see image::Color", + "size": "how long the lines of the cross extend, by default(value is 5). So the line length is `2 * size + thickness`", + "thickness": "cross thickness(line width), by default(value is 1)" + }, + "maixpy": "maix.image.Image.draw_cross", + "py_doc": "Draw cross on image\n\nArgs:\n - x: cross center point's coordinate x\n - y: cross center point's coordinate y\n - color: cross color @see image::Color\n - size: how long the lines of the cross extend, by default(value is 5). So the line length is `2 * size + thickness`\n - thickness: cross thickness(line width), by default(value is 1)\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "const image::Color &", + "color", + null + ], + [ + "int", + "size", + "5" + ], + [ + "int", + "thickness", + "1" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *draw_cross(int x, int y, const image::Color &color, int size = 5, int thickness = 1)" + }, + "draw_arrow": { + "type": "func", + "name": "draw_arrow", + "doc": { + "brief": "Draw arrow on image", + "param": { + "x0": "start coordinate of the arrow x0", + "y0": "start coordinate of the arrow y0", + "x1": "end coordinate of the arrow x1", + "y1": "end coordinate of the arrow y1", + "color": "cross color @see image::Color", + "thickness": "cross thickness(line width), by default(value is 1)" + }, + "return": "this image object self", + "maixpy": "maix.image.Image.draw_arrow", + "py_doc": "Draw arrow on image\n\nArgs:\n - x0: start coordinate of the arrow x0\n - y0: start coordinate of the arrow y0\n - x1: end coordinate of the arrow x1\n - y1: end coordinate of the arrow y1\n - color: cross color @see image::Color\n - thickness: cross thickness(line width), by default(value is 1)\n\n\nReturns: this image object self\n" + }, + "args": [ + [ + "int", + "x0", + null + ], + [ + "int", + "y0", + null + ], + [ + "int", + "x1", + null + ], + [ + "int", + "y1", + null + ], + [ + "const image::Color &", + "color", + null + ], + [ + "int", + "thickness", + "1" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *draw_arrow(int x0, int y0, int x1, int y1, const image::Color &color, int thickness = 1)" + }, + "draw_edges": { + "type": "func", + "name": "draw_edges", + "doc": { + "brief": "Draw edges on image", + "param": { + "corners": "edges, [[x0, y0], [x1, y1], [x2, y2], [x3, y3]]", + "color": "edges color @see image::Color", + "size": "the circle of radius size. TODO: support in the feature", + "thickness": "edges thickness(line width), by default(value is 1)", + "fill": "if true, will fill edges, by default(value is false)" + }, + "return": "this image object self", + "maixpy": "maix.image.Image.draw_edges", + "py_doc": "Draw edges on image\n\nArgs:\n - corners: edges, [[x0, y0], [x1, y1], [x2, y2], [x3, y3]]\n - color: edges color @see image::Color\n - size: the circle of radius size. TODO: support in the feature\n - thickness: edges thickness(line width), by default(value is 1)\n - fill: if true, will fill edges, by default(value is false)\n\n\nReturns: this image object self\n" + }, + "args": [ + [ + "std::vector>", + "corners", + null + ], + [ + "const image::Color &", + "color", + null + ], + [ + "int", + "size", + "0" + ], + [ + "int", + "thickness", + "1" + ], + [ + "bool", + "fill", + "false" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *draw_edges(std::vector> corners, const image::Color &color, int size = 0, int thickness = 1, bool fill = false)" + }, + "draw_keypoints": { + "type": "func", + "name": "draw_keypoints", + "doc": { + "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)", + "color": "keypoints color @see image::Color", + "size": "size of keypoints", + "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, [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": [ + [ + "std::vector", + "keypoints", + null + ], + [ + "const image::Color &", + "color", + null + ], + [ + "int", + "size", + "10" + ], + [ + "int", + "thickness", + "-1" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *draw_keypoints(std::vector keypoints, const image::Color &color, int size = 10, int thickness = -1)" + }, + "resize": { + "type": "func", + "name": "resize", + "doc": { + "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", + "height": "new height, if value is -1, will use width to calculate aspect ratio", + "object_fit": "fill, contain, cover, by default is fill", + "method": "resize method, by default is bilinear" + }, + "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.\nAnd it's better to judge whether the size has changed before calling this function to make the program more efficient.\ne.g.\nif img->width() != width || img->height() != height:\nimg = img->resize(width, height);", + "maixpy": "maix.image.Image.resize", + "py_doc": "Resize image, will create a new resized image object\n\nArgs:\n - width: new width, if value is -1, will use height to calculate aspect ratio\n - height: new height, if value is -1, will use width to calculate aspect ratio\n - object_fit: fill, contain, cover, by default is fill\n - method: resize method, by default is bilinear\n\n\nReturns: 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.\nAnd it's better to judge whether the size has changed before calling this function to make the program more efficient.\ne.g.\nif img->width() != width || img->height() != height:\nimg = img->resize(width, height);\n" + }, + "args": [ + [ + "int", + "width", + null + ], + [ + "int", + "height", + null + ], + [ + "image::Fit", + "object_fit", + "image::Fit::FIT_FILL" + ], + [ + "image::ResizeMethod", + "method", + "image::ResizeMethod::NEAREST" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *resize(int width, int height, image::Fit object_fit = image::Fit::FIT_FILL, image::ResizeMethod method = image::ResizeMethod::NEAREST)" + }, + "affine": { + "type": "func", + "name": "affine", + "doc": { + "brief": "Affine transform image, will create a new transformed image object", + "param": { + "src_points": "three source points, [x1, y1, x2, y2, x3, y3]", + "dst_points": "three destination points, [x1, y1, x2, y2, x3, y3]", + "width": "new width, if value is -1, will use height to calculate aspect ratio", + "height": "new height, if value is -1, will use width to calculate aspect ratio", + "method": "resize method, by default is bilinear" + }, + "return": "new transformed image object", + "maixpy": "maix.image.Image.affine", + "py_doc": "Affine transform image, will create a new transformed image object\n\nArgs:\n - src_points: three source points, [x1, y1, x2, y2, x3, y3]\n - dst_points: three destination points, [x1, y1, x2, y2, x3, y3]\n - width: new width, if value is -1, will use height to calculate aspect ratio\n - height: new height, if value is -1, will use width to calculate aspect ratio\n - method: resize method, by default is bilinear\n\n\nReturns: new transformed image object\n" + }, + "args": [ + [ + "std::vector", + "src_points", + null + ], + [ + "std::vector", + "dst_points", + null + ], + [ + "int", + "width", + "-1" + ], + [ + "int", + "height", + "-1" + ], + [ + "image::ResizeMethod", + "method", + "image::ResizeMethod::BILINEAR" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *affine(std::vector src_points, std::vector dst_points, int width = -1, int height = -1, image::ResizeMethod method = image::ResizeMethod::BILINEAR)" + }, + "copy": { + "type": "func", + "name": "copy", + "doc": { + "brief": "Copy image, will create a new copied image object", + "return": "new copied image object", + "maixpy": "maix.image.Image.copy", + "py_doc": "Copy image, will create a new copied image object\n\nReturns: new copied image object\n" + }, + "args": [], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *copy()" + }, + "crop": { + "type": "func", + "name": "crop", + "doc": { + "brief": "Crop image, will create a new cropped image object", + "param": { + "x": "left top corner of crop rectangle point's coordinate x", + "y": "left top corner of crop rectangle point's coordinate y", + "w": "crop rectangle width", + "h": "crop rectangle height" + }, + "return": "new cropped image object", + "maixpy": "maix.image.Image.crop", + "py_doc": "Crop image, will create a new cropped image object\n\nArgs:\n - x: left top corner of crop rectangle point's coordinate x\n - y: left top corner of crop rectangle point's coordinate y\n - w: crop rectangle width\n - h: crop rectangle height\n\n\nReturns: new cropped image object\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "w", + null + ], + [ + "int", + "h", + null + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *crop(int x, int y, int w, int h)" + }, + "rotate": { + "type": "func", + "name": "rotate", + "doc": { + "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", + "width": "new width, if value is -1, will use height to calculate aspect ratio", + "height": "new height, if value is -1, will use width to calculate aspect ratio", + "method": "resize method, by default is bilinear" + }, + "return": "new rotated image object", + "maixpy": "maix.image.Image.rotate", + "py_doc": "Rotate image, will create a new rotated image object\n\nArgs:\n - 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\n - width: new width, if value is -1, will use height to calculate aspect ratio\n - height: new height, if value is -1, will use width to calculate aspect ratio\n - method: resize method, by default is bilinear\n\n\nReturns: new rotated image object\n" + }, + "args": [ + [ + "float", + "angle", + null + ], + [ + "int", + "width", + "-1" + ], + [ + "int", + "height", + "-1" + ], + [ + "image::ResizeMethod", + "method", + "image::ResizeMethod::BILINEAR" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *rotate(float angle, int width = -1, int height = -1, image::ResizeMethod method = image::ResizeMethod::BILINEAR)" + }, + "mean_pool": { + "type": "func", + "name": "mean_pool", + "doc": { + "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.", + "y_div": "The height of the squares.", + "copy": "Select whether to return a new image or modify the original image. default is false.\nIf 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." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.mean_pool", + "py_doc": "Finds the mean of x_div * y_div squares in the image and returns the modified image composed of the mean of each square.\n\nArgs:\n - x_div: The width of the squares.\n - y_div: The height of the squares.\n - copy: Select whether to return a new image or modify the original image. default is false.\nIf 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.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "x_div", + null + ], + [ + "int", + "y_div", + null + ], + [ + "bool", + "copy", + "false" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *mean_pool(int x_div, int y_div, bool copy = false)" + }, + "midpoint_pool": { + "type": "func", + "name": "midpoint_pool", + "doc": { + "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.", + "y_div": "The height of the squares.", + "bias": "The bias of the midpoint. default is 0.5.\nmidpoint value is equal to (max * bias + min * (1 - bias))", + "copy": "Select whether to return a new image or modify the original image. default is false.\nIf 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." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.midpoint_pool", + "py_doc": "Finds the midpoint of x_div * y_div squares in the image and returns the modified image composed of the mean of each square.\n\nArgs:\n - x_div: The width of the squares.\n - y_div: The height of the squares.\n - bias: The bias of the midpoint. default is 0.5.\nmidpoint value is equal to (max * bias + min * (1 - bias))\n - copy: Select whether to return a new image or modify the original image. default is false.\nIf 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.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "x_div", + null + ], + [ + "int", + "y_div", + null + ], + [ + "double", + "bias", + "0.5" + ], + [ + "bool", + "copy", + "false" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *midpoint_pool(int x_div, int y_div, double bias = 0.5, bool copy = false)" + }, + "compress": { + "type": "func", + "name": "compress", + "doc": { + "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, 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": [ + [ + "int", + "quality", + "95" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *compress(int quality = 95)" + }, + "clear": { + "type": "func", + "name": "clear", + "doc": { + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.clear", + "py_doc": "Sets all pixels in the image to zero\n\nArgs:\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *clear(image::Image *mask = nullptr)" + }, + "mask_rectange": { + "type": "func", + "name": "mask_rectange", + "doc": { + "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.", + "y": "The y coordinate of the top left corner of the rectangle.", + "w": "The width of the rectangle.", + "h": "The height of the rectangle." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.mask_rectange", + "py_doc": "Zeros a rectangular part of the image. If no arguments are supplied this method zeros the center of the image.\n\nArgs:\n - x: The x coordinate of the top left corner of the rectangle.\n - y: The y coordinate of the top left corner of the rectangle.\n - w: The width of the rectangle.\n - h: The height of the rectangle.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "x", + "-1" + ], + [ + "int", + "y", + "-1" + ], + [ + "int", + "w", + "-1" + ], + [ + "int", + "h", + "-1" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *mask_rectange(int x = -1, int y = -1, int w = -1, int h = -1)" + }, + "mask_circle": { + "type": "func", + "name": "mask_circle", + "doc": { + "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.", + "y": "The y coordinate of the center of the circle.", + "radius": "The radius of the circle." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.mask_circle", + "py_doc": "Zeros a circular part of the image. If no arguments are supplied this method zeros the center of the image.\n\nArgs:\n - x: The x coordinate of the center of the circle.\n - y: The y coordinate of the center of the circle.\n - radius: The radius of the circle.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "x", + "-1" + ], + [ + "int", + "y", + "-1" + ], + [ + "int", + "radius", + "-1" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *mask_circle(int x = -1, int y = -1, int radius = -1)" + }, + "mask_ellipse": { + "type": "func", + "name": "mask_ellipse", + "doc": { + "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.", + "y": "The y coordinate of the center of the ellipse.", + "radius_x": "The radius of the ellipse in the x direction.", + "radius_y": "The radius of the ellipse in the y direction.", + "rotation_angle_in_degrees": "The rotation angle of the ellipse in degrees." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.mask_ellipse", + "py_doc": "Zeros a ellipse part of the image. If no arguments are supplied this method zeros the center of the image.\n\nArgs:\n - x: The x coordinate of the center of the ellipse.\n - y: The y coordinate of the center of the ellipse.\n - radius_x: The radius of the ellipse in the x direction.\n - radius_y: The radius of the ellipse in the y direction.\n - rotation_angle_in_degrees: The rotation angle of the ellipse in degrees.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "x", + "-1" + ], + [ + "int", + "y", + "-1" + ], + [ + "int", + "radius_x", + "-1" + ], + [ + "int", + "radius_y", + "-1" + ], + [ + "float", + "rotation_angle_in_degrees", + "0" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "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": { + "type": "func", + "name": "binary", + "doc": { + "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.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.", + "invert": "If true, the thresholds will be inverted before the operation. default is false.", + "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.", + "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.\nOnly pixels set in the mask are modified. default is None.", + "to_bitmap": "If true, the image will be converted to a bitmap image before thresholding. default is false. TODO: support in the feature", + "copy": "Select whether to return a new image or modify the original image. default is false." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.binary", + "py_doc": "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.\n\nArgs:\n - thresholds: You can define multiple thresholds.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.\n - invert: If true, the thresholds will be inverted before the operation. default is false.\n - 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.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n - to_bitmap: If true, the image will be converted to a bitmap image before thresholding. default is false. TODO: support in the feature\n - copy: Select whether to return a new image or modify the original image. default is false.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "std::vector>", + "thresholds", + "std::vector>()" + ], + [ + "bool", + "invert", + "false" + ], + [ + "bool", + "zero", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ], + [ + "bool", + "to_bitmap", + "false" + ], + [ + "bool", + "copy", + "false" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *binary(std::vector> thresholds = std::vector>(), bool invert = false, bool zero = false, image::Image *mask = nullptr, bool to_bitmap = false, bool copy = false)" + }, + "invert": { + "type": "func", + "name": "invert", + "doc": { + "brief": "Inverts the image in place.", + "return": "Returns the image after the operation is completed", + "maixpy": "maix.image.Image.invert", + "py_doc": "Inverts the image in place.\n\nReturns: Returns the image after the operation is completed\n" + }, + "args": [], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *invert()" + }, + "b_and": { + "type": "func", + "name": "b_and", + "doc": { + "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?", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.b_and", + "py_doc": "Performs a bitwise and operation between the image and the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *b_and(image::Image *other, image::Image *mask = nullptr)" + }, + "b_nand": { + "type": "func", + "name": "b_nand", + "doc": { + "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?", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.b_nand", + "py_doc": "Performs a bitwise nand operation between the image and the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *b_nand(image::Image *other, image::Image *mask = nullptr)" + }, + "b_or": { + "type": "func", + "name": "b_or", + "doc": { + "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?", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.b_or", + "py_doc": "Performs a bitwise or operation between the image and the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *b_or(image::Image *other, image::Image *mask = nullptr)" + }, + "b_nor": { + "type": "func", + "name": "b_nor", + "doc": { + "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?", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.b_nor", + "py_doc": "Performs a bitwise nor operation between the image and the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *b_nor(image::Image *other, image::Image *mask = nullptr)" + }, + "b_xor": { + "type": "func", + "name": "b_xor", + "doc": { + "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?", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.b_xor", + "py_doc": "Performs a bitwise xor operation between the image and the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *b_xor(image::Image *other, image::Image *mask = nullptr)" + }, + "b_xnor": { + "type": "func", + "name": "b_xnor", + "doc": { + "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?", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.b_xnor", + "py_doc": "Performs a bitwise xnor operation between the image and the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *b_xnor(image::Image *other, image::Image *mask = nullptr)" + }, + "awb": { + "type": "func", + "name": "awb", + "doc": { + "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." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.awb", + "py_doc": "Performs an auto white balance operation on the image. TODO: support in the feature\n\nArgs:\n - max: if True uses the white-patch algorithm instead. default is false.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "bool", + "max", + "false" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *awb(bool max = false)" + }, + "ccm": { + "type": "func", + "name": "ccm", + "doc": { + "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.\nWeights may either be positive or negative, and the sum of each column in the 3x3 matrix should generally be 1.\nexample:\n{\n1, 0, 0,\n0, 1, 0,\n0, 0, 1,\n}\nWhere the last row of the 4x3 matrix is an offset per color channel. If you add an offset you may wish to make the\nweights sum to less than 1 to account for the offset.\nexample:\n{\n1, 0, 0,\n0, 1, 0,\n0, 0, 1,\n0, 0, 0,\n}" + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.ccm", + "py_doc": "Multiples the passed (3x3) or (4x3) floating-point color-correction-matrix with the image.\nnote: Grayscale format is not support.\n\nArgs:\n - matrix: The color correction matrix to use. 3x3 or 4x3 matrix.\nWeights may either be positive or negative, and the sum of each column in the 3x3 matrix should generally be 1.\nexample:\n{\n1, 0, 0,\n0, 1, 0,\n0, 0, 1,\n}\nWhere the last row of the 4x3 matrix is an offset per color channel. If you add an offset you may wish to make the\nweights sum to less than 1 to account for the offset.\nexample:\n{\n1, 0, 0,\n0, 1, 0,\n0, 0, 1,\n0, 0, 0,\n}\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "std::vector &", + "matrix", + null + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *ccm(std::vector &matrix)" + }, + "gamma": { + "type": "func", + "name": "gamma", + "doc": { + "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.", + "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.", + "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." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.gamma", + "py_doc": "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.\n\nArgs:\n - 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.\n - 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.\n - 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.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "double", + "gamma", + "1.0" + ], + [ + "double", + "contrast", + "1.0" + ], + [ + "double", + "brightness", + "0.0" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *gamma(double gamma = 1.0, double contrast = 1.0, double brightness = 0.0)" + }, + "gamma_corr": { + "type": "func", + "name": "gamma_corr", + "doc": { + "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.", + "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.", + "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." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.gamma_corr", + "py_doc": "Alias for Image.gamma.\n\nArgs:\n - 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.\n - 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.\n - 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.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "double", + "gamma", + null + ], + [ + "double", + "contrast", + "1.0" + ], + [ + "double", + "brightness", + "0.0" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *gamma_corr(double gamma, double contrast = 1.0, double brightness = 0.0)" + }, + "negate": { + "type": "func", + "name": "negate", + "doc": { + "brief": "Flips (numerically inverts) all pixels values in an image", + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.negate", + "py_doc": "Flips (numerically inverts) all pixels values in an image\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *negate()" + }, + "replace": { + "type": "func", + "name": "replace", + "doc": { + "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.", + "hmirror": "If true, the image will be horizontally mirrored before the operation. default is false.", + "vflip": "If true, the image will be vertically flipped before the operation. default is false.", + "transpose": "If true, the image can be used to rotate 90 degrees or 270 degrees.\nhmirror = false, vflip = false, transpose = false, the image will not be rotated.\nhmirror = false, vflip = true, transpose = true, the image will be rotated 90 degrees.\nhmirror = true, vflip = true, transpose = false, the image will be rotated 180 degrees.\nhmirror = true, vflip = false, transpose = true, the image will be rotated 270 degrees.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.replace", + "py_doc": "Replaces all pixels in the image with the corresponding pixels in the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on.\n - hmirror: If true, the image will be horizontally mirrored before the operation. default is false.\n - vflip: If true, the image will be vertically flipped before the operation. default is false.\n - transpose: If true, the image can be used to rotate 90 degrees or 270 degrees.\nhmirror = false, vflip = false, transpose = false, the image will not be rotated.\nhmirror = false, vflip = true, transpose = true, the image will be rotated 90 degrees.\nhmirror = true, vflip = true, transpose = false, the image will be rotated 180 degrees.\nhmirror = true, vflip = false, transpose = true, the image will be rotated 270 degrees.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + "nullptr" + ], + [ + "bool", + "hmirror", + "false" + ], + [ + "bool", + "vflip", + "false" + ], + [ + "bool", + "transpose", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *replace(image::Image *other = nullptr, bool hmirror = false, bool vflip = false, bool transpose = false, image::Image *mask = nullptr)" + }, + "set": { + "type": "func", + "name": "set", + "doc": { + "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.", + "hmirror": "If true, the image will be horizontally mirrored before the operation. default is false.", + "vflip": "If true, the image will be vertically flipped before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.set", + "py_doc": "Alias for Image::replace.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on.\n - hmirror: If true, the image will be horizontally mirrored before the operation. default is false.\n - vflip: If true, the image will be vertically flipped before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "bool", + "hmirror", + "false" + ], + [ + "bool", + "vflip", + "false" + ], + [ + "bool", + "transpose", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *set(image::Image *other, bool hmirror = false, bool vflip = false, bool transpose = false, image::Image *mask = nullptr)" + }, + "add": { + "type": "func", + "name": "add", + "doc": { + "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?", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.add", + "py_doc": "Adds the other image to the image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *add(image::Image *other, image::Image *mask = nullptr)" + }, + "sub": { + "type": "func", + "name": "sub", + "doc": { + "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?", + "reverse": "If true, the image will be reversed before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.sub", + "py_doc": "Subtracts the other image from the image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - reverse: If true, the image will be reversed before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "bool", + "reverse", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *sub(image::Image *other, bool reverse = false, image::Image *mask = nullptr)" + }, + "mul": { + "type": "func", + "name": "mul", + "doc": { + "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?", + "invert": "If true, the image will be change the multiplication operation from a*b to 1/((1/a)*(1/b)).\nIn particular, this lightens the image instead of darkening it (e.g. multiply versus burn operations). default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.mul", + "py_doc": "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.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - invert: If true, the image will be change the multiplication operation from a*b to 1/((1/a)*(1/b)).\nIn particular, this lightens the image instead of darkening it (e.g. multiply versus burn operations). default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "bool", + "invert", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *mul(image::Image *other, bool invert = false, image::Image *mask = nullptr)" + }, + "div": { + "type": "func", + "name": "div", + "doc": { + "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?", + "invert": "If true, the image will be change the division direction from a/b to b/a. default is false.", + "mod": "If true, the image will be change the division operation to the modulus operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.div", + "py_doc": "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.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on. TODO: support path?\n - invert: If true, the image will be change the division direction from a/b to b/a. default is false.\n - mod: If true, the image will be change the division operation to the modulus operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "bool", + "invert", + "false" + ], + [ + "bool", + "mod", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *div(image::Image *other, bool invert = false, bool mod = false, image::Image *mask = nullptr)" + }, + "min": { + "type": "func", + "name": "min", + "doc": { + "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.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.min", + "py_doc": "Caculate the minimum of each pixel in the image and the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *min(image::Image *other, image::Image *mask = nullptr)" + }, + "max": { + "type": "func", + "name": "max", + "doc": { + "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.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.max", + "py_doc": "Caculate the maximum of each pixel in the image and the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *max(image::Image *other, image::Image *mask = nullptr)" + }, + "difference": { + "type": "func", + "name": "difference", + "doc": { + "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.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.difference", + "py_doc": "Caculate the absolute value of the difference between each pixel in the image and the other image.\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *difference(image::Image *other, image::Image *mask = nullptr)" + }, + "blend": { + "type": "func", + "name": "blend", + "doc": { + "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.", + "alpha": "The alpha value of the blend, the value range is [0, 256],default is 128.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.blend", + "py_doc": "Blends the image with the other image.\nres = alpha * this_img / 256 + (256 - alpha) * other_img / 256\n\nArgs:\n - other: The other image should be an image and should be the same size as the image being operated on.\n - alpha: The alpha value of the blend, the value range is [0, 256],default is 128.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "image::Image *", + "other", + null + ], + [ + "int", + "alpha", + "128" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *blend(image::Image *other, int alpha = 128, image::Image *mask = nullptr)" + }, + "histeq": { + "type": "func", + "name": "histeq", + "doc": { + "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.", + "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.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.histeq", + "py_doc": "Runs the histogram equalization algorithm on the image.\n\nArgs:\n - 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.\n - 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.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "bool", + "adaptive", + "false" + ], + [ + "int", + "clip_limit", + "-1" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *histeq(bool adaptive = false, int clip_limit = -1, image::Image *mask = nullptr)" + }, + "mean": { + "type": "func", + "name": "mean", + "doc": { + "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).", + "threshold": "If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.", + "offset": "The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.mean", + "py_doc": "Standard mean blurring filter using a box filter.\nThe parameters offset and invert are valid when threshold is True.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - threshold: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.\n - offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "bool", + "threshold", + "false" + ], + [ + "int", + "offset", + "0" + ], + [ + "bool", + "invert", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *mean(int size, bool threshold = false, int offset = 0, bool invert = false, image::Image *mask = nullptr)" + }, + "median": { + "type": "func", + "name": "median", + "doc": { + "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).", + "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.", + "threshold": "If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.", + "offset": "The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.median", + "py_doc": "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.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - 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.\n - threshold: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.\n - offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "double", + "percentile", + "0.5" + ], + [ + "bool", + "threshold", + "false" + ], + [ + "int", + "offset", + "0" + ], + [ + "bool", + "invert", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *median(int size, double percentile = 0.5, bool threshold = false, int offset = 0, bool invert = false, image::Image *mask = nullptr)" + }, + "mode": { + "type": "func", + "name": "mode", + "doc": { + "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).", + "threshold": "If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.", + "offset": "The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.mode", + "py_doc": "Runs the mode filter on the image by replacing each pixel with the mode of their neighbors.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - threshold: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.\n - offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "bool", + "threshold", + "false" + ], + [ + "int", + "offset", + "0" + ], + [ + "bool", + "invert", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *mode(int size, bool threshold = false, int offset = 0, bool invert = false, image::Image *mask = nullptr)" + }, + "midpoint": { + "type": "func", + "name": "midpoint", + "doc": { + "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).", + "bias": "The bias of the midpoint. default is 0.5.", + "threshold": "If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.", + "offset": "The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.midpoint", + "py_doc": "Runs the midpoint filter on the image.This filter finds the midpoint (max * bias + min * (1 - bias)) of each pixel neighborhood in the image.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - bias: The bias of the midpoint. default is 0.5.\n - threshold: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.\n - offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "double", + "bias", + "0.5" + ], + [ + "bool", + "threshold", + "false" + ], + [ + "int", + "offset", + "0" + ], + [ + "bool", + "invert", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *midpoint(int size, double bias = 0.5, bool threshold = false, int offset = 0, bool invert = false, image::Image *mask = nullptr)" + }, + "morph": { + "type": "func", + "name": "morph", + "doc": { + "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).", + "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.", + "mul": "This parameter is used to multiply the convolved pixel results. default is auto.", + "add": "This parameter is the value to be added to each convolution pixel result. default is 0.0.", + "threshold": "If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.", + "offset": "The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.morph", + "py_doc": "Convolves the image by a filter kernel. This allows you to do general purpose convolutions on an image.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - 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.\n - mul: This parameter is used to multiply the convolved pixel results. default is auto.\n - add: This parameter is the value to be added to each convolution pixel result. default is 0.0.\n - threshold: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.\n - offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "std::vector", + "kernel", + null + ], + [ + "float", + "mul", + "-1" + ], + [ + "float", + "add", + "0.0" + ], + [ + "bool", + "threshold", + "false" + ], + [ + "int", + "offset", + "0" + ], + [ + "bool", + "invert", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *morph(int size, std::vector kernel, float mul = -1, float add = 0.0, bool threshold = false, int offset = 0, bool invert = false, image::Image *mask = nullptr)" + }, + "gaussian": { + "type": "func", + "name": "gaussian", + "doc": { + "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).", + "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.", + "mul": "This parameter is used to multiply the convolved pixel results. default is auto.", + "add": "This parameter is the value to be added to each convolution pixel result. default is 0.0.", + "threshold": "If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.", + "offset": "The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.gaussian", + "py_doc": "Convolves the image by a smoothing guassian kernel.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - 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.\n - mul: This parameter is used to multiply the convolved pixel results. default is auto.\n - add: This parameter is the value to be added to each convolution pixel result. default is 0.0.\n - threshold: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.\n - offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "bool", + "unsharp", + "false" + ], + [ + "float", + "mul", + "-1" + ], + [ + "float", + "add", + "0.0" + ], + [ + "bool", + "threshold", + "false" + ], + [ + "int", + "offset", + "0" + ], + [ + "bool", + "invert", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "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": { + "type": "func", + "name": "laplacian", + "doc": { + "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).", + "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.", + "mul": "This parameter is used to multiply the convolved pixel results. default is auto.", + "add": "This parameter is the value to be added to each convolution pixel result. default is 0.0.", + "threshold": "If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.", + "offset": "The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.laplacian", + "py_doc": "Convolves the image by a edge detecting laplacian kernel.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - 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.\n - mul: This parameter is used to multiply the convolved pixel results. default is auto.\n - add: This parameter is the value to be added to each convolution pixel result. default is 0.0.\n - threshold: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.\n - offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "bool", + "sharpen", + "false" + ], + [ + "float", + "mul", + "-1" + ], + [ + "float", + "add", + "0.0" + ], + [ + "bool", + "threshold", + "false" + ], + [ + "int", + "offset", + "0" + ], + [ + "bool", + "invert", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "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": { + "type": "func", + "name": "bilateral", + "doc": { + "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).", + "color_sigma": "Controls how closely colors are matched using the bilateral filter. default is 0.1.", + "space_sigma": "Controls how closely pixels space-wise are blurred with each other. default is 1.", + "threshold": "If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.", + "offset": "The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.bilateral", + "py_doc": "Convolves the image by a bilateral filter.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - color_sigma: Controls how closely colors are matched using the bilateral filter. default is 0.1.\n - space_sigma: Controls how closely pixels space-wise are blurred with each other. default is 1.\n - threshold: If true, which will enable adaptive thresholding of the image which sets pixels to white or black based on a pixel\u2019s brightness in relation to the brightness of the kernel of pixels around them.\ndefault is false.\n - offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "double", + "color_sigma", + "0.1" + ], + [ + "double", + "space_sigma", + "1" + ], + [ + "bool", + "threshold", + "false" + ], + [ + "int", + "offset", + "0" + ], + [ + "bool", + "invert", + "false" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "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": { + "type": "func", + "name": "linpolar", + "doc": { + "brief": "Re-project\u2019s and image from cartessian coordinates to linear polar coordinates.", + "param": { + "reverse": "If true, the image will be reverse polar transformed. default is false." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.linpolar", + "py_doc": "Re-project\u2019s and image from cartessian coordinates to linear polar coordinates.\n\nArgs:\n - reverse: If true, the image will be reverse polar transformed. default is false.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "bool", + "reverse", + "false" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *linpolar(bool reverse = false)" + }, + "logpolar": { + "type": "func", + "name": "logpolar", + "doc": { + "brief": "Re-project\u2019s and image from cartessian coordinates to log polar coordinates.", + "param": { + "reverse": "If true, the image will be reverse polar transformed. default is false." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.logpolar", + "py_doc": "Re-project\u2019s and image from cartessian coordinates to log polar coordinates.\n\nArgs:\n - reverse: If true, the image will be reverse polar transformed. default is false.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "bool", + "reverse", + "false" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *logpolar(bool reverse = false)" + }, + "lens_corr": { + "type": "func", + "name": "lens_corr", + "doc": { + "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.", + "zoom": "The zoom of the lens correction. default is 1.0.", + "x_corr": "The x correction of the lens correction. default is 0.0.", + "y_corr": "The y correction of the lens correction. default is 0.0." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.lens_corr", + "py_doc": "Performs a lens correction operation on the image. TODO: support in the feature\n\nArgs:\n - strength: The strength of the lens correction. default is 1.8.\n - zoom: The zoom of the lens correction. default is 1.0.\n - x_corr: The x correction of the lens correction. default is 0.0.\n - y_corr: The y correction of the lens correction. default is 0.0.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "double", + "strength", + "1.8" + ], + [ + "double", + "zoom", + "1.0" + ], + [ + "double", + "x_corr", + "0.0" + ], + [ + "double", + "y_corr", + "0.0" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *lens_corr(double strength = 1.8, double zoom = 1.0, double x_corr = 0.0, double y_corr = 0.0)" + }, + "rotation_corr": { + "type": "func", + "name": "rotation_corr", + "doc": { + "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.", + "y_rotation": "The y rotation of the rotation correction. default is 0.0.", + "z_rotation": "The z rotation of the rotation correction. default is 0.0.", + "x_translation": "The x translation of the rotation correction. default is 0.0.", + "y_translation": "The y translation of the rotation correction. default is 0.0.", + "zoom": "The zoom of the rotation correction. default is 1.0.", + "fov": "The fov of the rotation correction. default is 60.0.", + "corners": "The corners of the rotation correction. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.rotation_corr", + "py_doc": "Performs a rotation correction operation on the image. TODO: support in the feature\n\nArgs:\n - x_rotation: The x rotation of the rotation correction. default is 0.0.\n - y_rotation: The y rotation of the rotation correction. default is 0.0.\n - z_rotation: The z rotation of the rotation correction. default is 0.0.\n - x_translation: The x translation of the rotation correction. default is 0.0.\n - y_translation: The y translation of the rotation correction. default is 0.0.\n - zoom: The zoom of the rotation correction. default is 1.0.\n - fov: The fov of the rotation correction. default is 60.0.\n - corners: The corners of the rotation correction. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "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", + "corners", + "std::vector()" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "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 corners = std::vector())" + }, + "get_histogram": { + "type": "func", + "name": "get_histogram", + "doc": { + "brief": "Gets the histogram of the image.", + "param": { + "thresholds": "You can define multiple thresholds.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.", + "invert": "If true, the thresholds will be inverted before the operation. default is false.", + "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.\ndefault is None, means whole image.", + "bins": "The number of bins to use for the histogram.\nIn GRAYSCALE format, setting range is [2, 256], default is 100.\nIn rgb888 format, setting range is [2, 100], default is 100.", + "l_bins": "The number of bins to use for the l channel of the histogram. Only valid in RGB888 format.\nIf an invalid value is set, bins will be used instead. The setting range is [2, 100], default is 100.", + "a_bins": "The number of bins to use for the a channel of the histogram.\nOnly valid in RGB888 format.The setting range is [2, 256], default is 256.", + "b_bins": "The number of bins to use for the b channel of the histogram.\nOnly valid in RGB888 format. The setting range is [2, 256], default is 256.", + "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.\ndefault is None." + }, + "return": "Returns the histogram of the image", + "maixpy": "maix.image.Image.get_histogram", + "py_doc": "Gets the histogram of the image.\n\nArgs:\n - thresholds: You can define multiple thresholds.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.\n - invert: If true, the thresholds will be inverted before the operation. default is false.\n - 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.\ndefault is None, means whole image.\n - bins: The number of bins to use for the histogram.\nIn GRAYSCALE format, setting range is [2, 256], default is 100.\nIn rgb888 format, setting range is [2, 100], default is 100.\n - l_bins: The number of bins to use for the l channel of the histogram. Only valid in RGB888 format.\nIf an invalid value is set, bins will be used instead. The setting range is [2, 100], default is 100.\n - a_bins: The number of bins to use for the a channel of the histogram.\nOnly valid in RGB888 format.The setting range is [2, 256], default is 256.\n - b_bins: The number of bins to use for the b channel of the histogram.\nOnly valid in RGB888 format. The setting range is [2, 256], default is 256.\n - 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.\ndefault is None.\n\n\nReturns: Returns the histogram of the image\n" + }, + "args": [ + [ + "std::vector>", + "thresholds", + "std::vector>()" + ], + [ + "bool", + "invert", + "false" + ], + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "bins", + "-1" + ], + [ + "int", + "l_bins", + "100" + ], + [ + "int", + "a_bins", + "256" + ], + [ + "int", + "b_bins", + "256" + ], + [ + "image::Image *", + "difference", + "nullptr" + ] + ], + "ret_type": "std::map>", + "static": false, + "def": "std::map> get_histogram(std::vector> thresholds = std::vector>(), bool invert = false, std::vector roi = std::vector(), int bins = -1, int l_bins = 100, int a_bins = 256, int b_bins = 256, image::Image *difference = nullptr)" + }, + "get_statistics": { + "type": "func", + "name": "get_statistics", + "doc": { + "brief": "Gets the statistics of the image. TODO: support in the feature", + "param": { + "thresholds": "You can define multiple thresholds.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\ndefault is None, means whole image.", + "bins": "The number of bins to use for the statistics. default is -1.", + "l_bins": "The number of bins to use for the l channel of the statistics. default is -1.", + "a_bins": "The number of bins to use for the a channel of the statistics. default is -1.", + "b_bins": "The number of bins to use for the b channel of the statistics. default is -1.", + "difference": "The difference image to use for the statistics. default is None." + }, + "return": "Returns the statistics of the image", + "maixpy": "maix.image.Image.get_statistics", + "py_doc": "Gets the statistics of the image. TODO: support in the feature\n\nArgs:\n - thresholds: You can define multiple thresholds.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\ndefault is None, means whole image.\n - bins: The number of bins to use for the statistics. default is -1.\n - l_bins: The number of bins to use for the l channel of the statistics. default is -1.\n - a_bins: The number of bins to use for the a channel of the statistics. default is -1.\n - b_bins: The number of bins to use for the b channel of the statistics. default is -1.\n - difference: The difference image to use for the statistics. default is None.\n\n\nReturns: Returns the statistics of the image\n" + }, + "args": [ + [ + "std::vector>", + "thresholds", + "std::vector>()" + ], + [ + "bool", + "invert", + "false" + ], + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "bins", + "-1" + ], + [ + "int", + "l_bins", + "-1" + ], + [ + "int", + "a_bins", + "-1" + ], + [ + "int", + "b_bins", + "-1" + ], + [ + "image::Image *", + "difference", + "nullptr" + ] + ], + "ret_type": "image::Statistics", + "static": false, + "def": "image::Statistics get_statistics(std::vector> thresholds = std::vector>(), bool invert = false, std::vector roi = std::vector(), int bins = -1, int l_bins = -1, int a_bins = -1, int b_bins = -1, image::Image *difference = nullptr)" + }, + "get_regression": { + "type": "func", + "name": "get_regression", + "doc": { + "brief": "Gets the regression of the image.", + "param": { + "thresholds": "You can define multiple thresholds.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "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.\ndefault is None, means whole image.", + "x_stride": "The x stride to use for the regression. default is 2.", + "y_stride": "The y stride to use for the regression. default is 1.", + "area_threshold": "The area threshold to use for the regression. default is 10.", + "pixels_threshold": "The pixels threshold to use for the regression. default is 10.", + "robust": "If true, the regression will be robust. default is false." + }, + "return": "Returns the regression of the image", + "maixpy": "maix.image.Image.get_regression", + "py_doc": "Gets the regression of the image.\n\nArgs:\n - thresholds: You can define multiple thresholds.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.\n - invert: If true, the image will be inverted before the operation. default is false.\n - 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.\ndefault is None, means whole image.\n - x_stride: The x stride to use for the regression. default is 2.\n - y_stride: The y stride to use for the regression. default is 1.\n - area_threshold: The area threshold to use for the regression. default is 10.\n - pixels_threshold: The pixels threshold to use for the regression. default is 10.\n - robust: If true, the regression will be robust. default is false.\n\n\nReturns: Returns the regression of the image\n" + }, + "args": [ + [ + "std::vector>", + "thresholds", + "std::vector>()" + ], + [ + "bool", + "invert", + "false" + ], + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "x_stride", + "2" + ], + [ + "int", + "y_stride", + "1" + ], + [ + "int", + "area_threshold", + "10" + ], + [ + "int", + "pixels_threshold", + "10" + ], + [ + "bool", + "robust", + "false" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector get_regression(std::vector> thresholds = std::vector>(), bool invert = false, std::vector roi = std::vector(), int x_stride = 2, int y_stride = 1, int area_threshold = 10, int pixels_threshold = 10, bool robust = false)" + }, + "save": { + "type": "func", + "name": "save", + "doc": { + "brief": "Save image to file", + "param": { + "path": "file path", + "quality": "image quality, by default(value is 95), support jpeg and png format" + }, + "return": "error code, err::ERR_NONE is ok, other is error", + "maixpy": "maix.image.Image.save", + "py_doc": "Save image to file\n\nArgs:\n - path: file path\n - quality: image quality, by default(value is 95), support jpeg and png format\n\n\nReturns: error code, err::ERR_NONE is ok, other is error\n" + }, + "args": [ + [ + "const char *", + "path", + null + ], + [ + "int", + "quality", + "95" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err save(const char *path, int quality = 95)" + }, + "flood_fill": { + "type": "func", + "name": "flood_fill", + "doc": { + "brief": "Flood fills a region of the image starting from location x, y.", + "param": { + "x": "The x coordinate of the seed point.", + "y": "The y coordinate of the seed point.", + "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.", + "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.", + "color": "The color to fill the region with. default is white.", + "invert": "If true, the image will be inverted before the operation. default is false.", + "clear_background": "If true, the background will be cleared before the operation. default is false.", + "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.\nOnly pixels set in the mask are modified. default is None. FIXME: the mask image works abnormally" + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.flood_fill", + "py_doc": "Flood fills a region of the image starting from location x, y.\n\nArgs:\n - x: The x coordinate of the seed point.\n - y: The y coordinate of the seed point.\n - 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.\n - 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.\n - color: The color to fill the region with. default is white.\n - invert: If true, the image will be inverted before the operation. default is false.\n - clear_background: If true, the background will be cleared before the operation. default is false.\n - 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.\nOnly pixels set in the mask are modified. default is None. FIXME: the mask image works abnormally\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "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" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "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": { + "type": "func", + "name": "erode", + "doc": { + "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).", + "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).", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.erode", + "py_doc": "Erodes the image in place.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - 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).\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "int", + "threshold", + "-1" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *erode(int size, int threshold = -1, image::Image *mask = nullptr)" + }, + "dilate": { + "type": "func", + "name": "dilate", + "doc": { + "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).", + "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.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.dilate", + "py_doc": "Dilates the image in place.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - 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.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "int", + "threshold", + "0" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *dilate(int size, int threshold = 0, image::Image *mask = nullptr)" + }, + "open": { + "type": "func", + "name": "open", + "doc": { + "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).", + "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.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.open", + "py_doc": "Performs erosion and dilation on an image in order.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - 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.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "int", + "threshold", + "0" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *open(int size, int threshold = 0, image::Image *mask = nullptr)" + }, + "close": { + "type": "func", + "name": "close", + "doc": { + "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).", + "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.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.close", + "py_doc": "Performs dilation and erosion on an image in order.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - 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.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "int", + "threshold", + "0" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *close(int size, int threshold = 0, image::Image *mask = nullptr)" + }, + "top_hat": { + "type": "func", + "name": "top_hat", + "doc": { + "brief": "Returns the image difference of the image and Image.open()\u2019ed image.", + "param": { + "size": "Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).", + "threshold": "As the threshold for open method. default is 0.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.top_hat", + "py_doc": "Returns the image difference of the image and Image.open()\u2019ed image.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - threshold: As the threshold for open method. default is 0.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "int", + "threshold", + "0" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *top_hat(int size, int threshold = 0, image::Image *mask = nullptr)" + }, + "black_hat": { + "type": "func", + "name": "black_hat", + "doc": { + "brief": "Returns the image difference of the image and Image.close()\u2019ed image.", + "param": { + "size": "Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).", + "threshold": "As the threshold for close method. default is 0.", + "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.\nOnly pixels set in the mask are modified. default is None." + }, + "return": "Returns the image after the operation is completed.", + "maixpy": "maix.image.Image.black_hat", + "py_doc": "Returns the image difference of the image and Image.close()\u2019ed image.\n\nArgs:\n - size: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).\n - threshold: As the threshold for close method. default is 0.\n - 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.\nOnly pixels set in the mask are modified. default is None.\n\n\nReturns: Returns the image after the operation is completed.\n" + }, + "args": [ + [ + "int", + "size", + null + ], + [ + "int", + "threshold", + "0" + ], + [ + "image::Image *", + "mask", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *black_hat(int size, int threshold = 0, image::Image *mask = nullptr)" + }, + "find_blobs": { + "type": "func", + "name": "find_blobs", + "doc": { + "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.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.", + "invert": "if true, will invert thresholds before find blobs, default is false", + "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.\ndefault is None, means whole image.", + "x_stride": "x stride is the number of x pixels to skip when doing the hough transform. default is 2", + "y_stride": "y_stride is the number of y pixels to skip when doing the hough transform. default is 1", + "area_threshold": "area threshold, if the blob area is smaller than area_threshold, the blob is not returned, default is 10", + "pixels_threshold": "pixels threshold, if the blob pixels is smaller than area_threshold, the blob is not returned,, default is 10.\nwhen x_stride and y_stride is equal to 1, pixels_threshold is equivalent to area_threshold", + "merge": "if True merges all not filtered out blobs whos bounding rectangles intersect each other. default is false", + "margin": "margin can be used to increase or decrease the size of the bounding rectangles for blobs during the intersection test.\nFor example, with a margin of 1 blobs whos bounding rectangles are 1 pixel away from each other will be merged. default is 0", + "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.", + "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." + }, + "return": "Return the blob when found blobs, format is (blob1, blob2, ...), you can use blob class methods to do more operations.", + "maixpy": "maix.image.Image.find_blobs", + "py_doc": "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.\n\nArgs:\n - thresholds: You can define multiple thresholds.\nFor GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.\nFor RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.\nWhere 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.\n - invert: if true, will invert thresholds before find blobs, default is false\n - 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.\ndefault is None, means whole image.\n - x_stride: x stride is the number of x pixels to skip when doing the hough transform. default is 2\n - y_stride: y_stride is the number of y pixels to skip when doing the hough transform. default is 1\n - area_threshold: area threshold, if the blob area is smaller than area_threshold, the blob is not returned, default is 10\n - pixels_threshold: pixels threshold, if the blob pixels is smaller than area_threshold, the blob is not returned,, default is 10.\nwhen x_stride and y_stride is equal to 1, pixels_threshold is equivalent to area_threshold\n - merge: if True merges all not filtered out blobs whos bounding rectangles intersect each other. default is false\n - margin: margin can be used to increase or decrease the size of the bounding rectangles for blobs during the intersection test.\nFor example, with a margin of 1 blobs whos bounding rectangles are 1 pixel away from each other will be merged. default is 0\n - 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.\n - 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.\n\n\nReturns: Return the blob when found blobs, format is (blob1, blob2, ...), you can use blob class methods to do more operations.\n" + }, + "args": [ + [ + "std::vector>", + "thresholds", + "std::vector>()" + ], + [ + "bool", + "invert", + "false" + ], + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "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" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_blobs(std::vector> thresholds = std::vector>(), bool invert = false, std::vector roi = std::vector(), 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": { + "type": "func", + "name": "find_lines", + "doc": { + "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.\ndefault is None, means whole image.", + "x_stride": "x stride is the number of x pixels to skip when doing the hough transform. default is 2", + "y_stride": "y_stride is the number of y pixels to skip when doing the hough transform. default is 1", + "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.\nThe right value of threshold for your application is image dependent. default is 1000.", + "theta_margin": "theta_margin controls the merging of detected lines. default is 25.", + "rho_margin": "rho_margin controls the merging of detected lines. default is 25." + }, + "return": "Return the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations", + "maixpy": "maix.image.Image.find_lines", + "py_doc": "Find lines in image\n\nArgs:\n - 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.\ndefault is None, means whole image.\n - x_stride: x stride is the number of x pixels to skip when doing the hough transform. default is 2\n - y_stride: y_stride is the number of y pixels to skip when doing the hough transform. default is 1\n - 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.\nThe right value of threshold for your application is image dependent. default is 1000.\n - theta_margin: theta_margin controls the merging of detected lines. default is 25.\n - rho_margin: rho_margin controls the merging of detected lines. default is 25.\n\n\nReturns: Return the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "x_stride", + "2" + ], + [ + "int", + "y_stride", + "1" + ], + [ + "double", + "threshold", + "1000" + ], + [ + "double", + "theta_margin", + "25" + ], + [ + "double", + "rho_margin", + "25" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_lines(std::vector roi = std::vector(), int x_stride = 2, int y_stride = 1, double threshold = 1000, double theta_margin = 25, double rho_margin = 25)" + }, + "find_line_segments": { + "type": "func", + "name": "find_line_segments", + "doc": { + "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.\ndefault is None, means whole image.", + "merge_distance": "The maximum distance between two lines to merge them. default is 0.", + "max_theta_difference": "The maximum difference between two lines to merge them. default is 15." + }, + "return": "Return the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations", + "maixpy": "maix.image.Image.find_line_segments", + "py_doc": "Finds all line segments in the image.\n\nArgs:\n - 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.\ndefault is None, means whole image.\n - merge_distance: The maximum distance between two lines to merge them. default is 0.\n - max_theta_difference: The maximum difference between two lines to merge them. default is 15.\n\n\nReturns: Return the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "merge_distance", + "0" + ], + [ + "int", + "max_theta_difference", + "15" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_line_segments(std::vector roi = std::vector(), int merge_distance = 0, int max_theta_difference = 15)" + }, + "find_circles": { + "type": "func", + "name": "find_circles", + "doc": { + "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.\ndefault is None, means whole image.", + "x_stride": "x stride is the number of x pixels to skip when doing the hough transform. default is 2", + "y_stride": "y_stride is the number of y pixels to skip when doing the hough transform. default is 1", + "threshold": "threshold controls what circles are detected from the hough transform. Only circles with a magnitude greater than or equal to threshold are returned.\nThe right value of threshold for your application is image dependent.", + "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", + "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", + "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", + "r_min": "r_min controls the minimum circle radius detected. Increase this to speed up the algorithm. default is 2", + "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)", + "r_step": "r_step controls how to step the radius detection by. default is 2." + }, + "return": "Return the circle when found circles, format is (circle1, circle2, ...), you can use circle class methods to do more operations", + "maixpy": "maix.image.Image.find_circles", + "py_doc": "Find circles in image\n\nArgs:\n - 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.\ndefault is None, means whole image.\n - x_stride: x stride is the number of x pixels to skip when doing the hough transform. default is 2\n - y_stride: y_stride is the number of y pixels to skip when doing the hough transform. default is 1\n - threshold: threshold controls what circles are detected from the hough transform. Only circles with a magnitude greater than or equal to threshold are returned.\nThe right value of threshold for your application is image dependent.\n - 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\n - 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\n - 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\n - r_min: r_min controls the minimum circle radius detected. Increase this to speed up the algorithm. default is 2\n - 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)\n - r_step: r_step controls how to step the radius detection by. default is 2.\n\n\nReturns: Return the circle when found circles, format is (circle1, circle2, ...), you can use circle class methods to do more operations\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "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" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_circles(std::vector roi = std::vector(), 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": { + "type": "func", + "name": "find_rects", + "doc": { + "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.\ndefault is None, means whole image.", + "threshold": "The threshold to use for the rects. default is 10000." + }, + "return": "Returns the rects of the image", + "maixpy": "maix.image.Image.find_rects", + "py_doc": "Finds all rects in the image.\n\nArgs:\n - 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.\ndefault is None, means whole image.\n - threshold: The threshold to use for the rects. default is 10000.\n\n\nReturns: Returns the rects of the image\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "threshold", + "10000" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_rects(std::vector roi = std::vector(), int threshold = 10000)" + }, + "find_qrcodes": { + "type": "func", + "name": "find_qrcodes", + "doc": { + "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.\ndefault is None, means whole image." + }, + "return": "Returns the qrcodes of the image", + "maixpy": "maix.image.Image.find_qrcodes", + "py_doc": "Finds all qrcodes in the image.\n\nArgs:\n - 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.\ndefault is None, means whole image.\n\n\nReturns: Returns the qrcodes of the image\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_qrcodes(std::vector roi = std::vector())" + }, + "find_apriltags": { + "type": "func", + "name": "find_apriltags", + "doc": { + "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.\ndefault is None, means whole image.", + "families": "The families to use for the apriltags. default is TAG36H11.", + "fx": "The camera X focal length in pixels, default is -1.", + "fy": "The camera Y focal length in pixels, default is -1.", + "cx": "The camera X center in pixels, default is image.width / 2.", + "cy": "The camera Y center in pixels, default is image.height / 2." + }, + "return": "Returns the apriltags of the image", + "maixpy": "maix.image.Image.find_apriltags", + "py_doc": "Finds all apriltags in the image.\n\nArgs:\n - 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.\ndefault is None, means whole image.\n - families: The families to use for the apriltags. default is TAG36H11.\n - fx: The camera X focal length in pixels, default is -1.\n - fy: The camera Y focal length in pixels, default is -1.\n - cx: The camera X center in pixels, default is image.width / 2.\n - cy: The camera Y center in pixels, default is image.height / 2.\n\n\nReturns: Returns the apriltags of the image\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "image::ApriltagFamilies", + "families", + "image::ApriltagFamilies::TAG36H11" + ], + [ + "float", + "fx", + "-1" + ], + [ + "float", + "fy", + "-1" + ], + [ + "int", + "cx", + "-1" + ], + [ + "int", + "cy", + "-1" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_apriltags(std::vector roi = std::vector(), image::ApriltagFamilies families = image::ApriltagFamilies::TAG36H11, float fx = -1, float fy = -1, int cx = -1, int cy = -1)" + }, + "find_datamatrices": { + "type": "func", + "name": "find_datamatrices", + "doc": { + "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.\ndefault is None, means whole image.", + "effort": "Controls how much time to spend trying to find data matrix matches. default is 200." + }, + "return": "Returns the datamatrices of the image", + "maixpy": "maix.image.Image.find_datamatrices", + "py_doc": "Finds all datamatrices in the image.\n\nArgs:\n - 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.\ndefault is None, means whole image.\n - effort: Controls how much time to spend trying to find data matrix matches. default is 200.\n\n\nReturns: Returns the datamatrices of the image\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "effort", + "200" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_datamatrices(std::vector roi = std::vector(), int effort = 200)" + }, + "find_barcodes": { + "type": "func", + "name": "find_barcodes", + "doc": { + "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.\ndefault is None, means whole image." + }, + "return": "Returns the barcodes of the image", + "maixpy": "maix.image.Image.find_barcodes", + "py_doc": "Finds all barcodes in the image.\n\nArgs:\n - 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.\ndefault is None, means whole image.\n\n\nReturns: Returns the barcodes of the image\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_barcodes(std::vector roi = std::vector())" + }, + "find_displacement": { + "type": "func", + "name": "find_displacement", + "doc": { + "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.", + "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.\ndefault is None, means whole image.", + "template_roi": "The region-of-interest rectangle (x, y, w, h) to work in. If not specified, it is equal to the image rectangle.", + "logpolar": "If true, it will instead find rotation and scale changes between the two images. default is false." + }, + "return": "Returns the displacement of the image", + "maixpy": "maix.image.Image.find_displacement", + "py_doc": "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\n\nArgs:\n - template_image: The template image.\n - 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.\ndefault is None, means whole image.\n - template_roi: The region-of-interest rectangle (x, y, w, h) to work in. If not specified, it is equal to the image rectangle.\n - logpolar: If true, it will instead find rotation and scale changes between the two images. default is false.\n\n\nReturns: Returns the displacement of the image\n" + }, + "args": [ + [ + "image::Image &", + "template_image", + null + ], + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "std::vector", + "template_roi", + "std::vector()" + ], + [ + "bool", + "logpolar", + "false" + ] + ], + "ret_type": "image::Displacement", + "static": false, + "def": "image::Displacement find_displacement(image::Image &template_image, std::vector roi = std::vector(), std::vector template_roi = std::vector(), bool logpolar = false)" + }, + "find_template": { + "type": "func", + "name": "find_template", + "doc": { + "brief": "Finds the template in the image.", + "param": { + "template_image": "The template image.", + "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.", + "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.\ndefault is None, means whole image. Only valid in SEARCH_EX mode.", + "step": "The step size to use for the template. default is 2. Only valid in SEARCH_EX mode", + "search": "The search method to use for the template. default is SEARCH_EX." + }, + "return": "Returns a bounding box tuple (x, y, w, h) for the matching location otherwise None.", + "maixpy": "maix.image.Image.find_template", + "py_doc": "Finds the template in the image.\n\nArgs:\n - template_image: The template image.\n - 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.\n - 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.\ndefault is None, means whole image. Only valid in SEARCH_EX mode.\n - step: The step size to use for the template. default is 2. Only valid in SEARCH_EX mode\n - search: The search method to use for the template. default is SEARCH_EX.\n\n\nReturns: Returns a bounding box tuple (x, y, w, h) for the matching location otherwise None.\n" + }, + "args": [ + [ + "image::Image &", + "template_image", + null + ], + [ + "float", + "threshold", + null + ], + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "step", + "2" + ], + [ + "image::TemplateMatch", + "search", + "image::TemplateMatch::SEARCH_EX" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_template(image::Image &template_image, float threshold, std::vector roi = std::vector(), int step = 2, image::TemplateMatch search = image::TemplateMatch::SEARCH_EX)" + }, + "find_features": { + "type": "func", + "name": "find_features", + "doc": { + "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.", + "threshold": "The threshold to use for the features. default is 0.5.", + "scale": "The scale to use for the features. default is 1.5.", + "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.\ndefault is None, means whole image." + }, + "return": "Returns the features of the image", + "maixpy": "maix.image.Image.find_features", + "py_doc": "Finds the features in the image. TODO: support in the feature\n\nArgs:\n - cascade: The cascade to use for the features. default is CASCADE_FRONTALFACE_ALT.\n - threshold: The threshold to use for the features. default is 0.5.\n - scale: The scale to use for the features. default is 1.5.\n - 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.\ndefault is None, means whole image.\n\n\nReturns: Returns the features of the image\n" + }, + "args": [ + [ + "int", + "cascade", + null + ], + [ + "float", + "threshold", + "0.5" + ], + [ + "float", + "scale", + "1.5" + ], + [ + "std::vector", + "roi", + "std::vector()" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector find_features(int cascade, float threshold = 0.5, float scale = 1.5, std::vector roi = std::vector())" + }, + "find_lbp": { + "type": "func", + "name": "find_lbp", + "doc": { + "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.\ndefault is None, means whole image." + }, + "return": "Returns the lbp of the image", + "maixpy": "maix.image.Image.find_lbp", + "py_doc": "Finds the lbp in the image. TODO: support in the feature.\n\nArgs:\n - 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.\ndefault is None, means whole image.\n\n\nReturns: Returns the lbp of the image\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ] + ], + "ret_type": "image::LBPKeyPoint", + "static": false, + "def": "image::LBPKeyPoint find_lbp(std::vector roi = std::vector())" + }, + "find_keypoints": { + "type": "func", + "name": "find_keypoints", + "doc": { + "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.\ndefault is None, means whole image.", + "threshold": "The threshold to use for the keypoints. default is 20.", + "normalized": "If true, the image will be normalized before the operation. default is false.", + "scale_factor": "The scale factor to use for the keypoints. default is 1.5.", + "max_keypoints": "The maximum number of keypoints to use for the keypoints. default is 100.", + "corner_detector": "The corner detector to use for the keypoints. default is CORNER_AGAST." + }, + "return": "Returns the keypoints of the image", + "maixpy": "maix.image.Image.find_keypoints", + "py_doc": "Finds the keypoints in the image. TODO: support in the feature.\n\nArgs:\n - 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.\ndefault is None, means whole image.\n - threshold: The threshold to use for the keypoints. default is 20.\n - normalized: If true, the image will be normalized before the operation. default is false.\n - scale_factor: The scale factor to use for the keypoints. default is 1.5.\n - max_keypoints: The maximum number of keypoints to use for the keypoints. default is 100.\n - corner_detector: The corner detector to use for the keypoints. default is CORNER_AGAST.\n\n\nReturns: Returns the keypoints of the image\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "threshold", + "20" + ], + [ + "bool", + "normalized", + "false" + ], + [ + "float", + "scale_factor", + "1.5" + ], + [ + "int", + "max_keypoints", + "100" + ], + [ + "image::CornerDetector", + "corner_detector", + "image::CornerDetector::CORNER_AGAST" + ] + ], + "ret_type": "image::ORBKeyPoint", + "static": false, + "def": "image::ORBKeyPoint find_keypoints(std::vector roi = std::vector(), 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": { + "type": "func", + "name": "find_edges", + "doc": { + "brief": "Finds the edges in the image.", + "param": { + "edge_type": "The edge type to use for the edges. default is EDGE_CANNY.", + "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.\ndefault is None, means whole image.", + "threshold": "The threshold to use for the edges. default is 20." + }, + "return": "Returns the edges of the image", + "maixpy": "maix.image.Image.find_edges", + "py_doc": "Finds the edges in the image.\n\nArgs:\n - edge_type: The edge type to use for the edges. default is EDGE_CANNY.\n - 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.\ndefault is None, means whole image.\n - threshold: The threshold to use for the edges. default is 20.\n\n\nReturns: Returns the edges of the image\n" + }, + "args": [ + [ + "image::EdgeDetector", + "edge_type", + null + ], + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "std::vector", + "threshold", + "std::vector({100, 200})" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image* find_edges(image::EdgeDetector edge_type, std::vector roi = std::vector(), std::vector threshold = std::vector({100, 200}))" + }, + "find_hog": { + "type": "func", + "name": "find_hog", + "doc": { + "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.\ndefault is None, means whole image.", + "size": "The size to use for the hog. default is 8." + }, + "return": "Returns the hog of the image", + "maixpy": "maix.image.Image.find_hog", + "py_doc": "Finds the hog in the image. TODO: support in the feature\n\nArgs:\n - 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.\ndefault is None, means whole image.\n - size: The size to use for the hog. default is 8.\n\n\nReturns: Returns the hog of the image\n" + }, + "args": [ + [ + "std::vector", + "roi", + "std::vector()" + ], + [ + "int", + "size", + "8" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image* find_hog(std::vector roi = std::vector(), int size = 8)" + }, + "match_lbp_descriptor": { + "type": "func", + "name": "match_lbp_descriptor", + "doc": { + "brief": "Matches the lbp descriptor of the image. TODO: support in the feature", + "param": { + "desc1": "The descriptor to use for the match.", + "desc2": "The descriptor to use for the match." + }, + "return": "Returns the match of the image", + "maixpy": "maix.image.Image.match_lbp_descriptor", + "py_doc": "Matches the lbp descriptor of the image. TODO: support in the feature\n\nArgs:\n - desc1: The descriptor to use for the match.\n - desc2: The descriptor to use for the match.\n\n\nReturns: Returns the match of the image\n" + }, + "args": [ + [ + "image::LBPKeyPoint &", + "desc1", + null + ], + [ + "image::LBPKeyPoint &", + "desc2", + null + ] + ], + "ret_type": "int", + "static": false, + "def": "int match_lbp_descriptor(image::LBPKeyPoint &desc1, image::LBPKeyPoint &desc2)" + }, + "match_orb_descriptor": { + "type": "func", + "name": "match_orb_descriptor", + "doc": { + "brief": "Matches the orb descriptor of the image. TODO: support in the feature", + "param": { + "desc1": "The descriptor to use for the match.", + "desc2": "The descriptor to use for the match.", + "threshold": "The threshold to use for the match. default is 95.", + "filter_outliers": "If true, the image will be filter_outliers before the operation. default is false." + }, + "return": "Returns the match of the image", + "maixpy": "maix.image.Image.match_orb_descriptor", + "py_doc": "Matches the orb descriptor of the image. TODO: support in the feature\n\nArgs:\n - desc1: The descriptor to use for the match.\n - desc2: The descriptor to use for the match.\n - threshold: The threshold to use for the match. default is 95.\n - filter_outliers: If true, the image will be filter_outliers before the operation. default is false.\n\n\nReturns: Returns the match of the image\n" + }, + "args": [ + [ + "image::ORBKeyPoint &", + "desc1", + null + ], + [ + "image::ORBKeyPoint &", + "desc2", + null + ], + [ + "int", + "threshold", + "95" + ], + [ + "bool", + "filter_outliers", + "false" + ] + ], + "ret_type": "image::KPTMatch", + "static": false, + "def": "image::KPTMatch match_orb_descriptor(image::ORBKeyPoint &desc1, image::ORBKeyPoint &desc2, int threshold = 95, bool filter_outliers = false)" + } + }, + "def": "class Image" + }, + "load": { + "type": "func", + "name": "load", + "doc": { + "brief": "Load image from file, and convert to Image object", + "param": { + "path": "image file path", + "format": "read as this format, if not match, will convert to this format, by default is RGB888" + }, + "return": "Image object, if load failed, will return None(nullptr in C++), so you should care about it.", + "maixpy": "maix.image.load", + "py_doc": "Load image from file, and convert to Image object\n\nArgs:\n - path: image file path\n - format: read as this format, if not match, will convert to this format, by default is RGB888\n\n\nReturns: Image object, if load failed, will return None(nullptr in C++), so you should care about it.\n" + }, + "args": [ + [ + "const char *", + "path", + null + ], + [ + "image::Format", + "format", + "image::Format::FMT_RGB888" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *load(const char *path, image::Format format = image::Format::FMT_RGB888)", + "py_def": "def load(path: str, format: Format = ...) -> Image" + }, + "from_bytes": { + "type": "func", + "name": "from_bytes", + "doc": { + "brief": "Create image from bytes", + "param": { + "width": "image width", + "height": "image height", + "format": "image format", + "data": "image data, if data is None, will malloc memory for image data\nIf the image is in jpeg format, data must be filled in.", + "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.\nUse it carefully!!!" + }, + "return": "Image object", + "maixpy": "maix.image.from_bytes", + "py_doc": "Create image from bytes\n\nArgs:\n - width: image width\n - height: image height\n - format: image format\n - data: image data, if data is None, will malloc memory for image data\nIf the image is in jpeg format, data must be filled in.\n - 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.\nUse it carefully!!!\n\n\nReturns: Image object\n" + }, + "args": [ + [ + "int", + "width", + null + ], + [ + "int", + "height", + null + ], + [ + "image::Format", + "format", + null + ], + [ + "Bytes *", + "data", + null + ], + [ + "bool", + "copy", + "true" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *from_bytes(int width, int height, image::Format format, Bytes *data, bool copy = true)", + "py_def": "def from_bytes(width: int, height: int, format: Format, data: maix.Bytes(bytes), copy: bool = True) -> Image" + }, + "load_font": { + "type": "func", + "name": "load_font", + "doc": { + "brief": "Load font from file", + "param": { + "name": "font name, used to identify font", + "path": "font file path, support ttf, ttc, otf", + "size": "font size, font height, by default is 16" + }, + "return": "error code, err::ERR_NONE is ok, other is error", + "maixpy": "maix.image.load_font", + "py_doc": "Load font from file\n\nArgs:\n - name: font name, used to identify font\n - path: font file path, support ttf, ttc, otf\n - size: font size, font height, by default is 16\n\n\nReturns: error code, err::ERR_NONE is ok, other is error\n" + }, + "args": [ + [ + "const std::string &", + "name", + null + ], + [ + "const char *", + "path", + null + ], + [ + "int", + "size", + "16" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err load_font(const std::string &name, const char *path, int size = 16)", + "py_def": "def load_font(name: str, path: str, size: int = 16) -> maix.err.Err" + }, + "set_default_font": { + "type": "func", + "name": "set_default_font", + "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()" + }, + "return": "error code, err::ERR_NONE is ok, other is error", + "maixpy": "maix.image.set_default_font", + "py_doc": "Set default font, if not call this method, default is hershey_plain\n\nArgs:\n - name: font name, supported names can be get by fonts()\n\n\nReturns: error code, err::ERR_NONE is ok, other is error\n" + }, + "args": [ + [ + "const std::string &", + "name", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_default_font(const std::string &name)" + }, + "fonts": { + "type": "func", + "name": "fonts", + "doc": { + "brief": "Get all loaded fonts", + "return": "all loaded fonts, string list type", + "maixpy": "maix.image.fonts", + "py_doc": "Get all loaded fonts\n\nReturns: all loaded fonts, string list type\n" + }, + "args": [], + "ret_type": "std::vector*", + "static": false, + "def": "std::vector *fonts()", + "py_def": "def fonts() -> list[str]" + }, + "string_size": { + "type": "func", + "name": "string_size", + "doc": { + "brief": "Get text rendered width and height", + "param": { + "string": "text content", + "scale": "font scale, by default(value is 1)", + "thickness": "text thickness(line width), by default(value is 1)" + }, + "return": "text rendered width and height, [width, height]", + "maixpy": "maix.image.string_size", + "py_doc": "Get text rendered width and height\n\nArgs:\n - string: text content\n - scale: font scale, by default(value is 1)\n - thickness: text thickness(line width), by default(value is 1)\n\n\nReturns: text rendered width and height, [width, height]\n" + }, + "args": [ + [ + "std::string", + "string", + null + ], + [ + "float", + "scale", + "1" + ], + [ + "int", + "thickness", + "1" + ], + [ + "const std::string &", + "font", + "\"\"" + ] + ], + "ret_type": "image::Size", + "static": false, + "def": "image::Size string_size(std::string string, float scale = 1, int thickness = 1, const std::string &font = \"\")", + "py_def": "def string_size(string: str, scale: float = 1, thickness: int = 1, font: str = '') -> Size" + }, + "cv2image": { + "type": "func", + "name": "cv2image", + "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" + }, + "return": "Image object", + "maixpy": "maix.image.cv2image", + "py_doc": "OpenCV Mat(numpy array object) to Image object\n\nArgs:\n - array: numpy array object, must be a 3-dim or 2-dim continuous array with shape hwc or hw\n\n\nReturns: Image object\n" + }, + "args": [ + [ + "py::array_t", + "array", + null + ], + [ + "bool", + "bgr", + "true" + ], + [ + "bool", + "copy", + "true" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *cv2image(py::array_t array, bool bgr = true, bool copy = true)" + }, + "image2cv": { + "type": "func", + "name": "image2cv", + "doc": { + "brief": "Image object to OpenCV Mat(numpy array object)", + "param": { + "img": "Image object" + }, + "return": "numpy array object", + "maixpy": "maix.image.image2cv", + "py_doc": "Image object to OpenCV Mat(numpy array object)\n\nArgs:\n - img: Image object\n\n\nReturns: numpy array object\n" + }, + "args": [ + [ + "image::Image *", + "img", + null + ], + [ + "bool", + "bgr", + "true" + ], + [ + "bool", + "copy", + "true" + ] + ], + "ret_type": "py::array_t", + "static": false, + "def": "py::array_t image2cv(image::Image *img, bool bgr = true, bool copy = true)", + "py_def": "def image2cv(img: Image, bgr: bool = True, copy: bool = True) -> numpy.ndarray[numpy.uint8]" + } + }, + "auto_add": true + }, + "camera": { + "type": "module", + "doc": { + "brief": "maix.camera module, access camera device and get image from it", + "maixpy": "maix.camera", + "py_doc": "maix.camera module, access camera device and get image from it" + }, + "members": { + "list_devices": { + "type": "func", + "name": "list_devices", + "doc": { + "brief": "List all supported camera devices.", + "return": "Returns the path to the camera device.", + "maixpy": "maix.camera.list_devices", + "py_doc": "List all supported camera devices.\n\nReturns: Returns the path to the camera device.\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector list_devices()" + }, + "set_regs_enable": { + "type": "func", + "name": "set_regs_enable", + "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" + }, + "maixpy": "maix.camera.set_regs_enable", + "py_doc": "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.\n\nArgs:\n - enable: enable/disable set camera registers\n" + }, + "args": [ + [ + "bool", + "enable", + "true" + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_regs_enable(bool enable = true)", + "py_def": "def set_regs_enable(enable: bool = True) -> None" + }, + "Camera": { + "type": "class", + "name": "Camera", + "doc": { + "brief": "Camera class", + "maixpy": "maix.camera.Camera", + "py_doc": "Camera class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Camera", + "doc": { + "brief": "Construct a new Camera object.\\nMaximum resolution support 2560x1440.", + "param": { + "width": "camera width, default is -1, means auto, mostly means max width of camera support", + "height": "camera height, default is -1, means auto, mostly means max height of camera support", + "format": "camera output format, default is image.Format.FMT_RGB888", + "device": "camera device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device", + "fps": "camera fps, default is -1, means auto, mostly means max fps of camera support", + "buff_num": "camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,\nmore than one buffer will accelerate image read speed, but will cost more memory.", + "open": "If true, camera will automatically call open() after creation. default is true." + }, + "maixpy": "maix.camera.Camera.__init__", + "maixcdk": "maix.camera.Camera.Camera", + "py_doc": "Construct a new Camera object.\nMaximum resolution support 2560x1440.\n\nArgs:\n - width: camera width, default is -1, means auto, mostly means max width of camera support\n - height: camera height, default is -1, means auto, mostly means max height of camera support\n - format: camera output format, default is image.Format.FMT_RGB888\n - device: camera device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device\n - fps: camera fps, default is -1, means auto, mostly means max fps of camera support\n - buff_num: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,\nmore than one buffer will accelerate image read speed, but will cost more memory.\n - open: If true, camera will automatically call open() after creation. default is true.\n" + }, + "args": [ + [ + "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" + ] + ], + "ret_type": null, + "static": false, + "def": "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)", + "py_def": "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" + }, + "get_ch_nums": { + "type": "func", + "name": "get_ch_nums", + "doc": { + "brief": "Get the number of channels supported by the camera.", + "return": "Returns the maximum number of channels.", + "maixpy": "maix.camera.Camera.get_ch_nums", + "py_doc": "Get the number of channels supported by the camera.\n\nReturns: Returns the maximum number of channels.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int get_ch_nums()", + "py_def": "def get_ch_nums(self) -> int" + }, + "open": { + "type": "func", + "name": "open", + "doc": { + "brief": "Open camera and run", + "param": { + "width": "camera width, default is -1, means auto, mostly means max width of camera support", + "height": "camera height, default is -1, means auto, mostly means max height of camera support", + "format": "camera output format, default same as the constructor's format argument", + "fps": "camera fps, default is -1, means auto, mostly means max fps of camera support", + "buff_num": "camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,\nmore than one buffer will accelerate image read speed, but will cost more memory." + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.camera.Camera.open", + "py_doc": "Open camera and run\n\nArgs:\n - width: camera width, default is -1, means auto, mostly means max width of camera support\n - height: camera height, default is -1, means auto, mostly means max height of camera support\n - format: camera output format, default same as the constructor's format argument\n - fps: camera fps, default is -1, means auto, mostly means max fps of camera support\n - buff_num: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,\nmore than one buffer will accelerate image read speed, but will cost more memory.\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "int", + "width", + "-1" + ], + [ + "int", + "height", + "-1" + ], + [ + "image::Format", + "format", + "image::FMT_INVALID" + ], + [ + "int", + "fps", + "-1" + ], + [ + "int", + "buff_num", + "-1" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err open(int width = -1, int height = -1, image::Format format = image::FMT_INVALID, int fps = -1, int buff_num = -1)", + "py_def": "def open(self, width: int = -1, height: int = -1, format: maix.image.Format = ..., fps: int = -1, buff_num: int = -1) -> maix.err.Err" + }, + "read": { + "type": "func", + "name": "read", + "doc": { + "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.\nIn MaixPy, default to None, you can create a image.Image object, then pass img.data() to buff.", + "block": "block read, default is true, means block util read image successfully,\nif set to false, will return nullptr if no image in buffer" + }, + "return": "image::Image object, if failed, return nullptr, you should delete if manually in C++", + "maixpy": "maix.camera.Camera.read", + "py_doc": "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.\n\nArgs:\n - buff: buffer to store image data, if buff is nullptr, will alloc memory automatically.\nIn MaixPy, default to None, you can create a image.Image object, then pass img.data() to buff.\n - block: block read, default is true, means block util read image successfully,\nif set to false, will return nullptr if no image in buffer\n\n\nReturns: image::Image object, if failed, return nullptr, you should delete if manually in C++\n" + }, + "args": [ + [ + "void *", + "buff", + "nullptr" + ], + [ + "size_t", + "buff_size", + "0" + ], + [ + "bool", + "block", + "true" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *read(void *buff = nullptr, size_t buff_size = 0, bool block = true)", + "py_def": "def read(self, buff: capsule = None, buff_size: int = 0, block: bool = True) -> maix.image.Image" + }, + "clear_buff": { + "type": "func", + "name": "clear_buff", + "doc": { + "brief": "Clear buff to ensure the next read image is the latest image", + "maixpy": "maix.camera.Camera.clear_buff", + "py_doc": "Clear buff to ensure the next read image is the latest image" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void clear_buff()", + "py_def": "def clear_buff(self) -> None" + }, + "skip_frames": { + "type": "func", + "name": "skip_frames", + "doc": { + "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" + }, + "maixpy": "maix.camera.Camera.skip_frames", + "py_doc": "Read some frames and drop, this is usually used avoid read not stable image when camera just opened.\n\nArgs:\n - num: number of frames to read and drop\n" + }, + "args": [ + [ + "int", + "num", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void skip_frames(int num)", + "py_def": "def skip_frames(self, num: int) -> None" + }, + "close": { + "type": "func", + "name": "close", + "doc": { + "brief": "Close camera", + "maixpy": "maix.camera.Camera.close", + "py_doc": "Close camera" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void close()", + "py_def": "def close(self) -> None" + }, + "add_channel": { + "type": "func", + "name": "add_channel", + "doc": { + "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", + "height": "camera height, default is -1, means auto, mostly means max height of camera support", + "format": "camera output format, default is RGB888", + "fps": "camera fps, default is -1, means auto, mostly means max fps of camera support", + "buff_num": "camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,\nmore than one buffer will accelerate image read speed, but will cost more memory.", + "open": "If true, camera will automatically call open() after creation. default is true." + }, + "return": "new Camera object", + "maixpy": "maix.camera.Camera.add_channel", + "py_doc": "Add a new channel and return a new Camera object, you can use close() to close this channel.\n\nArgs:\n - width: camera width, default is -1, means auto, mostly means max width of camera support\n - height: camera height, default is -1, means auto, mostly means max height of camera support\n - format: camera output format, default is RGB888\n - fps: camera fps, default is -1, means auto, mostly means max fps of camera support\n - buff_num: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,\nmore than one buffer will accelerate image read speed, but will cost more memory.\n - open: If true, camera will automatically call open() after creation. default is true.\n\n\nReturns: new Camera object\n" + }, + "args": [ + [ + "int", + "width", + "-1" + ], + [ + "int", + "height", + "-1" + ], + [ + "image::Format", + "format", + "image::FMT_RGB888" + ], + [ + "int", + "fps", + "-1" + ], + [ + "int", + "buff_num", + "3" + ], + [ + "bool", + "open", + "true" + ] + ], + "ret_type": "camera::Camera*", + "static": false, + "def": "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)", + "py_def": "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" + }, + "is_opened": { + "type": "func", + "name": "is_opened", + "doc": { + "brief": "Check if camera is opened", + "return": "true if camera is opened, false if not", + "maixpy": "maix.camera.Camera.is_opened", + "py_doc": "Check if camera is opened\n\nReturns: true if camera is opened, false if not\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_opened()", + "py_def": "def is_opened(self) -> bool" + }, + "is_closed": { + "type": "func", + "name": "is_closed", + "doc": { + "brief": "check camera device is closed or not", + "return": "closed or not, bool type", + "maixpy": "maix.camera.Camera.is_closed", + "py_doc": "check camera device is closed or not\n\nReturns: closed or not, bool type\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_closed()", + "py_def": "def is_closed(self) -> bool" + }, + "width": { + "type": "func", + "name": "width", + "doc": { + "brief": "Get camera width", + "return": "camera width", + "maixpy": "maix.camera.Camera.width", + "py_doc": "Get camera width\n\nReturns: camera width\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int width()", + "py_def": "def width(self) -> int" + }, + "height": { + "type": "func", + "name": "height", + "doc": { + "brief": "Get camera height", + "return": "camera height", + "maixpy": "maix.camera.Camera.height", + "py_doc": "Get camera height\n\nReturns: camera height\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int height()", + "py_def": "def height(self) -> int" + }, + "fps": { + "type": "func", + "name": "fps", + "doc": { + "brief": "Get camera fps", + "return": "camera fps", + "maixpy": "maix.camera.Camera.fps", + "py_doc": "Get camera fps\n\nReturns: camera fps\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int fps()", + "py_def": "def fps(self) -> int" + }, + "format": { + "type": "func", + "name": "format", + "doc": { + "brief": "Get camera output format", + "return": "camera output format, image::Format object", + "maixpy": "maix.camera.Camera.format", + "py_doc": "Get camera output format\n\nReturns: camera output format, image::Format object\n" + }, + "args": [], + "ret_type": "image::Format", + "static": false, + "def": "image::Format format()", + "py_def": "def format(self) -> maix.image.Format" + }, + "buff_num": { + "type": "func", + "name": "buff_num", + "doc": { + "brief": "Get camera buffer number", + "return": "camera buffer number", + "maixpy": "maix.camera.Camera.buff_num", + "py_doc": "Get camera buffer number\n\nReturns: camera buffer number\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int buff_num()", + "py_def": "def buff_num(self) -> int" + }, + "hmirror": { + "type": "func", + "name": "hmirror", + "doc": { + "brief": "Set/Get camera horizontal mirror", + "return": "camera horizontal mirror", + "maixpy": "maix.camera.Camera.hmirror", + "py_doc": "Set/Get camera horizontal mirror\n\nReturns: camera horizontal mirror\n" + }, + "args": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int hmirror(int value = -1)", + "py_def": "def hmirror(self, value: int = -1) -> int" + }, + "vflip": { + "type": "func", + "name": "vflip", + "doc": { + "brief": "Set/Get camera vertical flip", + "return": "camera vertical flip", + "maixpy": "maix.camera.Camera.vflip", + "py_doc": "Set/Get camera vertical flip\n\nReturns: camera vertical flip\n" + }, + "args": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int vflip(int value = -1)", + "py_def": "def vflip(self, value: int = -1) -> int" + }, + "device": { + "type": "func", + "name": "device", + "doc": { + "brief": "Get camera device path", + "return": "camera device path", + "maixpy": "maix.camera.Camera.device", + "py_doc": "Get camera device path\n\nReturns: camera device path\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string device()", + "py_def": "def device(self) -> str" + }, + "write_reg": { + "type": "func", + "name": "write_reg", + "doc": { + "brief": "Write camera register", + "param": { + "addr": "register address", + "data": "register data", + "bit_width": "register data bit width, default is 8" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.camera.Camera.write_reg", + "py_doc": "Write camera register\n\nArgs:\n - addr: register address\n - data: register data\n - bit_width: register data bit width, default is 8\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "int", + "addr", + null + ], + [ + "int", + "data", + null + ], + [ + "int", + "bit_width", + "8" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err write_reg(int addr, int data, int bit_width = 8)", + "py_def": "def write_reg(self, addr: int, data: int, bit_width: int = 8) -> maix.err.Err" + }, + "read_reg": { + "type": "func", + "name": "read_reg", + "doc": { + "brief": "Read camera register", + "param": { + "addr": "register address", + "bit_width": "register data bit width, default is 8" + }, + "return": "register data, -1 means failed", + "maixpy": "maix.camera.Camera.read_reg", + "py_doc": "Read camera register\n\nArgs:\n - addr: register address\n - bit_width: register data bit width, default is 8\n\n\nReturns: register data, -1 means failed\n" + }, + "args": [ + [ + "int", + "addr", + null + ], + [ + "int", + "bit_width", + "8" + ] + ], + "ret_type": "int", + "static": false, + "def": "int read_reg(int addr, int bit_width = 8)", + "py_def": "def read_reg(self, addr: int, bit_width: int = 8) -> int" + }, + "show_colorbar": { + "type": "func", + "name": "show_colorbar", + "doc": { + "brief": "Camera output color bar image for test", + "param": { + "enable": "enable/disable color bar" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.camera.Camera.show_colorbar", + "py_doc": "Camera output color bar image for test\n\nArgs:\n - enable: enable/disable color bar\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "bool", + "enable", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err show_colorbar(bool enable)", + "py_def": "def show_colorbar(self, enable: bool) -> maix.err.Err" + }, + "get_channel": { + "type": "func", + "name": "get_channel", + "doc": { + "brief": "Get channel of camera", + "return": "channel number", + "maixpy": "maix.camera.Camera.get_channel", + "py_doc": "Get channel of camera\n\nReturns: channel number\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int get_channel()", + "py_def": "def get_channel(self) -> int" + }, + "set_resolution": { + "type": "func", + "name": "set_resolution", + "doc": { + "brief": "Set camera resolution", + "param": { + "width": "new width", + "height": "new height" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.camera.Camera.set_resolution", + "py_doc": "Set camera resolution\n\nArgs:\n - width: new width\n - height: new height\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "int", + "width", + null + ], + [ + "int", + "height", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_resolution(int width, int height)", + "py_def": "def set_resolution(self, width: int, height: int) -> maix.err.Err" + }, + "exposure": { + "type": "func", + "name": "exposure", + "doc": { + "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\nIf value == -1, return exposure time.\nIf value != 0, set and return exposure time." + }, + "return": "camera exposure time", + "maixpy": "maix.camera.Camera.exposure", + "py_doc": "Set/Get camera exposure\n\nArgs:\n - value: exposure time. unit: us\nIf value == -1, return exposure time.\nIf value != 0, set and return exposure time.\n\n\nReturns: camera exposure time\n" + }, + "args": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int exposure(int value = -1)", + "py_def": "def exposure(self, value: int = -1) -> int" + }, + "gain": { + "type": "func", + "name": "gain", + "doc": { + "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.\nIf value == -1, returns camera gain.\nIf value != 0, set and return camera gain." + }, + "return": "camera gain", + "maixpy": "maix.camera.Camera.gain", + "py_doc": "Set/Get camera gain\n\nArgs:\n - value: camera gain.\nIf value == -1, returns camera gain.\nIf value != 0, set and return camera gain.\n\n\nReturns: camera gain\n" + }, + "args": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int gain(int value = -1)", + "py_def": "def gain(self, value: int = -1) -> int" + }, + "luma": { + "type": "func", + "name": "luma", + "doc": { + "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]\nIf value == -1, returns luma value.\nIf value != 0, set and return luma value." + }, + "return": "returns luma value", + "maixpy": "maix.camera.Camera.luma", + "py_doc": "Set/Get camera luma\n\nArgs:\n - value: luma value, range is [0, 100]\nIf value == -1, returns luma value.\nIf value != 0, set and return luma value.\n\n\nReturns: returns luma value\n" + }, + "args": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int luma(int value = -1)", + "py_def": "def luma(self, value: int = -1) -> int" + }, + "constrast": { + "type": "func", + "name": "constrast", + "doc": { + "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]\nIf value == -1, returns constrast value.\nIf value != 0, set and return constrast value." + }, + "return": "returns constrast value", + "maixpy": "maix.camera.Camera.constrast", + "py_doc": "Set/Get camera constrast\n\nArgs:\n - value: constrast value, range is [0, 100]\nIf value == -1, returns constrast value.\nIf value != 0, set and return constrast value.\n\n\nReturns: returns constrast value\n" + }, + "args": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int constrast(int value = -1)", + "py_def": "def constrast(self, value: int = -1) -> int" + }, + "saturation": { + "type": "func", + "name": "saturation", + "doc": { + "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]\nIf value == -1, returns saturation value.\nIf value != 0, set and return saturation value." + }, + "return": "returns saturation value", + "maixpy": "maix.camera.Camera.saturation", + "py_doc": "Set/Get camera saturation\n\nArgs:\n - value: saturation value, range is [0, 100]\nIf value == -1, returns saturation value.\nIf value != 0, set and return saturation value.\n\n\nReturns: returns saturation value\n" + }, + "args": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int saturation(int 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": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int awb_mode(int 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": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int exp_mode(int value = -1)", + "py_def": "def exp_mode(self, value: int = -1) -> int" + } + }, + "def": "class Camera" + } + }, + "auto_add": false + }, + "display": { + "type": "module", + "doc": { + "brief": "maix.display module, control display device and show image on it", + "maixpy": "maix.display", + "py_doc": "maix.display module, control display device and show image on it" + }, + "members": { + "Display": { + "type": "class", + "name": "Display", + "doc": { + "brief": "Display class", + "maixpy": "maix.display.Display", + "py_doc": "Display class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Display", + "doc": { + "brief": "Construct a new Display object", + "param": { + "width": "display width, by default(value is -1) means auto detect,\nif width > max device supported width, will auto set to max device supported width", + "height": "display height, by default(value is -1) means auto detect,\nif height > max device supported height, will auto set to max device supported height", + "device": "display device name, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device", + "open": "If true, display will automatically call open() after creation. default is true." + }, + "maixpy": "maix.display.Display.__init__", + "maixcdk": "maix.display.Display.Display", + "py_doc": "Construct a new Display object\n\nArgs:\n - width: display width, by default(value is -1) means auto detect,\nif width > max device supported width, will auto set to max device supported width\n - height: display height, by default(value is -1) means auto detect,\nif height > max device supported height, will auto set to max device supported height\n - device: display device name, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device\n - open: If true, display will automatically call open() after creation. default is true.\n" + }, + "args": [ + [ + "int", + "width", + "-1" + ], + [ + "int", + "height", + "-1" + ], + [ + "image::Format", + "format", + "image::FMT_RGB888" + ], + [ + "const char *", + "device", + "nullptr" + ], + [ + "bool", + "open", + "true" + ] + ], + "ret_type": null, + "static": false, + "def": "Display(int width = -1, int height = -1, image::Format format = image::FMT_RGB888, const char *device = nullptr, bool open = true)", + "py_def": "def __init__(self, width: int = -1, height: int = -1, format: maix.image.Format = ..., device: str = None, open: bool = True) -> None" + }, + "width": { + "type": "func", + "name": "width", + "doc": { + "brief": "Get display width", + "return": "width", + "maixpy": "maix.display.Display.width", + "py_doc": "Get display width\n\nReturns: width\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int width()", + "py_def": "def width(self) -> int" + }, + "height": { + "type": "func", + "name": "height", + "doc": { + "brief": "Get display height", + "param": { + "ch": "channel to get, by default(value is 0) means the first channel" + }, + "return": "height", + "maixpy": "maix.display.Display.height", + "py_doc": "Get display height\n\nArgs:\n - ch: channel to get, by default(value is 0) means the first channel\n\n\nReturns: height\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int height()", + "py_def": "def height(self) -> int" + }, + "size": { + "type": "func", + "name": "size", + "doc": { + "brief": "Get display size", + "param": { + "ch": "channel to get, by default(value is 0) means the first channel" + }, + "return": "size A list type in MaixPy, [width, height]", + "maixpy": "maix.display.Display.size", + "py_doc": "Get display size\n\nArgs:\n - ch: channel to get, by default(value is 0) means the first channel\n\n\nReturns: size A list type in MaixPy, [width, height]\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector size()", + "py_def": "def size(self) -> list[int]" + }, + "format": { + "type": "func", + "name": "format", + "doc": { + "brief": "Get display format", + "return": "format", + "maixpy": "maix.display.Display.format", + "py_doc": "Get display format\n\nReturns: format\n" + }, + "args": [], + "ret_type": "image::Format", + "static": false, + "def": "image::Format format()", + "py_def": "def format(self) -> maix.image.Format" + }, + "open": { + "type": "func", + "name": "open", + "doc": { + "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", + "height": "display height, default is -1, means auto, mostly means max height of display support", + "format": "display output format, default is RGB888" + }, + "return": "error code", + "maixpy": "maix.display.Display.open", + "py_doc": "open display device, if already opened, will return err.ERR_NONE.\n\nArgs:\n - width: display width, default is -1, means auto, mostly means max width of display support\n - height: display height, default is -1, means auto, mostly means max height of display support\n - format: display output format, default is RGB888\n\n\nReturns: error code\n" + }, + "args": [ + [ + "int", + "width", + "-1" + ], + [ + "int", + "height", + "-1" + ], + [ + "image::Format", + "format", + "image::FMT_INVALID" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err open(int width = -1, int height = -1, image::Format format = image::FMT_INVALID)", + "py_def": "def open(self, width: int = -1, height: int = -1, format: maix.image.Format = ...) -> maix.err.Err" + }, + "close": { + "type": "func", + "name": "close", + "doc": { + "brief": "close display device", + "return": "error code", + "maixpy": "maix.display.Display.close", + "py_doc": "close display device\n\nReturns: error code\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err close()", + "py_def": "def close(self) -> maix.err.Err" + }, + "add_channel": { + "type": "func", + "name": "add_channel", + "doc": { + "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", + "height": "display height, default is -1, means auto, mostly means max height of display support", + "format": "display output format, default is RGB888", + "open": "If true, display will automatically call open() after creation. default is true." + }, + "return": "new Display object", + "maixpy": "maix.display.Display.add_channel", + "py_doc": "Add a new channel and return a new Display object, you can use close() to close this channel.\n\nArgs:\n - width: display width, default is -1, means auto, mostly means max width of display support\n - height: display height, default is -1, means auto, mostly means max height of display support\n - format: display output format, default is RGB888\n - open: If true, display will automatically call open() after creation. default is true.\n\n\nReturns: new Display object\n" + }, + "args": [ + [ + "int", + "width", + "-1" + ], + [ + "int", + "height", + "-1" + ], + [ + "image::Format", + "format", + "image::FMT_RGB888" + ], + [ + "bool", + "open", + "true" + ] + ], + "ret_type": "display::Display*", + "static": false, + "def": "display::Display *add_channel(int width = -1, int height = -1, image::Format format = image::FMT_RGB888, bool open = true)", + "py_def": "def add_channel(self, width: int = -1, height: int = -1, format: maix.image.Format = ..., open: bool = True) -> Display" + }, + "is_opened": { + "type": "func", + "name": "is_opened", + "doc": { + "brief": "check display device is opened or not", + "return": "opened or not, bool type", + "maixpy": "maix.display.Display.is_opened", + "py_doc": "check display device is opened or not\n\nReturns: opened or not, bool type\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_opened()", + "py_def": "def is_opened(self) -> bool" + }, + "is_closed": { + "type": "func", + "name": "is_closed", + "doc": { + "brief": "check display device is closed or not", + "return": "closed or not, bool type", + "maixpy": "maix.display.Display.is_closed", + "py_doc": "check display device is closed or not\n\nReturns: closed or not, bool type\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_closed()", + "py_def": "def is_closed(self) -> bool" + }, + "show": { + "type": "func", + "name": "show", + "doc": { + "brief": "show image on display device, and will also send to MaixVision work station if connected.", + "param": { + "img": "image to show, image.Image object,\nif the size of image smaller than display size, will show in the center of display;\nif the size of image bigger than display size, will auto resize to display size and keep ratio, fill blank with black color.", + "fit": "image in screen fit mode, by default(value is image.FIT_CONTAIN), @see image.Fit for more details\ne.g. image.FIT_CONTAIN means resize image to fit display size and keep ratio, fill blank with black color." + }, + "return": "error code", + "maixpy": "maix.display.Display.show", + "py_doc": "show image on display device, and will also send to MaixVision work station if connected.\n\nArgs:\n - img: image to show, image.Image object,\nif the size of image smaller than display size, will show in the center of display;\nif the size of image bigger than display size, will auto resize to display size and keep ratio, fill blank with black color.\n - fit: image in screen fit mode, by default(value is image.FIT_CONTAIN), @see image.Fit for more details\ne.g. image.FIT_CONTAIN means resize image to fit display size and keep ratio, fill blank with black color.\n\n\nReturns: error code\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ], + [ + "image::Fit", + "fit", + "image::FIT_CONTAIN" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err show(image::Image &img, image::Fit fit = image::FIT_CONTAIN)", + "py_def": "def show(self, img: maix.image.Image, fit: maix.image.Fit = ...) -> maix.err.Err" + }, + "device": { + "type": "func", + "name": "device", + "doc": { + "brief": "Get display device path", + "return": "display device path", + "maixpy": "maix.display.Display.device", + "py_doc": "Get display device path\n\nReturns: display device path\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string device()", + "py_def": "def device(self) -> str" + }, + "set_backlight": { + "type": "func", + "name": "set_backlight", + "doc": { + "brief": "Set display backlight", + "param": { + "value": "backlight value, float type, range is [0, 100]" + }, + "maixpy": "maix.display.Display.set_backlight", + "py_doc": "Set display backlight\n\nArgs:\n - value: backlight value, float type, range is [0, 100]\n" + }, + "args": [ + [ + "float", + "value", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_backlight(float value)", + "py_def": "def set_backlight(self, value: float) -> None" + }, + "get_backlight": { + "type": "func", + "name": "get_backlight", + "doc": { + "brief": "Get display backlight", + "return": "value backlight value, float type, range is [0, 100]", + "maixpy": "maix.display.Display.get_backlight", + "py_doc": "Get display backlight\n\nReturns: value backlight value, float type, range is [0, 100]\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float get_backlight()", + "py_def": "def get_backlight(self) -> float" + }, + "set_hmirror": { + "type": "func", + "name": "set_hmirror", + "doc": { + "brief": "Set display mirror", + "param": { + "en": "enable/disable mirror" + }, + "maixpy": "maix.display.Display.set_hmirror", + "py_doc": "Set display mirror\n\nArgs:\n - en: enable/disable mirror\n" + }, + "args": [ + [ + "bool", + "en", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_hmirror(bool en)", + "py_def": "def set_hmirror(self, en: bool) -> maix.err.Err" + }, + "set_vflip": { + "type": "func", + "name": "set_vflip", + "doc": { + "brief": "Set display flip", + "param": { + "en": "enable/disable flip" + }, + "maixpy": "maix.display.Display.set_vflip", + "py_doc": "Set display flip\n\nArgs:\n - en: enable/disable flip\n" + }, + "args": [ + [ + "bool", + "en", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_vflip(bool en)", + "py_def": "def set_vflip(self, en: bool) -> maix.err.Err" + } + }, + "def": "class Display" + }, + "send_to_maixvision": { + "type": "func", + "name": "send_to_maixvision", + "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" + }, + "maixpy": "maix.display.send_to_maixvision", + "py_doc": "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.\n\nArgs:\n - img: image to send, image.Image object\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void send_to_maixvision(image::Image &img)" + } + }, + "auto_add": false + }, + "nn": { + "type": "module", + "doc": { + "brief": "maix.nn module" + }, + "members": { + "YOLOv8": { + "type": "class", + "name": "YOLOv8", + "doc": { + "brief": "YOLOv8 class", + "maixpy": "maix.nn.YOLOv8", + "py_doc": "YOLOv8 class" + }, + "members": { + "__init__": { + "type": "func", + "name": "YOLOv8", + "doc": { + "brief": "Constructor of YOLOv8 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.YOLOv8.__init__", + "maixcdk": "maix.nn.YOLOv8.YOLOv8", + "py_doc": "Constructor of YOLOv8 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": "YOLOv8(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.YOLOv8.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 0.5.", + "iou_th": "IoU threshold, default 0.45.", + "fit": "Resize method, default image.Fit.FIT_CONTAIN.", + "keypoint_th": "keypoint threshold, default 0.5, only for yolov8-pose model." + }, + "throw": "If image format not match model input format, will throw err::Exception.", + "return": "Object list. In C++, you should delete it after use.\nIf model is yolov8-pose, object's points have value, and if points' value < 0 means that point is invalid(conf < keypoint_th).", + "maixpy": "maix.nn.YOLOv8.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 - keypoint_th: keypoint threshold, default 0.5, only for yolov8-pose model.\n\n\nReturns: Object list. In C++, you should delete it after use.\nIf model is yolov8-pose, object's points have value, and if points' value < 0 means that point is invalid(conf < keypoint_th).\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ], + [ + "float", + "conf_th", + "0.5" + ], + [ + "float", + "iou_th", + "0.45" + ], + [ + "maix::image::Fit", + "fit", + "maix::image::FIT_CONTAIN" + ], + [ + "float", + "keypoint_th", + "0.5" + ] + ], + "ret_type": "std::vector*", + "static": false, + "def": "std::vector *detect(image::Image &img, float conf_th = 0.5, float iou_th = 0.45, maix::image::Fit fit = maix::image::FIT_CONTAIN, float keypoint_th = 0.5)", + "py_def": "def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ..., keypoint_th: float = 0.5) -> list[...]" + }, + "input_size": { + "type": "func", + "name": "input_size", + "doc": { + "brief": "Get model input size", + "return": "model input size", + "maixpy": "maix.nn.YOLOv8.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.YOLOv8.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.YOLOv8.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.YOLOv8.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" + }, + "draw_pose": { + "type": "func", + "name": "draw_pose", + "doc": { + "brief": "Draw pose keypoints on image", + "param": { + "img": "image object, maix.image.Image type.", + "points": "keypoits, int list type, [x, y, x, y ...]", + "radius": "radius of points.", + "color": "color of points.", + "body": "true, if points' length is 17*2 and body is ture, will draw lines as human body, if set to false won't draw lines, default true." + }, + "maixpy": "maix.nn.YOLOv8.draw_pose", + "py_doc": "Draw pose keypoints on image\n\nArgs:\n - img: image object, maix.image.Image type.\n - points: keypoits, int list type, [x, y, x, y ...]\n - radius: radius of points.\n - color: color of points.\n - body: true, if points' length is 17*2 and body is ture, will draw lines as human body, if set to false won't draw lines, default true.\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ], + [ + "std::vector", + "points", + null + ], + [ + "int", + "radius", + "4" + ], + [ + "image::Color", + "color", + "image::COLOR_RED" + ], + [ + "bool", + "body", + "true" + ] + ], + "ret_type": "void", + "static": false, + "def": "void draw_pose(image::Image &img, std::vector points, int radius = 4, image::Color color = image::COLOR_RED, bool body=true)", + "py_def": "def draw_pose(self, img: maix.image.Image, points: list[int], radius: int = 4, color: maix.image.Color = ..., body: bool = True) -> None" + }, + "labels": { + "type": "var", + "name": "labels", + "doc": { + "brief": "Labels list", + "maixpy": "maix.nn.YOLOv8.labels", + "py_doc": "Labels list" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector labels" + }, + "label_path": { + "type": "var", + "name": "label_path", + "doc": { + "brief": "Label file path", + "maixpy": "maix.nn.YOLOv8.label_path", + "py_doc": "Label file path" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string label_path" + }, + "mean": { + "type": "var", + "name": "mean", + "doc": { + "brief": "Get mean value, list type", + "maixpy": "maix.nn.YOLOv8.mean", + "py_doc": "Get mean value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector mean" + }, + "scale": { + "type": "var", + "name": "scale", + "doc": { + "brief": "Get scale value, list type", + "maixpy": "maix.nn.YOLOv8.scale", + "py_doc": "Get scale value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector scale" + } + }, + "def": "class YOLOv8" + }, + "MUD": { + "type": "class", + "name": "MUD", + "doc": { + "brief": "MUD(model universal describe file) class", + "maixpy": "maix.nn.MUD", + "py_doc": "MUD(model universal describe file) class" + }, + "members": { + "__init__": { + "type": "func", + "name": "MUD", + "doc": { + "brief": "MUD constructor", + "param": { + "model_path": "direction [in], model file path, model format can be MUD(model universal describe file) file.\nIf model_path set, will load model from file, load failed will raise err.Exception.\nIf model_path not set, you can load model later by load function." + }, + "maixpy": "maix.nn.MUD.__init__", + "maixcdk": "maix.nn.MUD.MUD", + "py_doc": "MUD constructor\n\nArgs:\n - model_path: direction [in], model file path, model format can be MUD(model universal describe file) file.\nIf model_path set, will load model from file, load failed will raise err.Exception.\nIf model_path not set, you can load model later by load function.\n" + }, + "args": [ + [ + "const char *", + "model_path", + "nullptr" + ] + ], + "ret_type": null, + "static": false, + "def": "MUD(const char *model_path = nullptr)" + }, + "load": { + "type": "func", + "name": "load", + "doc": { + "brief": "Load model from file", + "param": { + "model_path": "direction [in], model file path, model format can be MUD(model universal describe file) file." + }, + "return": "error code, if load success, return err::ERR_NONE", + "maixpy": "maix.nn.MUD.load", + "py_doc": "Load model from file\n\nArgs:\n - model_path: direction [in], model file path, model format can be MUD(model universal describe file) file.\n\n\nReturns: error code, if load success, return err::ERR_NONE\n" + }, + "args": [ + [ + "const std::string &", + "model_path", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err load(const std::string &model_path)", + "py_def": "def load(self, model: str) -> maix.err.Err" + }, + "type": { + "type": "var", + "name": "type", + "doc": { + "brief": "Model type, string type", + "maixpy": "maix.nn.MUD.type", + "py_doc": "Model type, string type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string type" + }, + "items": { + "type": "var", + "name": "items", + "doc": { + "brief": "Model config items, different model type has different config items", + "maixpy": "maix.nn.MUD.items", + "py_doc": "Model config items, different model type has different config items" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::map> items" + } + }, + "def": "class MUD" + }, + "LayerInfo": { + "type": "class", + "name": "LayerInfo", + "doc": { + "brief": "NN model layer info", + "maixpy": "maix.nn.LayerInfo", + "py_doc": "NN model layer info" + }, + "members": { + "__init__": { + "type": "func", + "name": "LayerInfo", + "doc": { + "brief": "LayerInfo constructor", + "param": { + "name": "direction [in], layer name", + "dtype": "direction [in], layer data type", + "shape": "direction [in], layer shape" + }, + "maixpy": "maix.nn.LayerInfo.__init__", + "maixcdk": "maix.nn.LayerInfo.LayerInfo", + "py_doc": "LayerInfo constructor\n\nArgs:\n - name: direction [in], layer name\n - dtype: direction [in], layer data type\n - shape: direction [in], layer shape\n" + }, + "args": [ + [ + "const std::string &", + "name", + "\"\"" + ], + [ + "tensor::DType", + "dtype", + "tensor::DType::FLOAT32" + ], + [ + "std::vector", + "shape", + "std::vector()" + ] + ], + "ret_type": null, + "static": false, + "def": "LayerInfo(const std::string &name = \"\", tensor::DType dtype = tensor::DType::FLOAT32, std::vector shape = std::vector())", + "py_def": "def __init__(self, name: str = '', dtype: maix.tensor.DType = ..., shape: list[int] = []) -> None" + }, + "name": { + "type": "var", + "name": "name", + "doc": { + "brief": "Layer name", + "maixpy": "maix.nn.LayerInfo.name", + "py_doc": "Layer name" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string name" + }, + "dtype": { + "type": "var", + "name": "dtype", + "doc": { + "brief": "Layer data type", + "attention": "If model is quantized, this is the real quantized data type like int8 float16,\nin most scene, inputs and outputs we actually use float32 in API like forward.", + "maixpy": "maix.nn.LayerInfo.dtype", + "py_doc": "Layer data type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "tensor::DType dtype" + }, + "shape": { + "type": "var", + "name": "shape", + "doc": { + "brief": "Layer shape", + "maixpy": "maix.nn.LayerInfo.shape", + "py_doc": "Layer shape" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector shape" + }, + "shape_int": { + "type": "func", + "name": "shape_int", + "doc": { + "brief": "Shape as one int type, multiply all dims of shape", + "maixpy": "maix.nn.LayerInfo.shape_int", + "py_doc": "Shape as one int type, multiply all dims of shape" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int shape_int()", + "py_def": "def shape_int(self) -> int" + }, + "to_str": { + "type": "func", + "name": "to_str", + "doc": { + "brief": "To string", + "maixpy": "maix.nn.LayerInfo.to_str", + "py_doc": "To string" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string to_str()", + "py_def": "def to_str(self) -> str" + }, + "__str__": { + "type": "func", + "name": "__str__", + "doc": { + "brief": "To string", + "maixpy": "maix.nn.LayerInfo.__str__", + "py_doc": "To string" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string __str__()", + "py_def": "def __str__(self) -> str" + } + }, + "def": "class LayerInfo" + }, + "NN": { + "type": "class", + "name": "NN", + "doc": { + "brief": "Neural network class", + "maixpy": "maix.nn.NN", + "py_doc": "Neural network class" + }, + "members": { + "__init__": { + "type": "func", + "name": "NN", + "doc": { + "brief": "Neural network constructor", + "param": { + "model": "direction [in], model file path, model format can be MUD(model universal describe file) file.\nIf model_path set, will load model from file, load failed will raise err.Exception.\nIf model_path not set, you can load model later by load function." + }, + "maixpy": "maix.nn.NN.__init__", + "py_doc": "Neural network constructor\n\nArgs:\n - model: direction [in], model file path, model format can be MUD(model universal describe file) file.\nIf model_path set, will load model from file, load failed will raise err.Exception.\nIf model_path not set, you can load model later by load function.\n" + }, + "args": [ + [ + "const std::string &", + "model", + "\"\"" + ] + ], + "ret_type": null, + "static": false, + "def": "NN(const std::string &model = \"\")", + "py_def": "def __init__(self, model: str = '') -> None" + }, + "load": { + "type": "func", + "name": "load", + "doc": { + "brief": "Load model from file", + "param": { + "model": "direction [in], model file path, model format can be MUD(model universal describe file) file." + }, + "return": "error code, if load success, return err::ERR_NONE", + "maixpy": "maix.nn.NN.load", + "py_doc": "Load model from file\n\nArgs:\n - model: direction [in], model file path, model format can be MUD(model universal describe file) file.\n\n\nReturns: error code, if load success, return err::ERR_NONE\n" + }, + "args": [ + [ + "const std::string &", + "model", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err load(const std::string &model)", + "py_def": "def load(self, model: str) -> maix.err.Err" + }, + "loaded": { + "type": "func", + "name": "loaded", + "doc": { + "brief": "Is model loaded", + "return": "true if model loaded, else false", + "maixpy": "maix.nn.NN.loaded", + "py_doc": "Is model loaded\n\nReturns: true if model loaded, else false\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool loaded()", + "py_def": "def loaded(self) -> bool" + }, + "inputs_info": { + "type": "func", + "name": "inputs_info", + "doc": { + "brief": "Get model input layer info", + "return": "input layer info", + "maixpy": "maix.nn.NN.inputs_info", + "py_doc": "Get model input layer info\n\nReturns: input layer info\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector inputs_info()", + "py_def": "def inputs_info(self) -> list[LayerInfo]" + }, + "outputs_info": { + "type": "func", + "name": "outputs_info", + "doc": { + "brief": "Get model output layer info", + "return": "output layer info", + "maixpy": "maix.nn.NN.outputs_info", + "py_doc": "Get model output layer info\n\nReturns: output layer info\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector outputs_info()", + "py_def": "def outputs_info(self) -> list[LayerInfo]" + }, + "extra_info": { + "type": "func", + "name": "extra_info", + "doc": { + "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.", + "maixpy": "maix.nn.NN.extra_info", + "py_doc": "Get model extra info define in MUD file\n\nReturns: extra info, dict type, key-value object, attention: key and value are all string type.\n" + }, + "args": [], + "ret_type": "std::map", + "static": false, + "def": "std::map extra_info()", + "py_def": "def extra_info(self) -> dict[str, str]" + }, + "forward": { + "type": "func", + "name": "forward", + "doc": { + "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" + }, + "return": "output tensor. In C++, you should manually delete tensors in return value and return value.", + "maixpy": "maix.nn.NN.forward", + "py_doc": "forward run model, get output of model,\nthis is specially for MaixPy, not efficient, but easy to use in MaixPy\n\nArgs:\n - input: direction [in], input tensor\n\n\nReturns: output tensor. In C++, you should manually delete tensors in return value and return value.\n" + }, + "args": [ + [ + "tensor::Tensors &", + "inputs", + null + ] + ], + "ret_type": "tensor::Tensors*", + "static": false, + "def": "tensor::Tensors *forward(tensor::Tensors &inputs)", + "py_def": "def forward(self, inputs: maix.tensor.Tensors) -> maix.tensor.Tensors" + }, + "forward_image": { + "type": "func", + "name": "forward_image", + "doc": { + "brief": "forward model, param is image", + "param": { + "img": "input image", + "mean": "mean value, a list type, e.g. [0.485, 0.456, 0.406], default is empty list means not normalize.", + "scale": "scale value, a list type, e.g. [1/0.229, 1/0.224, 1/0.225], default is empty list means not normalize.", + "fit": "fit mode, if the image size of input not equal to model's input, it will auto resize use this fit method,\ndefault is image.Fit.FIT_FILL for easy coordinate calculation, but for more accurate result, use image.Fit.FIT_CONTAIN is better.", + "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.\nDefault true to avoid problems, you can set it to false manually to make speed faster." + }, + "return": "output tensor. In C++, you should manually delete tensors in return value and return value.", + "maixpy": "maix.nn.NN.forward_image", + "py_doc": "forward model, param is image\n\nArgs:\n - img: input image\n - mean: mean value, a list type, e.g. [0.485, 0.456, 0.406], default is empty list means not normalize.\n - scale: scale value, a list type, e.g. [1/0.229, 1/0.224, 1/0.225], default is empty list means not normalize.\n - fit: fit mode, if the image size of input not equal to model's input, it will auto resize use this fit method,\ndefault is image.Fit.FIT_FILL for easy coordinate calculation, but for more accurate result, use image.Fit.FIT_CONTAIN is better.\n - 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.\nDefault true to avoid problems, you can set it to false manually to make speed faster.\n\n\nReturns: output tensor. In C++, you should manually delete tensors in return value and return value.\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ], + [ + "std::vector", + "mean", + "std::vector()" + ], + [ + "std::vector", + "scale", + "std::vector()" + ], + [ + "image::Fit", + "fit", + "image::Fit::FIT_FILL" + ], + [ + "bool", + "copy_result", + "true" + ] + ], + "ret_type": "tensor::Tensors*", + "static": false, + "def": "tensor::Tensors *forward_image(image::Image &img, std::vector mean = std::vector(), std::vector scale = std::vector(), 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" + }, + "FaceObject": { + "type": "class", + "name": "FaceObject", + "doc": { + "brief": "Face object", + "maixpy": "maix.nn.FaceObject", + "py_doc": "Face object" + }, + "members": { + "__init__": { + "type": "func", + "name": "FaceObject", + "doc": { + "brief": "Constructor", + "maixpy": "maix.nn.FaceObject.__init__", + "maixcdk": "maix.nn.FaceObject.FaceObject", + "py_doc": "Constructor" + }, + "args": [ + [ + "int", + "x", + "0" + ], + [ + "int", + "y", + "0" + ], + [ + "int", + "w", + "0" + ], + [ + "int", + "h", + "0" + ], + [ + "int", + "class_id", + "0" + ], + [ + "float", + "score", + "0" + ], + [ + "std::vector", + "points", + "std::vector()" + ], + [ + "std::vector", + "feature", + "std::vector()" + ], + [ + "image::Image", + "face", + "image::Image()" + ] + ], + "ret_type": null, + "static": false, + "def": "FaceObject(int x = 0, int y = 0, int w = 0, int h = 0, int class_id = 0, float score = 0, std::vector points = std::vector(), std::vector feature = std::vector(), image::Image face = image::Image())" + }, + "__str__": { + "type": "func", + "name": "to_str", + "doc": { + "brief": "FaceObject info to string", + "return": "FaceObject info string", + "maixpy": "maix.nn.FaceObject.__str__", + "maixcdk": "maix.nn.FaceObject.to_str", + "py_doc": "FaceObject info to string\n\nReturns: FaceObject 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": "FaceObject left top coordinate x", + "maixpy": "maix.nn.FaceObject.x", + "py_doc": "FaceObject left top coordinate x" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int x" + }, + "y": { + "type": "var", + "name": "y", + "doc": { + "brief": "FaceObject left top coordinate y", + "maixpy": "maix.nn.FaceObject.y", + "py_doc": "FaceObject left top coordinate y" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int y" + }, + "w": { + "type": "var", + "name": "w", + "doc": { + "brief": "FaceObject width", + "maixpy": "maix.nn.FaceObject.w", + "py_doc": "FaceObject width" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int w" + }, + "h": { + "type": "var", + "name": "h", + "doc": { + "brief": "FaceObject height", + "maixpy": "maix.nn.FaceObject.h", + "py_doc": "FaceObject height" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int h" + }, + "class_id": { + "type": "var", + "name": "class_id", + "doc": { + "brief": "FaceObject class id", + "maixpy": "maix.nn.FaceObject.class_id", + "py_doc": "FaceObject class id" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int class_id" + }, + "score": { + "type": "var", + "name": "score", + "doc": { + "brief": "FaceObject score", + "maixpy": "maix.nn.FaceObject.score", + "py_doc": "FaceObject score" + }, + "value": null, + "static": false, + "readonly": false, + "def": "float score" + }, + "points": { + "type": "var", + "name": "points", + "doc": { + "brief": "keypoints", + "maixpy": "maix.nn.FaceObject.points", + "py_doc": "keypoints" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector points" + }, + "feature": { + "type": "var", + "name": "feature", + "doc": { + "brief": "feature, float list type", + "maixpy": "maix.nn.FaceObject.feature", + "py_doc": "feature, float list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector feature" + }, + "face": { + "type": "var", + "name": "face", + "doc": { + "brief": "face image", + "maixpy": "maix.nn.FaceObject.face", + "py_doc": "face image" + }, + "value": null, + "static": false, + "readonly": false, + "def": "image::Image face" + } + }, + "def": "class FaceObject" + }, + "FaceRecognizer": { + "type": "class", + "name": "FaceRecognizer", + "doc": { + "brief": "FaceRecognizer class", + "maixpy": "maix.nn.FaceRecognizer", + "py_doc": "FaceRecognizer class" + }, + "members": { + "__init__": { + "type": "func", + "name": "FaceRecognizer", + "doc": { + "brief": "Constructor of FaceRecognizer class", + "param": { + "detect_model": "face detect model path, default empty, you can load model later by load function.", + "feature_model": "feature extract model" + }, + "throw": "If model arg is not empty and load failed, will throw err::Exception.", + "maixpy": "maix.nn.FaceRecognizer.__init__", + "maixcdk": "maix.nn.FaceRecognizer.FaceRecognizer", + "py_doc": "Constructor of FaceRecognizer class\n\nArgs:\n - detect_model: face detect model path, default empty, you can load model later by load function.\n - feature_model: feature extract model\n" + }, + "args": [ + [ + "const string &", + "detect_model", + "\"\"" + ], + [ + "const string &", + "feature_model", + "\"\"" + ] + ], + "ret_type": null, + "static": false, + "def": "FaceRecognizer(const string &detect_model = \"\", const string &feature_model = \"\")" + }, + "load": { + "type": "func", + "name": "load", + "doc": { + "brief": "Load model from file", + "param": { + "detect_model": "face detect model path, default empty, you can load model later by load function.", + "feature_model": "feature extract model" + }, + "return": "err::Err", + "maixpy": "maix.nn.FaceRecognizer.load", + "py_doc": "Load model from file\n\nArgs:\n - detect_model: face detect model path, default empty, you can load model later by load function.\n - feature_model: feature extract model\n\n\nReturns: err::Err\n" + }, + "args": [ + [ + "const string &", + "detect_model", + null + ], + [ + "const string &", + "feature_model", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err load(const string &detect_model, const string &feature_model)", + "py_def": "def load(self, model: str) -> maix.err.Err" + }, + "recognize": { + "type": "func", + "name": "recognize", + "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": "Detect confidence threshold, default 0.5.", + "iou_th": "Detect IoU threshold, default 0.45.", + "compare_th": "Compare two face score threshold, default 0.8, if two faces' score < this value, will see this face fas unknown.", + "get_feature": "return feature or not, if true will copy features to result, if false will not copy feature to result to save time and memory.", + "get_face": "return face image or not, if true result object's face attribute will valid, or face sttribute is empty. Get face image will alloc memory and copy image, so will lead to slower speed.", + "fit": "Resize method, default image.Fit.FIT_CONTAIN." + }, + "throw": "If image format not match model input format, will throw err::Exception.", + "return": "FaceObject list. In C++, you should delete it after use.", + "maixpy": "maix.nn.FaceRecognizer.recognize", + "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: Detect confidence threshold, default 0.5.\n - iou_th: Detect IoU threshold, default 0.45.\n - compare_th: Compare two face score threshold, default 0.8, if two faces' score < this value, will see this face fas unknown.\n - get_feature: return feature or not, if true will copy features to result, if false will not copy feature to result to save time and memory.\n - get_face: return face image or not, if true result object's face attribute will valid, or face sttribute is empty. Get face image will alloc memory and copy image, so will lead to slower speed.\n - fit: Resize method, default image.Fit.FIT_CONTAIN.\n\n\nReturns: FaceObject list. In C++, you should delete it after use.\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ], + [ + "float", + "conf_th", + "0.5" + ], + [ + "float", + "iou_th", + "0.45" + ], + [ + "float", + "compare_th", + "0.8" + ], + [ + "bool", + "get_feature", + "false" + ], + [ + "bool", + "get_face", + "false" + ], + [ + "maix::image::Fit", + "fit", + "maix::image::FIT_CONTAIN" + ] + ], + "ret_type": "std::vector*", + "static": false, + "def": "std::vector *recognize(image::Image &img, float conf_th = 0.5, float iou_th = 0.45, float compare_th = 0.8, bool get_feature = false, bool get_face = false, maix::image::Fit fit = maix::image::FIT_CONTAIN)" + }, + "add_face": { + "type": "func", + "name": "add_face", + "doc": { + "brief": "Add face to lib", + "param": { + "face": "face object, find by recognize", + "label": "face label(name)" + }, + "maixpy": "maix.nn.FaceRecognizer.add_face", + "py_doc": "Add face to lib\n\nArgs:\n - face: face object, find by recognize\n - label: face label(name)\n" + }, + "args": [ + [ + "nn::FaceObject *", + "face", + null + ], + [ + "const std::string &", + "label", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err add_face(nn::FaceObject *face, const std::string &label)" + }, + "remove_face": { + "type": "func", + "name": "remove_face", + "doc": { + "brief": "remove face from lib", + "param": { + "idx": "index of face in lib, default -1 means use label, idx and label must have one, idx have high priotiry.", + "label": "which face to remove, default to empty string mean use idx, idx and label must have one, idx have high priotiry." + }, + "maixpy": "maix.nn.FaceRecognizer.remove_face", + "py_doc": "remove face from lib\n\nArgs:\n - idx: index of face in lib, default -1 means use label, idx and label must have one, idx have high priotiry.\n - label: which face to remove, default to empty string mean use idx, idx and label must have one, idx have high priotiry.\n" + }, + "args": [ + [ + "int", + "idx", + "-1" + ], + [ + "const std::string &", + "label", + "\"\"" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err remove_face(int idx = -1, const std::string &label = \"\")" + }, + "save_faces": { + "type": "func", + "name": "save_faces", + "doc": { + "brief": "Save faces info to a file", + "param": { + "path": "where to save, string type." + }, + "return": "err.Err type", + "maixpy": "maix.nn.FaceRecognizer.save_faces", + "py_doc": "Save faces info to a file\n\nArgs:\n - path: where to save, string type.\n\n\nReturns: err.Err type\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err save_faces(const std::string &path)" + }, + "load_faces": { + "type": "func", + "name": "load_faces", + "doc": { + "brief": "Load faces info from a file", + "param": { + "path": "from where to load, string type." + }, + "return": "err::Err type", + "maixpy": "maix.nn.FaceRecognizer.load_faces", + "py_doc": "Load faces info from a file\n\nArgs:\n - path: from where to load, string type.\n\n\nReturns: err::Err type\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err load_faces(const std::string &path)" + }, + "input_size": { + "type": "func", + "name": "input_size", + "doc": { + "brief": "Get model input size", + "return": "model input size", + "maixpy": "maix.nn.FaceRecognizer.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.FaceRecognizer.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.FaceRecognizer.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.FaceRecognizer.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_detector": { + "type": "var", + "name": "mean_detector", + "doc": { + "brief": "Get mean value, list type", + "maixpy": "maix.nn.FaceRecognizer.mean_detector", + "py_doc": "Get mean value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector mean_detector" + }, + "scale_detector": { + "type": "var", + "name": "scale_detector", + "doc": { + "brief": "Get scale value, list type", + "maixpy": "maix.nn.FaceRecognizer.scale_detector", + "py_doc": "Get scale value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector scale_detector" + }, + "mean_feature": { + "type": "var", + "name": "mean_feature", + "doc": { + "brief": "Get mean value, list type", + "maixpy": "maix.nn.FaceRecognizer.mean_feature", + "py_doc": "Get mean value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector mean_feature" + }, + "scale_feature": { + "type": "var", + "name": "scale_feature", + "doc": { + "brief": "Get scale value, list type", + "maixpy": "maix.nn.FaceRecognizer.scale_feature", + "py_doc": "Get scale value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector scale_feature" + }, + "labels": { + "type": "var", + "name": "labels", + "doc": { + "brief": "labels, list type, first is \\\"unknown\\\"", + "maixpy": "maix.nn.FaceRecognizer.labels", + "py_doc": "labels, list type, first is \"unknown\"" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector labels" + }, + "features": { + "type": "var", + "name": "features", + "doc": { + "brief": "features", + "maixpy": "maix.nn.FaceRecognizer.features", + "py_doc": "features" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector> features" + } + }, + "def": "class FaceRecognizer" + }, + "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", + "points", + "std::vector()" + ] + ], + "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 points = std::vector())" + }, + "__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", + "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 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", + "points", + "std::vector()" + ] + ], + "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 points = std::vector())" + }, + "__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 points" + } + }, + "def": "class ObjectFloat" + }, + "YOLOv5": { + "type": "class", + "name": "YOLOv5", + "doc": { + "brief": "YOLOv5 class", + "maixpy": "maix.nn.YOLOv5", + "py_doc": "YOLOv5 class" + }, + "members": { + "__init__": { + "type": "func", + "name": "YOLOv5", + "doc": { + "brief": "Constructor of YOLOv5 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.YOLOv5.__init__", + "maixcdk": "maix.nn.YOLOv5.YOLOv5", + "py_doc": "Constructor of YOLOv5 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": "YOLOv5(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.YOLOv5.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 0.5.", + "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.YOLOv5.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": [ + [ + "image::Image &", + "img", + null + ], + [ + "float", + "conf_th", + "0.5" + ], + [ + "float", + "iou_th", + "0.45" + ], + [ + "maix::image::Fit", + "fit", + "maix::image::FIT_CONTAIN" + ] + ], + "ret_type": "std::vector*", + "static": false, + "def": "std::vector *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 = ..., keypoint_th: float = 0.5) -> list[...]" + }, + "input_size": { + "type": "func", + "name": "input_size", + "doc": { + "brief": "Get model input size", + "return": "model input size", + "maixpy": "maix.nn.YOLOv5.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.YOLOv5.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.YOLOv5.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.YOLOv5.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" + }, + "labels": { + "type": "var", + "name": "labels", + "doc": { + "brief": "Labels list", + "maixpy": "maix.nn.YOLOv5.labels", + "py_doc": "Labels list" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector labels" + }, + "label_path": { + "type": "var", + "name": "label_path", + "doc": { + "brief": "Label file path", + "maixpy": "maix.nn.YOLOv5.label_path", + "py_doc": "Label file path" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string label_path" + }, + "mean": { + "type": "var", + "name": "mean", + "doc": { + "brief": "Get mean value, list type", + "maixpy": "maix.nn.YOLOv5.mean", + "py_doc": "Get mean value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector mean" + }, + "scale": { + "type": "var", + "name": "scale", + "doc": { + "brief": "Get scale value, list type", + "maixpy": "maix.nn.YOLOv5.scale", + "py_doc": "Get scale value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector scale" + }, + "anchors": { + "type": "var", + "name": "anchors", + "doc": { + "brief": "Get anchors", + "maixpy": "maix.nn.YOLOv5.anchors", + "py_doc": "Get anchors" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector anchors" + } + }, + "def": "class YOLOv5" + }, + "F": { + "type": "module", + "doc": { + "brief": "maix.nn.F module" + }, + "members": { + "softmax": { + "type": "func", + "name": "softmax", + "doc": { + "brief": "Softmax, only support 1D tensor, multi-dimension tensor will be treated as 1D tensor", + "param": { + "tensor": "input tensor", + "replace": "change input tensor data directly, if not, will create a new tensor" + }, + "throw": "If arg error, will raise err.Exception error", + "return": "output tensor, if arg replace is true, return the arg tensor's address.\nIf not replace, return a new object, so In C++, you should delete it manually in this case!", + "maixpy": "maix.nn.F.softmax", + "py_doc": "Softmax, only support 1D tensor, multi-dimension tensor will be treated as 1D tensor\n\nArgs:\n - tensor: input tensor\n - replace: change input tensor data directly, if not, will create a new tensor\n\n\nReturns: output tensor, if arg replace is true, return the arg tensor's address.\nIf not replace, return a new object, so In C++, you should delete it manually in this case!\n" + }, + "args": [ + [ + "tensor::Tensor *", + "tensor", + null + ], + [ + "bool", + "replace", + null + ] + ], + "ret_type": "tensor::Tensor*", + "static": false, + "def": "tensor::Tensor *softmax(tensor::Tensor *tensor, bool replace)", + "py_def": "def softmax(tensor: maix.tensor.Tensor, replace: bool) -> maix.tensor.Tensor" + } + }, + "auto_add": true + }, + "SelfLearnClassifier": { + "type": "class", + "name": "SelfLearnClassifier", + "doc": { + "brief": "SelfLearnClassifier", + "maixpy": "maix.nn.SelfLearnClassifier", + "py_doc": "SelfLearnClassifier" + }, + "members": { + "__init__": { + "type": "func", + "name": "SelfLearnClassifier", + "doc": { + "brief": "Construct a new SelfLearnClassifier object", + "param": { + "model": "MUD model path, if empty, will not load model, you can call load_model() later.\nif not empty, will load model and will raise err::Exception if load failed." + }, + "maixpy": "maix.nn.SelfLearnClassifier.__init__", + "maixcdk": "maix.nn.SelfLearnClassifier.SelfLearnClassifier", + "py_doc": "Construct a new SelfLearnClassifier object\n\nArgs:\n - model: MUD model path, if empty, will not load model, you can call load_model() later.\nif not empty, will load model and will raise err::Exception if load failed.\n" + }, + "args": [ + [ + "const std::string &", + "model", + "\"\"" + ] + ], + "ret_type": null, + "static": false, + "def": "SelfLearnClassifier(const std::string &model = \"\")", + "py_def": "def __init__(self, model: str = '') -> None" + }, + "load_model": { + "type": "func", + "name": "load_model", + "doc": { + "brief": "Load model from file, model format is .mud,\\nMUD file should contain [extra] section, have key-values:\\n- model_type: classifier_no_top\\n- input_type: rgb or bgr\\n- mean: 123.675, 116.28, 103.53\\n- scale: 0.017124753831663668, 0.01750700280112045, 0.017429193899782137", + "param": { + "model": "MUD model path" + }, + "return": "error code, if load failed, return error code", + "maixpy": "maix.nn.SelfLearnClassifier.load_model", + "py_doc": "Load model from file, model format is .mud,\nMUD file should contain [extra] section, have key-values:\n- model_type: classifier_no_top\n- input_type: rgb or bgr\n- mean: 123.675, 116.28, 103.53\n- scale: 0.017124753831663668, 0.01750700280112045, 0.017429193899782137\n\nArgs:\n - model: MUD model path\n\n\nReturns: error code, if load failed, return error code\n" + }, + "args": [ + [ + "const string &", + "model", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err load_model(const string &model)", + "py_def": "def load_model(self, model: str) -> maix.err.Err" + }, + "classify": { + "type": "func", + "name": "classify", + "doc": { + "brief": "Classify image", + "param": { + "img": "image, format should match model input_type\uff0c or will raise err.Exception", + "fit": "image resize fit mode, default Fit.FIT_COVER, see image.Fit." + }, + "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 (idx, distance), smaller distance means more similar. In C++, you need to delete it after use.", + "maixpy": "maix.nn.SelfLearnClassifier.classify", + "py_doc": "Classify image\n\nArgs:\n - img: image, format should match model input_type\uff0c or will raise err.Exception\n - fit: image resize fit mode, default Fit.FIT_COVER, see image.Fit.\n\n\nReturns: result, a list of (idx, distance), smaller distance means more similar. In C++, you need to delete it after use.\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ], + [ + "image::Fit", + "fit", + "image::FIT_COVER" + ] + ], + "ret_type": "std::vector>*", + "static": false, + "def": "std::vector> *classify(image::Image &img, image::Fit fit = image::FIT_COVER)", + "py_def": "def classify(self, img: maix.image.Image, softmax: bool = True, fit: maix.image.Fit = ...) -> list[tuple[int, float]]" + }, + "add_class": { + "type": "func", + "name": "add_class", + "doc": { + "brief": "Add a class to recognize", + "param": { + "img": "Add a image as a new class", + "fit": "image resize fit mode, default Fit.FIT_COVER, see image.Fit." + }, + "maixpy": "maix.nn.SelfLearnClassifier.add_class", + "py_doc": "Add a class to recognize\n\nArgs:\n - img: Add a image as a new class\n - fit: image resize fit mode, default Fit.FIT_COVER, see image.Fit.\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ], + [ + "image::Fit", + "fit", + "image::FIT_COVER" + ] + ], + "ret_type": "void", + "static": false, + "def": "void add_class(image::Image &img, image::Fit fit = image::FIT_COVER)", + "py_def": "def add_class(self, img: maix.image.Image, fit: maix.image.Fit = ...) -> None" + }, + "class_num": { + "type": "func", + "name": "class_num", + "doc": { + "brief": "Get class number", + "maixpy": "maix.nn.SelfLearnClassifier.class_num", + "py_doc": "Get class number" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int class_num()", + "py_def": "def class_num(self) -> int" + }, + "rm_class": { + "type": "func", + "name": "rm_class", + "doc": { + "brief": "Remove a class", + "param": { + "idx": "index, value from 0 to class_num();" + }, + "maixpy": "maix.nn.SelfLearnClassifier.rm_class", + "py_doc": "Remove a class\n\nArgs:\n - idx: index, value from 0 to class_num();\n" + }, + "args": [ + [ + "int", + "idx", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err rm_class(int idx)", + "py_def": "def rm_class(self, idx: int) -> maix.err.Err" + }, + "add_sample": { + "type": "func", + "name": "add_sample", + "doc": { + "brief": "Add sample, you should call learn method after add some samples to learn classes.\\nSample image can be any of classes we already added.", + "param": { + "img": "Add a image as a new sample." + }, + "maixpy": "maix.nn.SelfLearnClassifier.add_sample", + "py_doc": "Add sample, you should call learn method after add some samples to learn classes.\nSample image can be any of classes we already added.\n\nArgs:\n - img: Add a image as a new sample.\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ], + [ + "image::Fit", + "fit", + "image::FIT_COVER" + ] + ], + "ret_type": "void", + "static": false, + "def": "void add_sample(image::Image &img, image::Fit fit = image::FIT_COVER)", + "py_def": "def add_sample(self, img: maix.image.Image, fit: maix.image.Fit = ...) -> None" + }, + "rm_sample": { + "type": "func", + "name": "rm_sample", + "doc": { + "brief": "Remove a sample", + "param": { + "idx": "index, value from 0 to sample_num();" + }, + "maixpy": "maix.nn.SelfLearnClassifier.rm_sample", + "py_doc": "Remove a sample\n\nArgs:\n - idx: index, value from 0 to sample_num();\n" + }, + "args": [ + [ + "int", + "idx", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err rm_sample(int idx)", + "py_def": "def rm_sample(self, idx: int) -> maix.err.Err" + }, + "sample_num": { + "type": "func", + "name": "sample_num", + "doc": { + "brief": "Get sample number", + "maixpy": "maix.nn.SelfLearnClassifier.sample_num", + "py_doc": "Get sample number" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int sample_num()", + "py_def": "def sample_num(self) -> int" + }, + "learn": { + "type": "func", + "name": "learn", + "doc": { + "brief": "Start auto learn class features from classes image and samples.\\nYou should call this method after you add some samples.", + "return": "learn epoch(times), 0 means learn nothing.", + "maixpy": "maix.nn.SelfLearnClassifier.learn", + "py_doc": "Start auto learn class features from classes image and samples.\nYou should call this method after you add some samples.\n\nReturns: learn epoch(times), 0 means learn nothing.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int learn()", + "py_def": "def learn(self) -> int" + }, + "clear": { + "type": "func", + "name": "clear", + "doc": { + "brief": "Clear all class and samples", + "maixpy": "maix.nn.SelfLearnClassifier.clear", + "py_doc": "Clear all class and samples" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void clear()", + "py_def": "def clear(self) -> None" + }, + "input_size": { + "type": "func", + "name": "input_size", + "doc": { + "brief": "Get model input size, only for image input", + "return": "model input size", + "maixpy": "maix.nn.SelfLearnClassifier.input_size", + "py_doc": "Get model input size, only for image input\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, only for image input", + "return": "model input size of width", + "maixpy": "maix.nn.SelfLearnClassifier.input_width", + "py_doc": "Get model input width, only for image input\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, only for image input", + "return": "model input size of height", + "maixpy": "maix.nn.SelfLearnClassifier.input_height", + "py_doc": "Get model input height, only for image input\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, only for image input", + "return": "input image format, image::Format type.", + "maixpy": "maix.nn.SelfLearnClassifier.input_format", + "py_doc": "Get input image format, only for image input\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" + }, + "input_shape": { + "type": "func", + "name": "input_shape", + "doc": { + "brief": "Get input shape, if have multiple input, only return first input shape", + "return": "input shape, list type", + "maixpy": "maix.nn.SelfLearnClassifier.input_shape", + "py_doc": "Get input shape, if have multiple input, only return first input shape\n\nReturns: input shape, list type\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector input_shape()", + "py_def": "def input_shape(self) -> list[int]" + }, + "save": { + "type": "func", + "name": "save", + "doc": { + "brief": "Save features and labels to a binary file", + "param": { + "path": "file path to save, e.g. /root/my_classes.bin", + "labels": "class labels, can be None, or length must equal to class num, or will return err::Err" + }, + "return": "maix.err.Err if labels exists but length not equal to class num, or save file failed, or class num is 0.", + "maixpy": "maix.nn.SelfLearnClassifier.save", + "py_doc": "Save features and labels to a binary file\n\nArgs:\n - path: file path to save, e.g. /root/my_classes.bin\n - labels: class labels, can be None, or length must equal to class num, or will return err::Err\n\n\nReturns: maix.err.Err if labels exists but length not equal to class num, or save file failed, or class num is 0.\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ], + [ + "const std::vector &", + "labels", + "std::vector()" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err save(const std::string &path, const std::vector &labels = std::vector())", + "py_def": "def save(self, path: str, labels: list[str] = []) -> maix.err.Err" + }, + "load": { + "type": "func", + "name": "load", + "doc": { + "brief": "Load features info from binary file", + "param": { + "path": "feature info binary file path, e.g. /root/my_classes.bin" + }, + "maixpy": "maix.nn.SelfLearnClassifier.load", + "py_doc": "Load features info from binary file\n\nArgs:\n - path: feature info binary file path, e.g. /root/my_classes.bin\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector load(const std::string &path)", + "py_def": "def load(self, model: str) -> maix.err.Err" + }, + "labels": { + "type": "var", + "name": "labels", + "doc": { + "brief": "Labels list", + "maixpy": "maix.nn.SelfLearnClassifier.labels", + "py_doc": "Labels list" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector labels" + }, + "label_path": { + "type": "var", + "name": "label_path", + "doc": { + "brief": "Label file path", + "maixpy": "maix.nn.SelfLearnClassifier.label_path", + "py_doc": "Label file path" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string label_path" + }, + "mean": { + "type": "var", + "name": "mean", + "doc": { + "brief": "Get mean value, list type", + "maixpy": "maix.nn.SelfLearnClassifier.mean", + "py_doc": "Get mean value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector mean" + }, + "scale": { + "type": "var", + "name": "scale", + "doc": { + "brief": "Get scale value, list type", + "maixpy": "maix.nn.SelfLearnClassifier.scale", + "py_doc": "Get scale value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector scale" + } + }, + "def": "class SelfLearnClassifier" + }, + "FaceDetector": { + "type": "class", + "name": "FaceDetector", + "doc": { + "brief": "FaceDetector class", + "maixpy": "maix.nn.FaceDetector", + "py_doc": "FaceDetector class" + }, + "members": { + "__init__": { + "type": "func", + "name": "FaceDetector", + "doc": { + "brief": "Constructor of FaceDetector 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.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": [ + [ + "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": [ + [ + "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": [ + [ + "image::Image &", + "img", + null + ], + [ + "float", + "conf_th", + "0.5" + ], + [ + "float", + "iou_th", + "0.45" + ], + [ + "maix::image::Fit", + "fit", + "maix::image::FIT_CONTAIN" + ] + ], + "ret_type": "std::vector*", + "static": false, + "def": "std::vector *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 = ..., keypoint_th: float = 0.5) -> list[...]" + }, + "input_size": { + "type": "func", + "name": "input_size", + "doc": { + "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": "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.FaceDetector.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.FaceDetector.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.FaceDetector.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.FaceDetector.mean", + "py_doc": "Get mean value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector mean" + }, + "scale": { + "type": "var", + "name": "scale", + "doc": { + "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 scale" + } + }, + "def": "class FaceDetector" + }, + "Classifier": { + "type": "class", + "name": "Classifier", + "doc": { + "brief": "Classifier", + "maixpy": "maix.nn.Classifier", + "py_doc": "Classifier" + }, + "members": { + "__init__": { + "type": "func", + "name": "Classifier", + "doc": { + "brief": "Construct a new Classifier object", + "param": { + "model": "MUD model path, if empty, will not load model, you can call load() later.\nif not empty, will load model and will raise err::Exception if load failed." + }, + "maixpy": "maix.nn.Classifier.__init__", + "maixcdk": "maix.nn.Classifier.Classifier", + "py_doc": "Construct a new Classifier object\n\nArgs:\n - model: MUD model path, if empty, will not load model, you can call load() later.\nif not empty, will load model and will raise err::Exception if load failed.\n" + }, + "args": [ + [ + "const string &", + "model", + "\"\"" + ] + ], + "ret_type": null, + "static": false, + "def": "Classifier(const string &model = \"\")", + "py_def": "def __init__(self, model: str = '') -> None" + }, + "load": { + "type": "func", + "name": "load", + "doc": { + "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" + }, + "return": "error code, if load failed, return error code", + "maixpy": "maix.nn.Classifier.load", + "py_doc": "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\n\nArgs:\n - model: MUD model path\n\n\nReturns: error code, if load failed, return error code\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" + }, + "classify": { + "type": "func", + "name": "classify", + "doc": { + "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\uff0c or will raise err.Exception", + "softmax": "if true, will do softmax to result, or will return raw value", + "fit": "image resize fit mode, default Fit.FIT_COVER, see image.Fit." + }, + "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.", + "maixpy": "maix.nn.Classifier.classify", + "py_doc": "Forward image to model, get result. Only for image input, use classify_raw for tensor input.\n\nArgs:\n - img: image, format should match model input_type\uff0c or will raise err.Exception\n - softmax: if true, will do softmax to result, or will return raw value\n - fit: image resize fit mode, default Fit.FIT_COVER, see image.Fit.\n\n\nReturns: result, a list of (label, score). In C++, you need to delete it after use.\n" + }, + "args": [ + [ + "image::Image &", + "img", + null + ], + [ + "bool", + "softmax", + "true" + ], + [ + "image::Fit", + "fit", + "image::FIT_COVER" + ] + ], + "ret_type": "std::vector>*", + "static": false, + "def": "std::vector> *classify(image::Image &img, bool softmax = true, image::Fit fit = image::FIT_COVER)", + "py_def": "def classify(self, img: maix.image.Image, softmax: bool = True, fit: maix.image.Fit = ...) -> list[tuple[int, float]]" + }, + "classify_raw": { + "type": "func", + "name": "classify_raw", + "doc": { + "brief": "Forward tensor data to model, get result", + "param": { + "data": "tensor data, format should match model input_type\uff0c or will raise err.Excetion", + "softmax": "if true, will do softmax to result, or will return raw value" + }, + "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.", + "maixpy": "maix.nn.Classifier.classify_raw", + "py_doc": "Forward tensor data to model, get result\n\nArgs:\n - data: tensor data, format should match model input_type\uff0c or will raise err.Excetion\n - softmax: if true, will do softmax to result, or will return raw value\n\n\nReturns: result, a list of (label, score). In C++, you need to delete it after use.\n" + }, + "args": [ + [ + "tensor::Tensor &", + "data", + null + ], + [ + "bool", + "softmax", + "true" + ] + ], + "ret_type": "std::vector>*", + "static": false, + "def": "std::vector> *classify_raw(tensor::Tensor &data, bool softmax = true)", + "py_def": "def classify_raw(self, data: maix.tensor.Tensor, softmax: bool = True) -> list[tuple[int, float]]" + }, + "input_size": { + "type": "func", + "name": "input_size", + "doc": { + "brief": "Get model input size, only for image input", + "return": "model input size", + "maixpy": "maix.nn.Classifier.input_size", + "py_doc": "Get model input size, only for image input\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, only for image input", + "return": "model input size of width", + "maixpy": "maix.nn.Classifier.input_width", + "py_doc": "Get model input width, only for image input\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, only for image input", + "return": "model input size of height", + "maixpy": "maix.nn.Classifier.input_height", + "py_doc": "Get model input height, only for image input\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, only for image input", + "return": "input image format, image::Format type.", + "maixpy": "maix.nn.Classifier.input_format", + "py_doc": "Get input image format, only for image input\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" + }, + "input_shape": { + "type": "func", + "name": "input_shape", + "doc": { + "brief": "Get input shape, if have multiple input, only return first input shape", + "return": "input shape, list type", + "maixpy": "maix.nn.Classifier.input_shape", + "py_doc": "Get input shape, if have multiple input, only return first input shape\n\nReturns: input shape, list type\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector input_shape()", + "py_def": "def input_shape(self) -> list[int]" + }, + "labels": { + "type": "var", + "name": "labels", + "doc": { + "brief": "Labels list", + "maixpy": "maix.nn.Classifier.labels", + "py_doc": "Labels list" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector labels" + }, + "label_path": { + "type": "var", + "name": "label_path", + "doc": { + "brief": "Label file path", + "maixpy": "maix.nn.Classifier.label_path", + "py_doc": "Label file path" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string label_path" + }, + "mean": { + "type": "var", + "name": "mean", + "doc": { + "brief": "Get mean value, list type", + "maixpy": "maix.nn.Classifier.mean", + "py_doc": "Get mean value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector mean" + }, + "scale": { + "type": "var", + "name": "scale", + "doc": { + "brief": "Get scale value, list type", + "maixpy": "maix.nn.Classifier.scale", + "py_doc": "Get scale value, list type" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector scale" + } + }, + "def": "class Classifier" + }, + "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*", + "static": false, + "def": "std::vector *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 = ..., keypoint_th: float = 0.5) -> 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 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 scale" + } + }, + "def": "class Retinaface" + } + }, + "auto_add": true + }, + "comm": { + "type": "module", + "doc": { + "brief": "maix.comm module" + }, + "members": { + "CommProtocol": { + "type": "class", + "name": "CommProtocol", + "doc": { + "brief": "Class for communication protocol", + "maixpy": "maix.comm.CommProtocol", + "py_doc": "Class for communication protocol" + }, + "members": { + "__init__": { + "type": "func", + "name": "CommProtocol", + "doc": { + "brief": "Construct a new CommProtocol object", + "param": { + "buff_size": "buffer size, default to 1024 bytes" + }, + "maixpy": "maix.comm.CommProtocol.__init__", + "maixcdk": "maix.comm.CommProtocol.CommProtocol", + "py_doc": "Construct a new CommProtocol object\n\nArgs:\n - buff_size: buffer size, default to 1024 bytes\n" + }, + "args": [ + [ + "int", + "buff_size", + "1024" + ] + ], + "ret_type": null, + "static": false, + "def": "CommProtocol(int buff_size = 1024)" + }, + "get_msg": { + "type": "func", + "name": "get_msg", + "doc": { + "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.\nAttentioin, delete it after use in C++.", + "maixpy": "maix.comm.CommProtocol.get_msg", + "py_doc": "Read data to buffer, and try to decode it as maix.protocol.MSG object\n\nReturns: decoded data, if nullptr, means no valid frame found.\nAttentioin, delete it after use in C++.\n" + }, + "args": [], + "ret_type": "protocol::MSG*", + "static": false, + "def": "protocol::MSG *get_msg()" + }, + "resp_ok": { + "type": "func", + "name": "resp_ok", + "doc": { + "brief": "Send response ok(success) message", + "param": { + "cmd": "CMD value", + "body": "response body, can be null" + }, + "return": "encoded data, if nullptr, means error, and the error code is -err.Err.\nAttentioin, delete it after use in C++.", + "maixpy": "maix.comm.CommProtocol.resp_ok", + "py_doc": "Send response ok(success) message\n\nArgs:\n - cmd: CMD value\n - body: response body, can be null\n\n\nReturns: encoded data, if nullptr, means error, and the error code is -err.Err.\nAttentioin, delete it after use in C++.\n" + }, + "args": [ + [ + "uint8_t", + "cmd", + null + ], + [ + "Bytes *", + "body", + "nullptr" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err resp_ok(uint8_t cmd, Bytes *body = nullptr)" + }, + "report": { + "type": "func", + "name": "report", + "doc": { + "brief": "Send report message", + "param": { + "cmd": "CMD value", + "body": "report body, can be null" + }, + "return": "encoded data, if nullptr, means error, and the error code is -err.Err.\nAttentioin, delete it after use in C++.", + "maixpy": "maix.comm.CommProtocol.report", + "py_doc": "Send report message\n\nArgs:\n - cmd: CMD value\n - body: report body, can be null\n\n\nReturns: encoded data, if nullptr, means error, and the error code is -err.Err.\nAttentioin, delete it after use in C++.\n" + }, + "args": [ + [ + "uint8_t", + "cmd", + null + ], + [ + "Bytes *", + "body", + "nullptr" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err report(uint8_t cmd, Bytes *body = nullptr)" + }, + "resp_err": { + "type": "func", + "name": "resp_err", + "doc": { + "brief": "Encode response error message to buffer", + "param": { + "cmd": "CMD value", + "code": "error code", + "msg": "error message" + }, + "return": "encoded data, if nullptr, means error, and the error code is -err.Err.\nAttentioin, delete it after use in C++.", + "maixpy": "maix.comm.CommProtocol.resp_err", + "py_doc": "Encode response error message to buffer\n\nArgs:\n - cmd: CMD value\n - code: error code\n - msg: error message\n\n\nReturns: encoded data, if nullptr, means error, and the error code is -err.Err.\nAttentioin, delete it after use in C++.\n" + }, + "args": [ + [ + "uint8_t", + "cmd", + null + ], + [ + "err::Err", + "code", + null + ], + [ + "const std::string &", + "msg", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err resp_err(uint8_t cmd, err::Err code, const std::string &msg)" + } + }, + "def": "class CommProtocol" + } + }, + "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. currectly only pcm and wav formats supported.", + "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. currectly only pcm and wav formats supported.\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. If there is no audio data in the buffer, may return empty data.", + "param": { + "record_ms": "Block and record audio data lasting `record_ms` milliseconds and save it to a file, the return value does not return audio data. Only valid if the initialisation `path` is set." + }, + "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. If there is no audio data in the buffer, may return empty data.\n\nArgs:\n - record_ms: Block and record audio data lasting `record_ms` milliseconds and save it to a file, the return value does not return audio data. Only valid if the initialisation `path` is set.\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": "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" + }, + "args": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "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 Player" + } + }, + "auto_add": false + }, + "example": { + "type": "module", + "doc": { + "brief": "example module, this will be maix.example module in MaixPy, maix::example namespace in MaixCDK", + "maixpy": "maix.example", + "py_doc": "example module, this will be maix.example module in MaixPy, maix::example namespace in MaixCDK" + }, + "members": { + "Test": { + "type": "class", + "name": "Test", + "doc": { + "brief": "Test class", + "maixpy": "maix.example.Test", + "py_doc": "Test class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Test", + "doc": { + "brief": "Test constructor", + "maixpy": "maix.example.Test.__init__", + "maixcdk": "maix.example.Test.Test", + "py_doc": "Test constructor" + }, + "args": [], + "ret_type": null, + "static": false, + "def": "Test()", + "py_def": "def __init__(self) -> None" + } + }, + "def": "class Test" + }, + "Kind": { + "type": "enum", + "name": "Kind", + "doc": { + "brief": "Example enum", + "maixpy": "maix.example.Kind", + "py_doc": "Example enum" + }, + "values": [ + [ + "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\nYou can get max Kind value by KIND_MAX - 1" + ] + ], + "def": "enum Kind\n {\n KIND_NONE = 0, /** Kind none, value always 0, other enum value will auto increase */\n KIND_DOG, /** Kind dog*/\n KIND_CAT, // Kind cat, value is auto generated according to KING_DOG\n KIND_BIRD,\n KIND_MAX /* Max Kind quantity,\n You can get max Kind value by KIND_MAX - 1\n */\n }" + }, + "var1": { + "type": "var", + "name": "", + "doc": { + "brief": "Example module variable", + "attention": "It's a copy of this variable in MaixPy,\nso change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.\nSo we add const for this var to avoid this mistake.", + "maixpy": "maix.example.var1", + "py_doc": "Example module variable" + }, + "value": "\"Sipeed\"", + "static": false, + "readonly": true, + "def": "const std::string var1 = \"Sipeed\"" + }, + "list_var": { + "type": "var", + "name": "", + "doc": { + "brief": "Tensor data type size in bytes", + "attention": [ + "DO NOT use C/C++ array directly for python API, the python wrapper not support it.\nUse std::vector instead.", + "It's a copy of this variable in MaixPy,\nso change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.\nSo we add const for this var to avoid this mistake." + ], + "maixpy": "maix.example.list_var", + "py_doc": "Tensor data type size in bytes" + }, + "value": "{\n 0, 1, 2, 3, 4, 5, 6, 7, 8, 9}", + "static": false, + "readonly": true, + "def": "const std::vector list_var = {\n 0, 1, 2, 3, 4, 5, 6, 7, 8, 9}" + }, + "test_var": { + "type": "var", + "name": "", + "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.\nAnd change it in MaixPy will not take effect in C++ as well !!!\nIf you want to use vars shared between C++ and MaixPy, you can create a class and use its member.", + "maixpy": "maix.example.test_var", + "py_doc": "Example module variable test_var" + }, + "value": "100", + "static": false, + "readonly": false, + "def": "int test_var = 100" + }, + "hello": { + "type": "func", + "name": "hello", + "doc": { + "brief": "say hello to someone", + "param": { + "name": "direction [in], name of someone, string type" + }, + "return": "string type, content is hello + name", + "maixpy": "maix.example.hello", + "py_doc": "say hello to someone\n\nArgs:\n - name: direction [in], name of someone, string type\n\n\nReturns: string type, content is hello + name\n" + }, + "args": [ + [ + "std::string", + "name", + null + ] + ], + "ret_type": "std::string", + "static": false, + "def": "std::string hello(std::string name)", + "py_def": "def hello(name: str) -> str" + }, + "Example": { + "type": "class", + "name": "Example", + "doc": { + "brief": "Example class\\nthis class will be export to MaixPy as maix.example.Example", + "maixpy": "maix.example.Example", + "py_doc": "Example class\nthis class will be export to MaixPy as maix.example.Example" + }, + "members": { + "__init__": { + "type": "func", + "name": "Example", + "doc": { + "brief": "Example constructor\\nthis constructor will be export to MaixPy as maix.example.Example.__init__", + "param": { + "name": "direction [in], name of Example, string type", + "age": "direction [in], age of Example, int type, default is 18, value range is [0, 100]" + }, + "attention": "to make auto generate code work, param Kind should with full namespace name `example::Kind` instead of `Kind`,\nnamespace `maix` can be ignored.", + "maixpy": "maix.example.Example.__init__", + "maixcdk": "maix.example.Example.Example", + "py_doc": "Example constructor\nthis constructor will be export to MaixPy as maix.example.Example.__init__\n\nArgs:\n - name: direction [in], name of Example, string type\n - age: direction [in], age of Example, int type, default is 18, value range is [0, 100]\n" + }, + "args": [ + [ + "std::string &", + "name", + null + ], + [ + "int", + "age", + "18" + ], + [ + "example::Kind", + "pet", + "example::KIND_NONE" + ] + ], + "ret_type": null, + "static": false, + "def": "Example(std::string &name, int age = 18, example::Kind pet = example::KIND_NONE)", + "py_def": "def __init__(self, name: str, age: int = 18, pet: Kind = ...) -> None" + }, + "get_name": { + "type": "func", + "name": "get_name", + "doc": { + "brief": "get name of Example\\nyou can also get name by property `name`.", + "return": "name of Example, string type", + "maixpy": "maix.example.Example.get_name", + "py_doc": "get name of Example\nyou can also get name by property `name`.\n\nReturns: name of Example, string type\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string get_name()", + "py_def": "def get_name(self) -> str" + }, + "get_age": { + "type": "func", + "name": "get_age", + "doc": { + "brief": "get age of Example", + "return": "age of Example, int type, value range is [0, 100]", + "maixpy": "maix.example.Example.get_age", + "py_doc": "get age of Example\n\nReturns: age of Example, int type, value range is [0, 100]\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int get_age()", + "py_def": "def get_age(self) -> int" + }, + "set_name": { + "type": "func", + "name": "set_name", + "doc": { + "brief": "set name of Example", + "param": { + "name": "name of Example, string type" + }, + "maixpy": "maix.example.Example.set_name", + "py_doc": "set name of Example\n\nArgs:\n - name: name of Example, string type\n" + }, + "args": [ + [ + "std::string", + "name", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_name(std::string name)", + "py_def": "def set_name(self, name: str) -> None" + }, + "set_age": { + "type": "func", + "name": "set_age", + "doc": { + "brief": "set age of Example", + "param": { + "age": "age of Example, int type, value range is [0, 100]" + }, + "maixpy": "maix.example.Example.set_age", + "py_doc": "set age of Example\n\nArgs:\n - age: age of Example, int type, value range is [0, 100]\n" + }, + "args": [ + [ + "int", + "age", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_age(int age)", + "py_def": "def set_age(self, age: int) -> None" + }, + "set_pet": { + "type": "func", + "name": "set_pet", + "doc": { + "brief": "Example enum member", + "attention": "", + "maixpy": "maix.example.Example.set_pet", + "py_doc": "Example enum member" + }, + "args": [ + [ + "example::Kind", + "pet", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_pet(example::Kind pet)", + "py_def": "def set_pet(self, pet: Kind) -> None" + }, + "get_pet": { + "type": "func", + "name": "get_pet", + "doc": { + "brief": "Example enum member", + "maixpy": "maix.example.Example.get_pet", + "py_doc": "Example enum member" + }, + "args": [], + "ret_type": "example::Kind", + "static": false, + "def": "example::Kind get_pet()", + "py_def": "def get_pet(self) -> Kind" + }, + "get_list": { + "type": "func", + "name": "get_list", + "doc": { + "brief": "get list example", + "param": { + "in": "direction [in], input list, items are int type.\nIn MaixPy, you can pass list or tuple to this API" + }, + "return": "list, items are int type, content is [1, 2, 3] + in. Alloc item, del in MaixPy will auto free memory.", + "maixpy": "maix.example.Example.get_list", + "py_doc": "get list example\n\nArgs:\n - in: direction [in], input list, items are int type.\nIn MaixPy, you can pass list or tuple to this API\n\n\nReturns: list, items are int type, content is [1, 2, 3] + in. Alloc item, del in MaixPy will auto free memory.\n" + }, + "args": [ + [ + "std::vector", + "in", + null + ] + ], + "ret_type": "std::vector*", + "static": false, + "def": "std::vector *get_list(std::vector in)", + "py_def": "def get_list(self, in: list[int]) -> list[int]" + }, + "get_dict": { + "type": "func", + "name": "get_dict", + "doc": { + "brief": "Example dict API", + "param": { + "in": "direction [in], input dict, key is string type, value is int type.\nIn MaixPy, you can pass `dict` to this API" + }, + "return": "dict, key is string type, value is int type, content is {\"a\": 1} + in\nIn MaixPy, return type is `dict` object", + "maixpy": "maix.example.Example.get_dict", + "py_doc": "Example dict API\n\nArgs:\n - in: direction [in], input dict, key is string type, value is int type.\nIn MaixPy, you can pass `dict` to this API\n\n\nReturns: dict, key is string type, value is int type, content is {\"a\": 1} + in\nIn MaixPy, return type is `dict` object\n" + }, + "args": [ + [ + "std::map &", + "in", + null + ] + ], + "ret_type": "std::map", + "static": false, + "def": "std::map get_dict(std::map &in)", + "py_def": "def get_dict(self, in: dict[str, int]) -> dict[str, int]" + }, + "hello": { + "type": "func", + "name": "hello", + "doc": { + "brief": "say hello to someone", + "param": { + "name": "name of someone, string type" + }, + "return": "string type, content is Example::hello_str + name", + "maixpy": "maix.example.Example.hello", + "py_doc": "say hello to someone\n\nArgs:\n - name: name of someone, string type\n\n\nReturns: string type, content is Example::hello_str + name\n" + }, + "args": [ + [ + "std::string", + "name", + null + ] + ], + "ret_type": "std::string", + "static": true, + "def": "static std::string hello(std::string name)", + "py_def": "def hello(name: str) -> str" + }, + "hello_bytes": { + "type": "func", + "name": "hello_bytes", + "doc": { + "brief": "param is bytes example", + "param": { + "bytes": "bytes type param" + }, + "return": "bytes type, return value is bytes changed value", + "maixpy": "maix.example.Example.hello_bytes", + "py_doc": "param is bytes example\n\nArgs:\n - bytes: bytes type param\n\n\nReturns: bytes type, return value is bytes changed value\n" + }, + "args": [ + [ + "Bytes &", + "bytes", + null + ] + ], + "ret_type": "Bytes*", + "static": true, + "def": "static Bytes *hello_bytes(Bytes &bytes)", + "py_def": "def hello_bytes(*args, **kwargs)" + }, + "callback": { + "type": "func", + "name": "callback", + "doc": { + "brief": "Callback example", + "param": { + "cb": "callback function, param is two int type, return is int type" + }, + "return": "int type, return value is cb(1, 2)", + "maixpy": "maix.example.Example.callback", + "py_doc": "Callback example\n\nArgs:\n - cb: callback function, param is two int type, return is int type\n\n\nReturns: int type, return value is cb(1, 2)\n" + }, + "args": [ + [ + "std::function", + "cb", + null + ] + ], + "ret_type": "int", + "static": true, + "def": "static int callback(std::function cb)", + "py_def": "def callback(cb: typing.Callable[[int, int], int]) -> int" + }, + "hello_dict": { + "type": "func", + "name": "hello_dict", + "doc": { + "brief": "Dict param example", + "param": { + "dict": "dict type param, key is string type, value is int type" + }, + "maixpy": "maix.example.Example.hello_dict", + "py_doc": "Dict param example\n\nArgs:\n - dict: dict type param, key is string type, value is int type\n" + }, + "args": [ + [ + "std::map *", + "dict", + null + ] + ], + "ret_type": "std::map*", + "static": true, + "def": "static std::map *hello_dict(std::map *dict)", + "py_def": "def hello_dict(dict: dict[str, int]) -> dict[str, int]" + }, + "name": { + "type": "var", + "name": "name", + "doc": { + "brief": "name member of Example", + "maixpy": "maix.example.Example.name", + "py_doc": "name member of Example" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string name" + }, + "age": { + "type": "var", + "name": "age", + "doc": { + "brief": "age member of Example, value range should be [0, 100]", + "maixpy": "maix.example.Example.age", + "py_doc": "age member of Example, value range should be [0, 100]" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int age" + }, + "hello_str": { + "type": "var", + "name": "hello_str", + "doc": { + "brief": "hello_str member of Example, default value is \\\"hello \\\"", + "maixpy": "maix.example.Example.hello_str", + "py_doc": "hello_str member of Example, default value is \"hello \"" + }, + "value": null, + "static": true, + "readonly": false, + "def": "static std::string hello_str" + }, + "var1": { + "type": "var", + "name": "", + "doc": { + "brief": "Example module readonly variable", + "maixpy": "maix.example.Example.var1", + "py_doc": "Example module readonly variable" + }, + "value": "\"Example.var1\"", + "static": false, + "readonly": true, + "def": "const std::string var1 = \"Example.var1\"" + }, + "var2": { + "type": "var", + "name": "", + "doc": { + "brief": "Example module readonly variable", + "maixpy": "maix.example.Example.var2\n:readonly", + "py_doc": "Example module readonly variable" + }, + "value": "\"Example.var2\"", + "static": false, + "readonly": true, + "def": "std::string var2 = \"Example.var2\"" + }, + "dict_test": { + "type": "func", + "name": "dict_test", + "doc": { + "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.", + "maixpy": "maix.example.Example.dict_test", + "py_doc": "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." + }, + "args": [], + "ret_type": "std::map*", + "static": true, + "def": "static std::map *dict_test()", + "py_def": "def dict_test() -> dict[str, Test]" + } + }, + "def": "class Example" + }, + "change_arg_name": { + "type": "func", + "name": "change_arg_name", + "doc": { + "brief": "Change arg name example", + "param": { + "e": "Example object" + }, + "return": "same as arg", + "maixpy": "maix.example.change_arg_name", + "py_doc": "Change arg name example\n\nArgs:\n - e: Example object\n\n\nReturns: same as arg\n" + }, + "args": [ + [ + "example::Example *", + "e", + null + ] + ], + "ret_type": "example::Example*", + "static": false, + "def": "example::Example *change_arg_name(example::Example *e)" + }, + "change_arg_name2": { + "type": "func", + "name": "change_arg_name2", + "doc": { + "brief": "Change arg name example", + "param": { + "e": "Example object" + }, + "maixpy": "maix.example.change_arg_name2", + "py_doc": "Change arg name example\n\nArgs:\n - e: Example object\n" + }, + "args": [ + [ + "example::Example &", + "e", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void change_arg_name2(example::Example &e)", + "py_def": "def change_arg_name2(e: Example) -> None" + } + }, + "auto_add": false + }, + "fs": { + "type": "module", + "doc": { + "brief": "maix.fs module" + }, + "members": { + "SEEK": { + "type": "enum", + "name": "SEEK", + "doc": { + "brief": "SEEK enums", + "maixpy": "maix.fs.SEEK", + "py_doc": "SEEK enums" + }, + "values": [ + [ + "SEEK_SET", + "0", + "Seek from beginning of file." + ], + [ + "SEEK_CUR", + "1", + "Seek from current position." + ], + [ + "SEEK_END", + "2", + "Seek from end of file." + ] + ], + "def": "enum SEEK\n {\n SEEK_SET = 0, // Seek from beginning of file.\n SEEK_CUR = 1, // Seek from current position.\n SEEK_END = 2, // Seek from end of file.\n }" + }, + "isabs": { + "type": "func", + "name": "isabs", + "doc": { + "brief": "Check if the path is absolute path", + "param": { + "path": "path to check" + }, + "return": "true if path is absolute path", + "maixpy": "maix.fs.isabs", + "py_doc": "Check if the path is absolute path\n\nArgs:\n - path: path to check\n\n\nReturns: true if path is absolute path\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "bool", + "static": false, + "def": "bool isabs(const std::string &path)", + "py_def": "def isabs(path: str) -> bool" + }, + "isdir": { + "type": "func", + "name": "isdir", + "doc": { + "brief": "Check if the path is a directory, if not exist, throw exception", + "param": { + "path": "path to check" + }, + "return": "true if path is a directory", + "maixpy": "maix.fs.isdir", + "py_doc": "Check if the path is a directory, if not exist, throw exception\n\nArgs:\n - path: path to check\n\n\nReturns: true if path is a directory\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "bool", + "static": false, + "def": "bool isdir(const std::string &path)", + "py_def": "def isdir(path: str) -> bool" + }, + "isfile": { + "type": "func", + "name": "isfile", + "doc": { + "brief": "Check if the path is a file, if not exist, throw exception", + "param": { + "path": "path to check" + }, + "return": "true if path is a file", + "maixpy": "maix.fs.isfile", + "py_doc": "Check if the path is a file, if not exist, throw exception\n\nArgs:\n - path: path to check\n\n\nReturns: true if path is a file\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "bool", + "static": false, + "def": "bool isfile(const std::string &path)", + "py_def": "def isfile(path: str) -> bool" + }, + "islink": { + "type": "func", + "name": "islink", + "doc": { + "brief": "Check if the path is a link, if not exist, throw exception", + "param": { + "path": "path to check" + }, + "return": "true if path is a link", + "maixpy": "maix.fs.islink", + "py_doc": "Check if the path is a link, if not exist, throw exception\n\nArgs:\n - path: path to check\n\n\nReturns: true if path is a link\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "bool", + "static": false, + "def": "bool islink(const std::string &path)", + "py_def": "def islink(path: str) -> bool" + }, + "symlink": { + "type": "func", + "name": "symlink", + "doc": { + "brief": "Create soft link", + "param": { + "src": "real file path", + "link": "link file path", + "force": "force link, if already have link file, will delet it first then create." + }, + "maixpy": "maix.fs.symlink", + "py_doc": "Create soft link\n\nArgs:\n - src: real file path\n - link: link file path\n - force: force link, if already have link file, will delet it first then create.\n" + }, + "args": [ + [ + "const std::string &", + "src", + null + ], + [ + "const std::string &", + "link", + null + ], + [ + "bool", + "force", + "false" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err symlink(const std::string &src, const std::string &link, bool force = false)", + "py_def": "def symlink(src: str, link: str, force: bool = False) -> maix.err.Err" + }, + "exists": { + "type": "func", + "name": "exists", + "doc": { + "brief": "Check if the path exists", + "param": { + "path": "path to check" + }, + "return": "true if path exists", + "maixpy": "maix.fs.exists", + "py_doc": "Check if the path exists\n\nArgs:\n - path: path to check\n\n\nReturns: true if path exists\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "bool", + "static": false, + "def": "bool exists(const std::string &path)", + "py_def": "def exists(path: str) -> bool" + }, + "mkdir": { + "type": "func", + "name": "mkdir", + "doc": { + "brief": "Create a directory recursively", + "param": { + "path": "path to create", + "exist_ok": "if true, also return true if directory already exists", + "recursive": "if true, create directory recursively, otherwise, only create one directory, default is true" + }, + "return": "err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed", + "maixpy": "maix.fs.mkdir", + "py_doc": "Create a directory recursively\n\nArgs:\n - path: path to create\n - exist_ok: if true, also return true if directory already exists\n - recursive: if true, create directory recursively, otherwise, only create one directory, default is true\n\n\nReturns: err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ], + [ + "bool", + "exist_ok", + "true" + ], + [ + "bool", + "recursive", + "true" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err mkdir(const std::string &path, bool exist_ok = true, bool recursive = true)", + "py_def": "def mkdir(path: str, exist_ok: bool = True, recursive: bool = True) -> maix.err.Err" + }, + "rmdir": { + "type": "func", + "name": "rmdir", + "doc": { + "brief": "Remove a directory", + "param": { + "path": "path to remove", + "recursive": "if true, remove directory recursively, otherwise, only remove empty directory, default is false" + }, + "return": "err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed", + "maixpy": "maix.fs.rmdir", + "py_doc": "Remove a directory\n\nArgs:\n - path: path to remove\n - recursive: if true, remove directory recursively, otherwise, only remove empty directory, default is false\n\n\nReturns: err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ], + [ + "bool", + "recursive", + "false" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err rmdir(const std::string &path, bool recursive = false)", + "py_def": "def rmdir(path: str, recursive: bool = False) -> maix.err.Err" + }, + "remove": { + "type": "func", + "name": "remove", + "doc": { + "brief": "Remove a file", + "param": { + "path": "path to remove" + }, + "return": "err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed", + "maixpy": "maix.fs.remove", + "py_doc": "Remove a file\n\nArgs:\n - path: path to remove\n\n\nReturns: err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err remove(const std::string &path)", + "py_def": "def remove(path: str) -> maix.err.Err" + }, + "rename": { + "type": "func", + "name": "rename", + "doc": { + "brief": "Rename a file or directory", + "param": { + "src": "source path", + "dst": "destination path, if destination dirs not exist, will auto create" + }, + "return": "err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed", + "maixpy": "maix.fs.rename", + "py_doc": "Rename a file or directory\n\nArgs:\n - src: source path\n - dst: destination path, if destination dirs not exist, will auto create\n\n\nReturns: err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed\n" + }, + "args": [ + [ + "const std::string &", + "src", + null + ], + [ + "const std::string &", + "dst", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err rename(const std::string &src, const std::string &dst)", + "py_def": "def rename(src: str, dst: str) -> maix.err.Err" + }, + "sync": { + "type": "func", + "name": "sync", + "doc": { + "brief": "Sync files, ensure they're wrriten to disk from RAM", + "maixpy": "maix.fs.sync", + "py_doc": "Sync files, ensure they're wrriten to disk from RAM" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void sync()", + "py_def": "def sync() -> None" + }, + "getsize": { + "type": "func", + "name": "getsize", + "doc": { + "brief": "Get file size", + "param": { + "path": "path to get size" + }, + "return": "file size if success, -err::Err code if failed", + "maixpy": "maix.fs.getsize", + "py_doc": "Get file size\n\nArgs:\n - path: path to get size\n\n\nReturns: file size if success, -err::Err code if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "int", + "static": false, + "def": "int getsize(const std::string &path)", + "py_def": "def getsize(path: str) -> int" + }, + "dirname": { + "type": "func", + "name": "dirname", + "doc": { + "brief": "Get directory name of path", + "param": { + "path": "path to get dirname" + }, + "return": "dirname if success, empty string if failed", + "maixpy": "maix.fs.dirname", + "py_doc": "Get directory name of path\n\nArgs:\n - path: path to get dirname\n\n\nReturns: dirname if success, empty string if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "std::string", + "static": false, + "def": "std::string dirname(const std::string &path)", + "py_def": "def dirname(path: str) -> str" + }, + "basename": { + "type": "func", + "name": "basename", + "doc": { + "brief": "Get base name of path", + "param": { + "path": "path to get basename" + }, + "return": "basename if success, empty string if failed", + "maixpy": "maix.fs.basename", + "py_doc": "Get base name of path\n\nArgs:\n - path: path to get basename\n\n\nReturns: basename if success, empty string if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "std::string", + "static": false, + "def": "std::string basename(const std::string &path)", + "py_def": "def basename(path: str) -> str" + }, + "abspath": { + "type": "func", + "name": "abspath", + "doc": { + "brief": "Get absolute path", + "param": { + "path": "path to get absolute path" + }, + "return": "absolute path if success, empty string if failed", + "maixpy": "maix.fs.abspath", + "py_doc": "Get absolute path\n\nArgs:\n - path: path to get absolute path\n\n\nReturns: absolute path if success, empty string if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "std::string", + "static": false, + "def": "std::string abspath(const std::string &path)", + "py_def": "def abspath(path: str) -> str" + }, + "getcwd": { + "type": "func", + "name": "getcwd", + "doc": { + "brief": "Get current working directory", + "return": "current working directory absolute path", + "maixpy": "maix.fs.getcwd", + "py_doc": "Get current working directory\n\nReturns: current working directory absolute path\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string getcwd()", + "py_def": "def getcwd() -> str" + }, + "realpath": { + "type": "func", + "name": "realpath", + "doc": { + "brief": "Get realpath of path", + "param": { + "path": "path to get realpath" + }, + "return": "realpath if success, empty string if failed", + "maixpy": "maix.fs.realpath", + "py_doc": "Get realpath of path\n\nArgs:\n - path: path to get realpath\n\n\nReturns: realpath if success, empty string if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "std::string", + "static": false, + "def": "std::string realpath(const std::string &path)", + "py_def": "def realpath(path: str) -> str" + }, + "splitext": { + "type": "func", + "name": "splitext", + "doc": { + "brief": "Get file extension", + "param": { + "path": "path to get extension" + }, + "return": "extension if success, empty string if failed", + "maixpy": "maix.fs.splitext", + "py_doc": "Get file extension\n\nArgs:\n - path: path to get extension\n\n\nReturns: extension if success, empty string if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ] + ], + "ret_type": "std::string", + "static": false, + "def": "std::string splitext(const std::string &path)", + "py_def": "def splitext(path: str) -> str" + }, + "listdir": { + "type": "func", + "name": "listdir", + "doc": { + "brief": "List files in directory", + "param": { + "path": "path to list", + "recursive": "if true, list recursively, otherwise, only list current directory, default is false", + "full_path": "if true, return full path, otherwise, only return basename, default is false" + }, + "return": "files list if success, nullptr if failed, you should manually delete it in C++.", + "maixpy": "maix.fs.listdir", + "py_doc": "List files in directory\n\nArgs:\n - path: path to list\n - recursive: if true, list recursively, otherwise, only list current directory, default is false\n - full_path: if true, return full path, otherwise, only return basename, default is false\n\n\nReturns: files list if success, nullptr if failed, you should manually delete it in C++.\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ], + [ + "bool", + "recursive", + "false" + ], + [ + "bool", + "full_path", + "false" + ] + ], + "ret_type": "std::vector*", + "static": false, + "def": "std::vector *listdir(const std::string &path, bool recursive = false, bool full_path = false)", + "py_def": "def listdir(path: str, recursive: bool = False, full_path: bool = False) -> list[str]" + }, + "File": { + "type": "class", + "name": "File", + "doc": { + "brief": "File read write ops", + "maixpy": "maix.fs.File", + "py_doc": "File read write ops" + }, + "members": { + "__init__": { + "type": "func", + "name": "File", + "doc": { + "brief": "Construct File object", + "maixpy": "maix.fs.File.__init__", + "maixcdk": "maix.fs.File.File", + "py_doc": "Construct File object" + }, + "args": [], + "ret_type": null, + "static": false, + "def": "File()", + "py_def": "def __init__(self) -> None" + }, + "open": { + "type": "func", + "name": "open", + "doc": { + "brief": "Open a file", + "param": { + "path": "path to open", + "mode": "open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"" + }, + "return": "err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed", + "maixpy": "maix.fs.File.open", + "py_doc": "Open a file\n\nArgs:\n - path: path to open\n - mode: open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"\n\n\nReturns: err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ], + [ + "const std::string &", + "mode", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err open(const std::string &path, const std::string &mode)", + "py_def": "def open(self, path: str, mode: str) -> maix.err.Err" + }, + "close": { + "type": "func", + "name": "close", + "doc": { + "brief": "Close a file", + "maixpy": "maix.fs.File.close", + "py_doc": "Close a file" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void close()", + "py_def": "def close(self) -> None" + }, + "read": { + "type": "func", + "name": "read", + "doc": { + "brief": "Read data from file API2", + "param": { + "size": "max read size" + }, + "return": "bytes data if success(need delete manually in C/C++), nullptr if failed", + "maixpy": "maix.fs.File.read", + "py_doc": "Read data from file API2\n\nArgs:\n - size: max read size\n\n\nReturns: bytes data if success(need delete manually in C/C++), nullptr if failed\n" + }, + "args": [ + [ + "int", + "size", + null + ] + ], + "ret_type": "std::vector*", + "static": false, + "def": "std::vector *read(int size)", + "py_def": "def read(self, size: int) -> list[int]" + }, + "readline": { + "type": "func", + "name": "readline", + "doc": { + "brief": "Read line from file", + "return": "line if success, empty string if failed. You need to delete the returned object manually in C/C++.", + "maixpy": "maix.fs.File.readline", + "py_doc": "Read line from file\n\nReturns: line if success, empty string if failed. You need to delete the returned object manually in C/C++.\n" + }, + "args": [], + "ret_type": "std::string*", + "static": false, + "def": "std::string *readline()", + "py_def": "def readline(self) -> str" + }, + "eof": { + "type": "func", + "name": "eof", + "doc": { + "brief": "End of file or not", + "return": "0 if not reach end of file, else eof.", + "maixpy": "maix.fs.File.eof", + "py_doc": "End of file or not\n\nReturns: 0 if not reach end of file, else eof.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int eof()", + "py_def": "def eof(self) -> int" + }, + "write": { + "type": "func", + "name": "write", + "doc": { + "brief": "Write data to file API2", + "param": { + "buf": "buffer to write" + }, + "return": "write size if success, -err::Err code if failed", + "maixpy": "maix.fs.File.write", + "py_doc": "Write data to file API2\n\nArgs:\n - buf: buffer to write\n\n\nReturns: write size if success, -err::Err code if failed\n" + }, + "args": [ + [ + "const std::vector &", + "buf", + null + ] + ], + "ret_type": "int", + "static": false, + "def": "int write(const std::vector &buf)", + "py_def": "def write(self, buf: list[int]) -> int" + }, + "seek": { + "type": "func", + "name": "seek", + "doc": { + "brief": "Seek file position", + "param": { + "offset": "offset to seek", + "whence": "@see maix.fs.SEEK" + }, + "return": "new position if success, -err::Err code if failed", + "maixpy": "maix.fs.File.seek", + "py_doc": "Seek file position\n\nArgs:\n - offset: offset to seek\n - whence: @see maix.fs.SEEK\n\n\nReturns: new position if success, -err::Err code if failed\n" + }, + "args": [ + [ + "int", + "offset", + null + ], + [ + "int", + "whence", + null + ] + ], + "ret_type": "int", + "static": false, + "def": "int seek(int offset, int whence)", + "py_def": "def seek(self, offset: int, whence: int) -> int" + }, + "tell": { + "type": "func", + "name": "tell", + "doc": { + "brief": "Get file position", + "return": "file position if success, -err::Err code if failed", + "maixpy": "maix.fs.File.tell", + "py_doc": "Get file position\n\nReturns: file position if success, -err::Err code if failed\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int tell()", + "py_def": "def tell(self) -> int" + }, + "flush": { + "type": "func", + "name": "flush", + "doc": { + "brief": "Flush file", + "return": "err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed", + "maixpy": "maix.fs.File.flush", + "py_doc": "Flush file\n\nReturns: err::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err flush()", + "py_def": "def flush(self) -> maix.err.Err" + } + }, + "def": "class File" + }, + "open": { + "type": "func", + "name": "open", + "doc": { + "brief": "Open a file, and return a File object", + "param": { + "path": "path to open", + "mode": "open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"" + }, + "return": "File object if success(need to delete object manually in C/C++), nullptr if failed", + "maixpy": "maix.fs.open", + "py_doc": "Open a file, and return a File object\n\nArgs:\n - path: path to open\n - mode: open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"\n\n\nReturns: File object if success(need to delete object manually in C/C++), nullptr if failed\n" + }, + "args": [ + [ + "const std::string &", + "path", + null + ], + [ + "const std::string &", + "mode", + null + ] + ], + "ret_type": "fs::File*", + "static": false, + "def": "fs::File *open(const std::string &path, const std::string &mode)", + "py_def": "def open(self, path: str, mode: str) -> maix.err.Err" + }, + "tempdir": { + "type": "func", + "name": "tempdir", + "doc": { + "brief": "Get temp files directory", + "return": "temp files directory", + "maixpy": "maix.fs.tempdir", + "py_doc": "Get temp files directory\n\nReturns: temp files directory\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string tempdir()", + "py_def": "def tempdir() -> str" + } + }, + "auto_add": true + }, + "app": { + "type": "module", + "doc": { + "brief": "maix.app module" + }, + "members": { + "Version": { + "type": "class", + "name": "Version", + "doc": { + "brief": "APP version", + "maixpy": "maix.app.Version", + "py_doc": "APP version" + }, + "members": { + "__str__": { + "type": "func", + "name": "__str__", + "doc": { + "brief": "Convert to string, e.g. 1.0.0", + "maixpy": "maix.app.Version.__str__", + "py_doc": "Convert to string, e.g. 1.0.0" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string __str__()" + }, + "from_str": { + "type": "func", + "name": "from_str", + "doc": { + "brief": "Convert from string, e.g. \\\"1.0.0\\\"", + "maixpy": "maix.app.Version.from_str", + "py_doc": "Convert from string, e.g. \"1.0.0\"" + }, + "args": [ + [ + "const string &", + "version_str", + null + ] + ], + "ret_type": "app::Version", + "static": true, + "def": "static app::Version from_str(const string &version_str)" + } + }, + "def": "class Version" + }, + "APP_Info": { + "type": "class", + "name": "APP_Info", + "doc": { + "brief": "APP info", + "maixpy": "maix.app.APP_Info", + "py_doc": "APP info" + }, + "members": { + "id": { + "type": "var", + "name": "id", + "doc": { + "brief": "APP id", + "maixpy": "maix.app.APP_Info.id", + "py_doc": "APP id" + }, + "value": null, + "static": false, + "readonly": false, + "def": "string id" + }, + "name": { + "type": "var", + "name": "name", + "doc": { + "brief": "APP name", + "maixpy": "maix.app.APP_Info.name", + "py_doc": "APP name" + }, + "value": null, + "static": false, + "readonly": false, + "def": "string name" + }, + "icon": { + "type": "var", + "name": "icon", + "doc": { + "brief": "APP icon", + "maixpy": "maix.app.APP_Info.icon", + "py_doc": "APP icon" + }, + "value": null, + "static": false, + "readonly": false, + "def": "string icon" + }, + "version": { + "type": "var", + "name": "version", + "doc": { + "brief": "APP version", + "maixpy": "maix.app.APP_Info.version", + "py_doc": "APP version" + }, + "value": null, + "static": false, + "readonly": false, + "def": "Version version" + }, + "exec": { + "type": "var", + "name": "exec", + "doc": { + "brief": "APP exec", + "maixpy": "maix.app.APP_Info.exec", + "py_doc": "APP exec" + }, + "value": null, + "static": false, + "readonly": false, + "def": "string exec" + }, + "author": { + "type": "var", + "name": "author", + "doc": { + "brief": "APP author", + "maixpy": "maix.app.APP_Info.author", + "py_doc": "APP author" + }, + "value": null, + "static": false, + "readonly": false, + "def": "string author" + }, + "desc": { + "type": "var", + "name": "desc", + "doc": { + "brief": "APP desc", + "maixpy": "maix.app.APP_Info.desc", + "py_doc": "APP desc" + }, + "value": null, + "static": false, + "readonly": false, + "def": "string desc" + }, + "names": { + "type": "var", + "name": "names", + "doc": { + "brief": "APP names", + "maixpy": "maix.app.APP_Info.names", + "py_doc": "APP names" + }, + "value": null, + "static": false, + "readonly": false, + "def": "map names" + }, + "descs": { + "type": "var", + "name": "descs", + "doc": { + "brief": "APP descs", + "maixpy": "maix.app.APP_Info.descs", + "py_doc": "APP descs" + }, + "value": null, + "static": false, + "readonly": false, + "def": "map descs" + } + }, + "def": "class APP_Info" + }, + "app_id": { + "type": "func", + "name": "app_id", + "doc": { + "brief": "Get current APP ID.", + "return": "APP ID.", + "maixpy": "maix.app.app_id", + "py_doc": "Get current APP ID.\n\nReturns: APP ID.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string app_id()", + "py_def": "def app_id() -> str" + }, + "set_app_id": { + "type": "func", + "name": "set_app_id", + "doc": { + "brief": "Set current APP ID.", + "param": { + "app_id": "APP ID." + }, + "maixpy": "maix.app.set_app_id", + "py_doc": "Set current APP ID.\n\nArgs:\n - app_id: APP ID.\n" + }, + "args": [ + [ + "const string &", + "app_id", + null + ] + ], + "ret_type": "string", + "static": false, + "def": "string set_app_id(const string &app_id)", + "py_def": "def set_app_id(app_id: str) -> str" + }, + "get_apps_info_path": { + "type": "func", + "name": "get_apps_info_path", + "doc": { + "brief": "Get APP info file path.", + "maixpy": "maix.app.get_apps_info_path", + "py_doc": "Get APP info file path." + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_apps_info_path()", + "py_def": "def get_apps_info_path() -> str" + }, + "get_apps_info": { + "type": "func", + "name": "get_apps_info", + "doc": { + "brief": "Get APP info list.", + "param": { + "ignore_launcher": "if true, ignore launcher APP. default false.", + "ignore_app_store": "if true, ignore app store APP. default false." + }, + "return": "APP info list. APP_Info object list.", + "maixpy": "maix.app.get_apps_info", + "py_doc": "Get APP info list.\n\nArgs:\n - ignore_launcher: if true, ignore launcher APP. default false.\n - ignore_app_store: if true, ignore app store APP. default false.\n\n\nReturns: APP info list. APP_Info object list.\n" + }, + "args": [ + [ + "bool", + "ignore_launcher", + "false" + ], + [ + "bool", + "ignore_app_store", + "false" + ] + ], + "ret_type": "vector&", + "static": false, + "def": "vector &get_apps_info(bool ignore_launcher = false, bool ignore_app_store = false)", + "py_def": "def get_apps_info(ignore_launcher: bool = False, ignore_app_store: bool = False) -> list[APP_Info]" + }, + "get_app_data_path": { + "type": "func", + "name": "get_app_data_path", + "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.\nSo, you must execute your program in you project path to use the project/data folder when you debug your APP.", + "maixpy": "maix.app.get_app_data_path", + "py_doc": "Get APP info, APP can store private data in this directory.\n\nReturns: APP data path \"./data\", just return the data folder in current path because APP executed in app install path or project path.\nSo, you must execute your program in you project path to use the project/data folder when you debug your APP.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_app_data_path()", + "py_def": "def get_app_data_path() -> str" + }, + "get_app_path": { + "type": "func", + "name": "get_app_path", + "doc": { + "brief": "Get APP path.", + "param": { + "app_id": "APP ID, if empty, return current APP path, else return the APP path by app_id." + }, + "return": "APP path, just return the current path because APP executed in app install path or project path.\nSo, you must execute your program in you project path to use the project/data folder when you debug your APP.", + "maixpy": "maix.app.get_app_path", + "py_doc": "Get APP path.\n\nArgs:\n - app_id: APP ID, if empty, return current APP path, else return the APP path by app_id.\n\n\nReturns: APP path, just return the current path because APP executed in app install path or project path.\nSo, you must execute your program in you project path to use the project/data folder when you debug your APP.\n" + }, + "args": [ + [ + "const string &", + "app_id", + "\"\"" + ] + ], + "ret_type": "string", + "static": false, + "def": "string get_app_path(const string &app_id = \"\")", + "py_def": "def get_app_path(app_id: str = '') -> str" + }, + "get_tmp_path": { + "type": "func", + "name": "get_tmp_path", + "doc": { + "brief": "Get global temporary data path, APPs can use this path as temporary data directory.", + "return": "temporary data path.", + "maixpy": "maix.app.get_tmp_path", + "py_doc": "Get global temporary data path, APPs can use this path as temporary data directory.\n\nReturns: temporary data path.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_tmp_path()", + "py_def": "def get_tmp_path() -> str" + }, + "get_share_path": { + "type": "func", + "name": "get_share_path", + "doc": { + "brief": "Get data path of share, shared data like picture and video will put in this directory", + "return": "share data path.", + "maixpy": "maix.app.get_share_path", + "py_doc": "Get data path of share, shared data like picture and video will put in this directory\n\nReturns: share data path.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_share_path()", + "py_def": "def get_share_path() -> str" + }, + "get_picture_path": { + "type": "func", + "name": "get_picture_path", + "doc": { + "brief": "Get picture path of share, shared picture will put in this directory", + "return": "share picture path.", + "maixpy": "maix.app.get_picture_path", + "py_doc": "Get picture path of share, shared picture will put in this directory\n\nReturns: share picture path.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_picture_path()", + "py_def": "def get_picture_path() -> str" + }, + "get_video_path": { + "type": "func", + "name": "get_video_path", + "doc": { + "brief": "Get video path of share, shared video will put in this directory", + "return": "share video path.", + "maixpy": "maix.app.get_video_path", + "py_doc": "Get video path of share, shared video will put in this directory\n\nReturns: share video path.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_video_path()", + "py_def": "def get_video_path() -> str" + }, + "get_font_path": { + "type": "func", + "name": "get_font_path", + "doc": { + "brief": "Get font path of share, shared font will put in this directory", + "return": "share font path.", + "maixpy": "maix.app.get_font_path", + "py_doc": "Get font path of share, shared font will put in this directory\n\nReturns: share font path.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_font_path()", + "py_def": "def get_font_path() -> str" + }, + "get_icon_path": { + "type": "func", + "name": "get_icon_path", + "doc": { + "brief": "Get icon path of share, shared icon will put in this directory", + "return": "share icon path.", + "maixpy": "maix.app.get_icon_path", + "py_doc": "Get icon path of share, shared icon will put in this directory\n\nReturns: share icon path.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_icon_path()", + "py_def": "def get_icon_path() -> str" + }, + "get_sys_config_kv": { + "type": "func", + "name": "get_sys_config_kv", + "doc": { + "brief": "Get system config item value.", + "param": { + "item": "name of setting item, e.g. wifi, language. more see settings APP.", + "key": "config key, e.g. for wifi, key can be ssid, for language, key can be locale.", + "value": "default value, if not found, return this value.", + "from_cache": "if true, read from cache, if false, read from file." + }, + "return": "config value, always string type, if not found, return empty string.", + "maixpy": "maix.app.get_sys_config_kv", + "py_doc": "Get system config item value.\n\nArgs:\n - item: name of setting item, e.g. wifi, language. more see settings APP.\n - key: config key, e.g. for wifi, key can be ssid, for language, key can be locale.\n - value: default value, if not found, return this value.\n - from_cache: if true, read from cache, if false, read from file.\n\n\nReturns: config value, always string type, if not found, return empty string.\n" + }, + "args": [ + [ + "const string &", + "item", + null + ], + [ + "const string &", + "key", + null + ], + [ + "const string &", + "value", + "\"\"" + ], + [ + "bool", + "from_cache", + "true" + ] + ], + "ret_type": "string", + "static": false, + "def": "string get_sys_config_kv(const string &item, const string &key, const string &value = \"\", bool from_cache = true)", + "py_def": "def get_sys_config_kv(item: str, key: str, value: str = '', from_cache: bool = True) -> str" + }, + "get_app_config_kv": { + "type": "func", + "name": "get_app_config_kv", + "doc": { + "brief": "Get APP config item value.", + "param": { + "item": "name of setting item, e.g. user_info", + "key": "config key, e.g. for user_info, key can be name, age etc.", + "value": "default value, if not found, return this value.", + "from_cache": "if true, read from cache, if false, read from file." + }, + "return": "config value, always string type, if not found, return empty string.", + "maixpy": "maix.app.get_app_config_kv", + "py_doc": "Get APP config item value.\n\nArgs:\n - item: name of setting item, e.g. user_info\n - key: config key, e.g. for user_info, key can be name, age etc.\n - value: default value, if not found, return this value.\n - from_cache: if true, read from cache, if false, read from file.\n\n\nReturns: config value, always string type, if not found, return empty string.\n" + }, + "args": [ + [ + "const string &", + "item", + null + ], + [ + "const string &", + "key", + null + ], + [ + "const string &", + "value", + "\"\"" + ], + [ + "bool", + "from_cache", + "true" + ] + ], + "ret_type": "string", + "static": false, + "def": "string get_app_config_kv(const string &item, const string &key, const string &value = \"\", bool from_cache = true)", + "py_def": "def get_app_config_kv(item: str, key: str, value: str = '', from_cache: bool = True) -> str" + }, + "set_app_config_kv": { + "type": "func", + "name": "set_app_config_kv", + "doc": { + "brief": "Set APP config item value.", + "param": { + "item": "name of setting item, e.g. user_info", + "key": "config key, e.g. for user_info, key can be name, age etc.", + "value": "config value, always string type.", + "write_file": "if true, write to file, if false, just write to cache." + }, + "return": "err::Err", + "maixpy": "maix.app.set_app_config_kv", + "py_doc": "Set APP config item value.\n\nArgs:\n - item: name of setting item, e.g. user_info\n - key: config key, e.g. for user_info, key can be name, age etc.\n - value: config value, always string type.\n - write_file: if true, write to file, if false, just write to cache.\n\n\nReturns: err::Err\n" + }, + "args": [ + [ + "const string &", + "item", + null + ], + [ + "const string &", + "key", + null + ], + [ + "const string &", + "value", + null + ], + [ + "bool", + "write_file", + "true" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_app_config_kv(const string &item, const string &key, const string &value, bool write_file = true)", + "py_def": "def set_app_config_kv(item: str, key: str, value: str, write_file: bool = True) -> maix.err.Err" + }, + "get_app_config_path": { + "type": "func", + "name": "get_app_config_path", + "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).", + "maixpy": "maix.app.get_app_config_path", + "py_doc": "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.\n\nReturns: APP config path(ini format).\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_app_config_path()", + "py_def": "def get_app_config_path() -> str" + }, + "set_exit_msg": { + "type": "func", + "name": "set_exit_msg", + "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.", + "msg": "exit message, if code is 0, msg is not used." + }, + "return": "exit code, the same as arg @code.", + "maixpy": "maix.app.set_exit_msg", + "py_doc": "Set APP exit code and exit message.\nIf code != 0, the launcher will show a dialog to user, and display the msg.\n\nArgs:\n - code: exit code, 0 means success, other means error, if code is 0, do nothing.\n - msg: exit message, if code is 0, msg is not used.\n\n\nReturns: exit code, the same as arg @code.\n" + }, + "args": [ + [ + "err::Err", + "code", + null + ], + [ + "const string &", + "msg", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_exit_msg(err::Err code, const string &msg)", + "py_def": "def set_exit_msg(code: maix.err.Err, msg: str) -> maix.err.Err" + }, + "get_exit_msg": { + "type": "func", + "name": "get_exit_msg", + "doc": { + "brief": "Get APP exit code and exit message.", + "param": { + "cache": "if true, read from cache, if false, read from file. default false." + }, + "return": "exit return app_id, exit code and exit message.", + "maixpy": "maix.app.get_exit_msg", + "py_doc": "Get APP exit code and exit message.\n\nArgs:\n - cache: if true, read from cache, if false, read from file. default false.\n\n\nReturns: exit return app_id, exit code and exit message.\n" + }, + "args": [ + [ + "bool", + "cache", + "false" + ] + ], + "ret_type": "tuple", + "static": false, + "def": "tuple get_exit_msg(bool cache = false)", + "py_def": "def get_exit_msg(cache: bool = False) -> tuple[str, maix.err.Err, str]" + }, + "have_exit_msg": { + "type": "func", + "name": "have_exit_msg", + "doc": { + "brief": "Check if have exit msg", + "param": { + "cache": "if true, just check from cache, if false, check from file. default false." + }, + "return": "true if have exit msg, false if not.", + "maixpy": "maix.app.have_exit_msg", + "py_doc": "Check if have exit msg\n\nArgs:\n - cache: if true, just check from cache, if false, check from file. default false.\n\n\nReturns: true if have exit msg, false if not.\n" + }, + "args": [ + [ + "bool", + "cache", + "false" + ] + ], + "ret_type": "bool", + "static": false, + "def": "bool have_exit_msg(bool cache = false)", + "py_def": "def have_exit_msg(cache: bool = False) -> bool" + }, + "switch_app": { + "type": "func", + "name": "switch_app", + "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.", + "idx": "APP index. app_id and idx must have one is valid." + }, + "maixpy": "maix.app.switch_app", + "py_doc": "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.\n\nArgs:\n - app_id: APP ID which will be started. app_id and idx must have one is valid.\n - idx: APP index. app_id and idx must have one is valid.\n" + }, + "args": [ + [ + "const string &", + "app_id", + null + ], + [ + "int", + "idx", + "-1" + ] + ], + "ret_type": "void", + "static": false, + "def": "void switch_app(const string &app_id, int idx = -1)", + "py_def": "def switch_app(app_id: str, idx: int = -1) -> None" + }, + "need_exit": { + "type": "func", + "name": "need_exit", + "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.", + "maixpy": "maix.app.need_exit", + "py_doc": "Shoule this APP exit?\n\nReturns: true if this APP should exit, false if not.\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool need_exit()", + "py_def": "def need_exit() -> bool" + }, + "running": { + "type": "func", + "name": "running", + "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.", + "maixpy": "maix.app.running", + "py_doc": "App should running? The same as !app::need_exit() (not app::need_exit() in MaixPy).\n\nReturns: true if this APP should running, false if not.\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool running()", + "py_def": "def running() -> bool" + }, + "set_exit_flag": { + "type": "func", + "name": "set_exit_flag", + "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." + }, + "maixpy": "maix.app.set_exit_flag", + "py_doc": "Set exit flag. You can get exit flag by app.need_exit().\n\nArgs:\n - exit: true if this APP should exit, false if not.\n" + }, + "args": [ + [ + "bool", + "exit", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_exit_flag(bool exit)", + "py_def": "def set_exit_flag(exit: bool) -> None" + } + }, + "auto_add": true + }, + "sys": { + "type": "module", + "doc": { + "brief": "maix.sys module" + }, + "members": { + "os_version": { + "type": "func", + "name": "os_version", + "doc": { + "brief": "Get system version", + "return": "version string, e.g. \"2024.4.1-13af4b\"", + "maixpy": "maix.sys.os_version", + "py_doc": "Get system version\n\nReturns: version string, e.g. \"2024.4.1-13af4b\"\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string os_version()", + "py_def": "def os_version() -> str" + }, + "device_name": { + "type": "func", + "name": "device_name", + "doc": { + "brief": "Get device name", + "return": "device name, e.g. \"MaixCAM\"", + "maixpy": "maix.sys.device_name", + "py_doc": "Get device name\n\nReturns: device name, e.g. \"MaixCAM\"\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string device_name()", + "py_def": "def device_name() -> str" + }, + "host_name": { + "type": "func", + "name": "host_name", + "doc": { + "brief": "Get host name", + "return": "host name, e.g. \"maixcam-2f9f\"", + "maixpy": "maix.sys.host_name", + "py_doc": "Get host name\n\nReturns: host name, e.g. \"maixcam-2f9f\"\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string host_name()", + "py_def": "def host_name() -> str" + }, + "host_domain": { + "type": "func", + "name": "host_domain", + "doc": { + "brief": "Get host domain", + "return": "host domain, e.g. \"maixcam-2f9f.local\"", + "maixpy": "maix.sys.host_domain", + "py_doc": "Get host domain\n\nReturns: host domain, e.g. \"maixcam-2f9f.local\"\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string host_domain()", + "py_def": "def host_domain() -> str" + }, + "ip_address": { + "type": "func", + "name": "ip_address", + "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\"}", + "maixpy": "maix.sys.ip_address", + "py_doc": "Get ip address\n\nReturns: ip address, dict type, e.g. {\"eth0\": \"192.168.0.195\", \"wlan0\": \"192.168.0.123\", \"usb0\": \"10.47.159.1\"}\n" + }, + "args": [], + "ret_type": "std::map", + "static": false, + "def": "std::map ip_address()", + "py_def": "def ip_address() -> dict[str, str]" + }, + "mac_address": { + "type": "func", + "name": "mac_address", + "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\"}", + "maixpy": "maix.sys.mac_address", + "py_doc": "Get mac address\n\nReturns: 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\"}\n" + }, + "args": [], + "ret_type": "std::map", + "static": false, + "def": "std::map mac_address()", + "py_def": "def mac_address() -> dict[str, str]" + }, + "device_key": { + "type": "func", + "name": "device_key", + "doc": { + "brief": "Get device key, can be unique id of device", + "return": "device key, 32 bytes hex string, e.g. \"1234567890abcdef1234567890abcdef\"", + "maixpy": "maix.sys.device_key", + "py_doc": "Get device key, can be unique id of device\n\nReturns: device key, 32 bytes hex string, e.g. \"1234567890abcdef1234567890abcdef\"\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string device_key()", + "py_def": "def device_key() -> str" + }, + "memory_info": { + "type": "func", + "name": "memory_info", + "doc": { + "brief": "Get memory info", + "return": "memory info, dict type, e.g. {\"total\": 1024, \"used\": 512, \"hw_total\": 256*1024*1024}\ntotal: total memory size in Byte.\nused: used memory size in Byte.\nhw_total: total memory size in Byte of hardware, the total <= hw_total\uff0c\nOS kernel may reserve some memory for some hardware like camera, npu, display etc.", + "maixpy": "maix.sys.memory_info", + "py_doc": "Get memory info\n\nReturns: memory info, dict type, e.g. {\"total\": 1024, \"used\": 512, \"hw_total\": 256*1024*1024}\ntotal: total memory size in Byte.\nused: used memory size in Byte.\nhw_total: total memory size in Byte of hardware, the total <= hw_total\uff0c\nOS kernel may reserve some memory for some hardware like camera, npu, display etc.\n" + }, + "args": [], + "ret_type": "std::map", + "static": false, + "def": "std::map memory_info()", + "py_def": "def memory_info() -> dict[str, int]" + }, + "bytes_to_human": { + "type": "func", + "name": "bytes_to_human", + "doc": { + "brief": "Bytes to human readable string", + "param": { + "bytes:": "bytes size\uff0ce.g. 1234B = 1234/1024 = 1.205 KB", + "precision:": "decimal precision, default 2", + "base:": "base number, default 1024", + "unit:": "unit string, e.g. \"B\"", + "sep:": "separator string, e.g. \" \"" + }, + "return": "human readable string, e.g. \"1.21 KB\"", + "maixpy": "maix.sys.bytes_to_human", + "py_doc": "Bytes to human readable string\n\nArgs:\n - bytes:: bytes size\uff0ce.g. 1234B = 1234/1024 = 1.205 KB\n - precision:: decimal precision, default 2\n - base:: base number, default 1024\n - unit:: unit string, e.g. \"B\"\n - sep:: separator string, e.g. \" \"\n\n\nReturns: human readable string, e.g. \"1.21 KB\"\n" + }, + "args": [ + [ + "unsigned long long", + "bytes", + null + ], + [ + "int", + "precision", + "2" + ], + [ + "int", + "base", + "1024" + ], + [ + "const std::string &", + "unit", + "\"B\"" + ], + [ + "const std::string &", + "sep", + "\" \"" + ] + ], + "ret_type": "std::string", + "static": false, + "def": "std::string bytes_to_human(unsigned long long bytes, int precision = 2, int base = 1024, const std::string &unit = \"B\", const std::string &sep = \" \")", + "py_def": "def bytes_to_human(bytes: int, precision: int = 2, base: int = 1024, unit: str = 'B', sep: str = ' ') -> str" + }, + "cpu_freq": { + "type": "func", + "name": "cpu_freq", + "doc": { + "brief": "Get CPU frequency", + "return": "CPU frequency, dict type, e.g. {\"cpu0\": 1000000000, \"cpu1\": 1000000000}", + "maixpy": "maix.sys.cpu_freq", + "py_doc": "Get CPU frequency\n\nReturns: CPU frequency, dict type, e.g. {\"cpu0\": 1000000000, \"cpu1\": 1000000000}\n" + }, + "args": [], + "ret_type": "std::map", + "static": false, + "def": "std::map cpu_freq()", + "py_def": "def cpu_freq() -> dict[str, int]" + }, + "cpu_temp": { + "type": "func", + "name": "cpu_temp", + "doc": { + "brief": "Get CPU temperature", + "return": "CPU temperature, unit dgree, dict type, e.g. {\"cpu\": 50.0, \"cpu0\": 50, \"cpu1\": 50}", + "maixpy": "maix.sys.cpu_temp", + "py_doc": "Get CPU temperature\n\nReturns: CPU temperature, unit dgree, dict type, e.g. {\"cpu\": 50.0, \"cpu0\": 50, \"cpu1\": 50}\n" + }, + "args": [], + "ret_type": "std::map", + "static": false, + "def": "std::map cpu_temp()", + "py_def": "def cpu_temp() -> dict[str, float]" + }, + "cpu_usage": { + "type": "func", + "name": "cpu_usage", + "doc": { + "brief": "Get CPU usage", + "return": "CPU usage, dict type, e.g. {\"cpu\": 50.0, \"cpu0\": 50, \"cpu1\": 50}", + "maixpy": "maix.sys.cpu_usage", + "py_doc": "Get CPU usage\n\nReturns: CPU usage, dict type, e.g. {\"cpu\": 50.0, \"cpu0\": 50, \"cpu1\": 50}\n" + }, + "args": [], + "ret_type": "std::map", + "static": false, + "def": "std::map cpu_usage()", + "py_def": "def cpu_usage() -> dict[str, float]" + }, + "npu_freq": { + "type": "func", + "name": "npu_freq", + "doc": { + "brief": "Get NPU frequency", + "return": "NPU frequency, dict type, e.g. {\"npu0\": 500000000}", + "maixpy": "maix.sys.npu_freq", + "py_doc": "Get NPU frequency\n\nReturns: NPU frequency, dict type, e.g. {\"npu0\": 500000000}\n" + }, + "args": [], + "ret_type": "std::map", + "static": false, + "def": "std::map npu_freq()", + "py_def": "def npu_freq() -> dict[str, int]" + }, + "disk_usage": { + "type": "func", + "name": "disk_usage", + "doc": { + "brief": "Get disk usage", + "param": { + "path:": "disk path, default \"/\"" + }, + "return": "disk usage, dict type, e.g. {\"total\": 1024, \"used\": 512}", + "maixpy": "maix.sys.disk_usage", + "py_doc": "Get disk usage\n\nArgs:\n - path:: disk path, default \"/\"\n\n\nReturns: disk usage, dict type, e.g. {\"total\": 1024, \"used\": 512}\n" + }, + "args": [ + [ + "const std::string &", + "path", + "\"/\"" + ] + ], + "ret_type": "std::map", + "static": false, + "def": "std::map disk_usage(const std::string &path = \"/\")", + "py_def": "def disk_usage(path: str = '/') -> dict[str, int]" + }, + "disk_partitions": { + "type": "func", + "name": "disk_partitions", + "doc": { + "brief": "Get disk partition and mount point info", + "param": { + "only_disk": "only return real disk, tempfs sysfs etc. not return, default true." + }, + "return": "disk partition and mount point info, list type, e.g. [{\"device\": \"/dev/mmcblk0p1\", \"mountpoint\": \"/mnt/sdcard\", \"fstype\": \"vfat\"}]", + "maixpy": "maix.sys.disk_partitions", + "py_doc": "Get disk partition and mount point info\n\nArgs:\n - only_disk: only return real disk, tempfs sysfs etc. not return, default true.\n\n\nReturns: disk partition and mount point info, list type, e.g. [{\"device\": \"/dev/mmcblk0p1\", \"mountpoint\": \"/mnt/sdcard\", \"fstype\": \"vfat\"}]\n" + }, + "args": [ + [ + "bool", + "only_disk", + "true" + ] + ], + "ret_type": "std::vector>", + "static": false, + "def": "std::vector> disk_partitions(bool only_disk = true)", + "py_def": "def disk_partitions(only_disk: bool = True) -> list[dict[str, str]]" + }, + "register_default_signal_handle": { + "type": "func", + "name": "register_default_signal_handle", + "doc": { + "brief": "register default signal handle", + "maixpy": "maix.sys.register_default_signal_handle", + "py_doc": "register default signal handle" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void register_default_signal_handle()" + }, + "poweroff": { + "type": "func", + "name": "poweroff", + "doc": { + "brief": "Power off device", + "maixpy": "maix.sys.poweroff", + "py_doc": "Power off device" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void poweroff()", + "py_def": "def poweroff() -> None" + }, + "reboot": { + "type": "func", + "name": "reboot", + "doc": { + "brief": "Power off device and power on", + "maixpy": "maix.sys.reboot", + "py_doc": "Power off device and power on" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void reboot()", + "py_def": "def reboot() -> None" + } + }, + "auto_add": true + }, + "thread": { + "type": "module", + "doc": { + "brief": "maix.thread module" + }, + "members": { + "Thread": { + "type": "class", + "name": "Thread", + "doc": { + "brief": "thread class", + "maixpy": "maix.thread.Thread", + "py_doc": "thread class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Thread", + "doc": { + "brief": "create thread", + "param": { + "func": "direction [in], thread function, one `args` parameter, void* type, no return value", + "args": "direction [in], thread function parameter" + }, + "maixpy": "maix.thread.Thread.__init__", + "maixcdk": "maix.thread.Thread.Thread", + "py_doc": "create thread\n\nArgs:\n - func: direction [in], thread function, one `args` parameter, void* type, no return value\n - args: direction [in], thread function parameter\n" + }, + "args": [ + [ + "std::function", + "func", + null + ], + [ + "void *", + "args", + "nullptr" + ] + ], + "ret_type": null, + "static": false, + "def": "Thread(std::function func, void *args = nullptr)" + }, + "join": { + "type": "func", + "name": "join", + "doc": { + "brief": "wait thread exit", + "maixpy": "maix.thread.Thread.join", + "py_doc": "wait thread exit" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void join()" + }, + "detach": { + "type": "func", + "name": "detach", + "doc": { + "brief": "detach thread", + "maixpy": "maix.thread.Thread.detach", + "py_doc": "detach thread" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void detach()" + }, + "joinable": { + "type": "func", + "name": "joinable", + "doc": { + "brief": "Check if thread is joinable", + "return": "true if thread is joinable", + "maixpy": "maix.thread.Thread.joinable", + "py_doc": "Check if thread is joinable\n\nReturns: true if thread is joinable\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool joinable()" + } + }, + "def": "class Thread" + } + }, + "auto_add": true + }, + "util": { + "type": "module", + "doc": { + "brief": "maix.util module" + }, + "members": { + "do_exit_function": { + "type": "func", + "name": "do_exit_function", + "doc": { + "brief": "exec all of exit function", + "maixpy": "maix.util.do_exit_function", + "py_doc": "exec all of exit function" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void do_exit_function()", + "py_def": "def do_exit_function() -> None" + }, + "register_atexit": { + "type": "func", + "name": "register_atexit", + "doc": { + "brief": "Registering default processes that need to be executed on exit", + "maixpy": "maix.util.register_atexit", + "py_doc": "Registering default processes that need to be executed on exit" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void register_atexit()", + "py_def": "def register_atexit() -> None" + } + }, + "auto_add": true + }, + "i18n": { + "type": "module", + "doc": { + "brief": "maix.i18n module" + }, + "members": { + "locales": { + "type": "var", + "name": "", + "doc": { + "brief": "i18n locales list", + "maixpy": "maix.i18n.locales", + "py_doc": "i18n locales list" + }, + "value": "{\n \"en\",\n \"zh\",\n \"zh-tw\",\n \"ja\"\n }", + "static": true, + "readonly": false, + "def": "static std::vector locales = {\n \"en\",\n \"zh\",\n \"zh-tw\",\n \"ja\"\n }" + }, + "names": { + "type": "var", + "name": "", + "doc": { + "brief": "i18n language names list", + "maixpy": "maix.i18n.names", + "py_doc": "i18n language names list" + }, + "value": "{\n \"English\",\n \"\u7b80\u4f53\u4e2d\u6587\",\n \"\u7e41\u9ad4\u4e2d\u6587\",\n \"\u65e5\u672c\u8a9e\"\n }", + "static": false, + "readonly": true, + "def": "const static std::vector names = {\n \"English\",\n \"\u7b80\u4f53\u4e2d\u6587\",\n \"\u7e41\u9ad4\u4e2d\u6587\",\n \"\u65e5\u672c\u8a9e\"\n }" + }, + "get_locale": { + "type": "func", + "name": "get_locale", + "doc": { + "brief": "Get system config of locale.", + "return": "language locale, e.g. en, zh, zh_CN, zh_TW, etc.", + "maixpy": "maix.i18n.get_locale", + "py_doc": "Get system config of locale.\n\nReturns: language locale, e.g. en, zh, zh_CN, zh_TW, etc.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_locale()", + "py_def": "def get_locale(self) -> str" + }, + "get_language_name": { + "type": "func", + "name": "get_language_name", + "doc": { + "brief": "Get system config of language name.", + "return": "language name, e.g. English, \u7b80\u4f53\u4e2d\u6587, \u7e41\u9ad4\u4e2d\u6587, etc.", + "maixpy": "maix.i18n.get_language_name", + "py_doc": "Get system config of language name.\n\nReturns: language name, e.g. English, \u7b80\u4f53\u4e2d\u6587, \u7e41\u9ad4\u4e2d\u6587, etc.\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_language_name()" + }, + "Trans": { + "type": "class", + "name": "Trans", + "doc": { + "brief": "Translate helper class.", + "maixpy": "maix.i18n.Trans", + "py_doc": "Translate helper class." + }, + "members": { + "__init__": { + "type": "func", + "name": "Trans", + "doc": { + "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\": \"\u786e\u8ba4\", \"OK\": \"\u597d\u7684\"}, \"en\": {\"Confirm\": \"Confirm\", \"OK\": \"OK\"}}" + }, + "maixpy": "maix.i18n.Trans.__init__", + "maixcdk": "maix.i18n.Trans.Trans", + "py_doc": "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.\n\nArgs:\n - locales_dict: locales dict, e.g. {\"zh\": {\"Confirm\": \"\u786e\u8ba4\", \"OK\": \"\u597d\u7684\"}, \"en\": {\"Confirm\": \"Confirm\", \"OK\": \"OK\"}}\n" + }, + "args": [ + [ + "const std::map> &", + "locales_dict", + null + ] + ], + "ret_type": null, + "static": false, + "def": "Trans(const std::map> &locales_dict)", + "py_def": "def __init__(self, locales_dict: dict[str, dict[str, str]]) -> None" + }, + "tr": { + "type": "func", + "name": "tr", + "doc": { + "brief": "Translate string by key.", + "param": { + "key": "string key, e.g. \"Confirm\"", + "locale": "locale name, if not assign, use default locale set by system settings or set_locale function." + }, + "return": "translated string, if find translation, return it, or return key, e.g. \"\u786e\u8ba4\", \"Confirm\", etc.", + "maixpy": "maix.i18n.Trans.tr", + "py_doc": "Translate string by key.\n\nArgs:\n - key: string key, e.g. \"Confirm\"\n - locale: locale name, if not assign, use default locale set by system settings or set_locale function.\n\n\nReturns: translated string, if find translation, return it, or return key, e.g. \"\u786e\u8ba4\", \"Confirm\", etc.\n" + }, + "args": [ + [ + "const string &", + "key", + null + ], + [ + "const string", + "locale", + "\"\"" + ] + ], + "ret_type": "string", + "static": false, + "def": "string tr(const string &key, const string locale = \"\")", + "py_def": "def tr(self, key: str, locale: str = '') -> str" + }, + "set_locale": { + "type": "func", + "name": "set_locale", + "doc": { + "brief": "Set locale temporarily, will not affect system settings.", + "param": { + "locale": "locale name, e.g. \"zh\", \"en\", etc. @see maix.i18n.locales" + }, + "maixpy": "maix.i18n.Trans.set_locale", + "py_doc": "Set locale temporarily, will not affect system settings.\n\nArgs:\n - locale: locale name, e.g. \"zh\", \"en\", etc. @see maix.i18n.locales\n" + }, + "args": [ + [ + "const string &", + "locale", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_locale(const string &locale)", + "py_def": "def set_locale(self, locale: str) -> None" + }, + "get_locale": { + "type": "func", + "name": "get_locale", + "doc": { + "brief": "Get current locale.", + "return": "locale name, e.g. \"zh\", \"en\", etc. @see maix.i18n.locales", + "maixpy": "maix.i18n.Trans.get_locale", + "py_doc": "Get current locale.\n\nReturns: locale name, e.g. \"zh\", \"en\", etc. @see maix.i18n.locales\n" + }, + "args": [], + "ret_type": "string", + "static": false, + "def": "string get_locale()", + "py_def": "def get_locale(self) -> str" + } + }, + "def": "class Trans" + } + }, + "auto_add": true + }, + "protocol": { + "type": "module", + "doc": { + "brief": "maix.protocol module" + }, + "members": { + "VERSION": { + "type": "var", + "name": "", + "doc": { + "brief": "protocol version", + "maixpy": "maix.protocol.VERSION", + "py_doc": "protocol version" + }, + "value": "1", + "static": false, + "readonly": true, + "def": "const uint8_t VERSION = 1" + }, + "HEADER": { + "type": "var", + "name": "", + "doc": { + "brief": "protocol header", + "maixpy": "maix.protocol.HEADER", + "py_doc": "protocol header" + }, + "value": "0xBBACCAAA", + "static": false, + "readonly": true, + "def": "const uint32_t HEADER = 0xBBACCAAA" + }, + "CMD": { + "type": "enum", + "name": "CMD", + "doc": { + "brief": "protocol cmd, more doc see MaixCDK document's convention doc", + "note": "max app custom CMD value should < CMD_APP_MAX", + "maixpy": "maix.protocol.CMD", + "py_doc": "protocol cmd, more doc see MaixCDK document's convention doc" + }, + "values": [ + [ + "CMD_APP_MAX", + "0xC8", + "200, max app custom CMD value should < CMD_APP_MAX" + ], + [ + "CMD_SET_REPORT", + "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", + "" + ] + ], + "def": "enum CMD\n {\n CMD_APP_MAX = 0xC8, // 200, max app custom CMD value should < CMD_APP_MAX\n\n CMD_SET_REPORT = 0xF8, // set auto upload data mode\n CMD_APP_LIST = 0xF9,\n CMD_START_APP = 0xFA,\n CMD_EXIT_APP = 0xFB,\n CMD_CUR_APP_INFO = 0xFC,\n CMD_APP_INFO = 0xFD,\n CMD_KEY = 0xFE,\n CMD_TOUCH = 0xFF,\n }" + }, + "FLAGS": { + "type": "enum", + "name": "FLAGS", + "doc": { + "brief": "protocol flags, more doc see MaixCDK document's convention doc", + "maixpy": "maix.protocol.FLAGS", + "py_doc": "protocol flags, more doc see MaixCDK document's convention doc" + }, + "values": [ + [ + "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", + "" + ] + ], + "def": "enum FLAGS\n {\n FLAG_REQ = 0x00,\n FLAG_RESP = 0x80,\n FLAG_IS_RESP_MASK = 0x80,\n\n FLAG_RESP_OK = 0x40,\n FLAG_RESP_ERR = 0x00,\n FLAG_RESP_OK_MASK = 0x40,\n\n FLAG_REPORT = 0x20,\n FLAG_REPORT_MASK = 0x20,\n\n FLAG_VERSION_MASK = 0x03\n }" + }, + "MSG": { + "type": "class", + "name": "MSG", + "doc": { + "brief": "protocol msg", + "maixpy": "maix.protocol.MSG", + "py_doc": "protocol msg" + }, + "members": { + "version": { + "type": "var", + "name": "version", + "doc": { + "brief": "protocol version", + "maixpy": "maix.protocol.MSG.version", + "py_doc": "protocol version" + }, + "value": null, + "static": false, + "readonly": false, + "def": "uint8_t version" + }, + "resp_ok": { + "type": "var", + "name": "resp_ok", + "doc": { + "brief": "Is success response or not, (only for response msg)", + "maixpy": "maix.protocol.MSG.resp_ok", + "py_doc": "Is success response or not, (only for response msg)" + }, + "value": null, + "static": false, + "readonly": false, + "def": "uint8_t resp_ok" + }, + "cmd": { + "type": "var", + "name": "cmd", + "doc": { + "brief": "CMD value", + "maixpy": "maix.protocol.MSG.cmd", + "py_doc": "CMD value" + }, + "value": null, + "static": false, + "readonly": false, + "def": "uint8_t cmd" + }, + "is_resp": { + "type": "var", + "name": "is_resp", + "doc": { + "brief": "message is response or not, contrast with is_req", + "maixpy": "maix.protocol.MSG.is_resp", + "py_doc": "message is response or not, contrast with is_req" + }, + "value": null, + "static": false, + "readonly": false, + "def": "bool is_resp" + }, + "body_len": { + "type": "var", + "name": "body_len", + "doc": { + "brief": "Message body length, read only, use set_body() to update", + "attention": "DO NOT manually change this value", + "maixpy": "maix.protocol.MSG.body_len", + "py_doc": "Message body length, read only, use set_body() to update" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int body_len" + }, + "encode_resp_ok": { + "type": "func", + "name": "encode_resp_ok", + "doc": { + "brief": "Encode response ok(success) message", + "param": { + "body": "response body, can be null" + }, + "return": "encoded data, if nullptr, means error, and the error code is -err.Err", + "maixpy": "maix.protocol.MSG.encode_resp_ok", + "py_doc": "Encode response ok(success) message\n\nArgs:\n - body: response body, can be null\n\n\nReturns: encoded data, if nullptr, means error, and the error code is -err.Err\n" + }, + "args": [ + [ + "Bytes *", + "body", + "nullptr" + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *encode_resp_ok(Bytes *body = nullptr)", + "py_def": "def encode_resp_ok(*args, **kwargs)" + }, + "encode_report": { + "type": "func", + "name": "encode_report", + "doc": { + "brief": "Encode proactively report message", + "param": { + "body": "report body, can be null" + }, + "return": "encoded data, if nullptr, means error, and the error code is -err.Err", + "maixpy": "maix.protocol.MSG.encode_report", + "py_doc": "Encode proactively report message\n\nArgs:\n - body: report body, can be null\n\n\nReturns: encoded data, if nullptr, means error, and the error code is -err.Err\n" + }, + "args": [ + [ + "Bytes *", + "body", + "nullptr" + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *encode_report(Bytes *body = nullptr)", + "py_def": "def encode_report(*args, **kwargs)" + }, + "encode_resp_err": { + "type": "func", + "name": "encode_resp_err", + "doc": { + "brief": "Encode response error message", + "param": { + "code": "error code", + "msg": "error message" + }, + "return": "encoded data, if nullptr, means error, and the error code is -err.Err", + "maixpy": "maix.protocol.MSG.encode_resp_err", + "py_doc": "Encode response error message\n\nArgs:\n - code: error code\n - msg: error message\n\n\nReturns: encoded data, if nullptr, means error, and the error code is -err.Err\n" + }, + "args": [ + [ + "err::Err", + "code", + null + ], + [ + "const std::string &", + "msg", + null + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *encode_resp_err(err::Err code, const std::string &msg)", + "py_def": "def encode_resp_err(*args, **kwargs)" + }, + "set_body": { + "type": "func", + "name": "set_body", + "doc": { + "brief": "Update message body", + "param": { + "body_new": "new body data" + }, + "maixpy": "maix.protocol.MSG.set_body", + "py_doc": "Update message body\n\nArgs:\n - body_new: new body data\n" + }, + "args": [ + [ + "Bytes *", + "body_new", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_body(Bytes *body_new)", + "py_def": "def set_body(self, body_new: maix.Bytes(bytes)) -> None" + }, + "get_body": { + "type": "func", + "name": "get_body", + "doc": { + "brief": "Get message body", + "return": "message body, bytes type", + "maixpy": "maix.protocol.MSG.get_body", + "py_doc": "Get message body\n\nReturns: message body, bytes type\n" + }, + "args": [], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *get_body()", + "py_def": "def get_body(*args, **kwargs)" + } + }, + "def": "class MSG" + }, + "Protocol": { + "type": "class", + "name": "Protocol", + "doc": { + "brief": "Communicate protocol", + "maixpy": "maix.protocol.Protocol", + "py_doc": "Communicate protocol" + }, + "members": { + "__init__": { + "type": "func", + "name": "Protocol", + "doc": { + "brief": "Construct a new Protocol object", + "param": { + "buff_size": "Data queue buffer size" + }, + "maixpy": "maix.protocol.Protocol.__init__", + "maixcdk": "maix.protocol.Protocol.Protocol", + "py_doc": "Construct a new Protocol object\n\nArgs:\n - buff_size: Data queue buffer size\n" + }, + "args": [ + [ + "int", + "buff_size", + "1024" + ] + ], + "ret_type": null, + "static": false, + "def": "Protocol(int buff_size = 1024)" + }, + "buff_size": { + "type": "func", + "name": "buff_size", + "doc": { + "brief": "Data queue buffer size", + "maixpy": "maix.protocol.Protocol.buff_size", + "py_doc": "Data queue buffer size" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int buff_size()" + }, + "push_data": { + "type": "func", + "name": "push_data", + "doc": { + "brief": "Add data to data queue", + "param": { + "new_data": "new data" + }, + "return": "error code, maybe err.Err.ERR_BUFF_FULL", + "maixpy": "maix.protocol.Protocol.push_data", + "py_doc": "Add data to data queue\n\nArgs:\n - new_data: new data\n\n\nReturns: error code, maybe err.Err.ERR_BUFF_FULL\n" + }, + "args": [ + [ + "const Bytes *", + "new_data", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err push_data(const Bytes *new_data)" + }, + "decode": { + "type": "func", + "name": "decode", + "doc": { + "brief": "Decode data in data queue and return a message", + "param": { + "new_data": "new data add to data queue, if null, only decode." + }, + "return": "decoded message, if nullptr, means no message decoded.", + "maixpy": "maix.protocol.Protocol.decode", + "py_doc": "Decode data in data queue and return a message\n\nArgs:\n - new_data: new data add to data queue, if null, only decode.\n\n\nReturns: decoded message, if nullptr, means no message decoded.\n" + }, + "args": [ + [ + "const Bytes *", + "new_data", + "nullptr" + ] + ], + "ret_type": "protocol::MSG*", + "static": false, + "def": "protocol::MSG *decode(const Bytes *new_data = nullptr)" + }, + "encode_resp_ok": { + "type": "func", + "name": "encode_resp_ok", + "doc": { + "brief": "Encode response ok(success) message to buffer", + "param": { + "cmd": "CMD value", + "body": "response body, can be null" + }, + "return": "encoded data, if nullptr, means error, and the error code is -err.Err", + "maixpy": "maix.protocol.Protocol.encode_resp_ok", + "py_doc": "Encode response ok(success) message to buffer\n\nArgs:\n - cmd: CMD value\n - body: response body, can be null\n\n\nReturns: encoded data, if nullptr, means error, and the error code is -err.Err\n" + }, + "args": [ + [ + "uint8_t", + "cmd", + null + ], + [ + "Bytes *", + "body", + "nullptr" + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *encode_resp_ok(uint8_t cmd, Bytes *body = nullptr)" + }, + "encode_report": { + "type": "func", + "name": "encode_report", + "doc": { + "brief": "Encode proactively report message to buffer", + "param": { + "cmd": "CMD value", + "body": "report body, can be null" + }, + "return": "encoded data, if nullptr, means error, and the error code is -err.Err", + "maixpy": "maix.protocol.Protocol.encode_report", + "py_doc": "Encode proactively report message to buffer\n\nArgs:\n - cmd: CMD value\n - body: report body, can be null\n\n\nReturns: encoded data, if nullptr, means error, and the error code is -err.Err\n" + }, + "args": [ + [ + "uint8_t", + "cmd", + null + ], + [ + "Bytes *", + "body", + "nullptr" + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *encode_report(uint8_t cmd, Bytes *body = nullptr)" + }, + "encode_resp_err": { + "type": "func", + "name": "encode_resp_err", + "doc": { + "brief": "Encode response error message to buffer", + "param": { + "cmd": "CMD value", + "code": "error code", + "msg": "error message" + }, + "return": "encoded data, if nullptr, means error, and the error code is -err.Err", + "maixpy": "maix.protocol.Protocol.encode_resp_err", + "py_doc": "Encode response error message to buffer\n\nArgs:\n - cmd: CMD value\n - code: error code\n - msg: error message\n\n\nReturns: encoded data, if nullptr, means error, and the error code is -err.Err\n" + }, + "args": [ + [ + "uint8_t", + "cmd", + null + ], + [ + "err::Err", + "code", + null + ], + [ + "const std::string &", + "msg", + null + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *encode_resp_err(uint8_t cmd, err::Err code, const std::string &msg)" + } + }, + "def": "class Protocol" + }, + "crc16_IBM": { + "type": "func", + "name": "crc16_IBM", + "doc": { + "brief": "CRC16-IBM", + "param": { + "data": "data, bytes type." + }, + "return": "CRC16-IBM value, uint16_t type.", + "maixpy": "maix.protocol.crc16_IBM", + "py_doc": "CRC16-IBM\n\nArgs:\n - data: data, bytes type.\n\n\nReturns: CRC16-IBM value, uint16_t type.\n" + }, + "args": [ + [ + "const Bytes *", + "data", + null + ] + ], + "ret_type": "uint16_t", + "static": false, + "def": "uint16_t crc16_IBM(const Bytes *data)", + "py_def": "def crc16_IBM(data: maix.Bytes(bytes)) -> int" + } + }, + "auto_add": true + }, + "time": { + "type": "module", + "doc": { + "brief": "maix.time module" + }, + "members": { + "time": { + "type": "func", + "name": "time", + "doc": { + "brief": "Get current time in s", + "return": "current time in s, double type", + "attention": "If board have no RTC battery, when bootup and connect to network,\nsystem will automatically sync time by NTP, will cause time() have big change,\ne.g. before NTP: 10(s), after: 1718590639.5149617(s).\nIf you want to calculate time interval, please use ticks_s().", + "maixpy": "maix.time.time", + "py_doc": "Get current time in s\n\nReturns: current time in s, double type\n" + }, + "args": [], + "ret_type": "double", + "static": false, + "def": "double time()", + "py_def": "def time() -> float" + }, + "time_ms": { + "type": "func", + "name": "time_ms", + "doc": { + "brief": "Get current time in ms", + "return": "current time in ms, uint64_t type", + "attention": "If board have no RTC battery, when bootup and connect to network,\nsystem will automatically sync time by NTP, will cause time() have big change,\ne.g. before NTP: 10000(ms), after: 1718590639000(ms)\nIf you want to calculate time interval, please use ticks_ms().", + "maixpy": "maix.time.time_ms", + "py_doc": "Get current time in ms\n\nReturns: current time in ms, uint64_t type\n" + }, + "args": [], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t time_ms()", + "py_def": "def time_ms() -> int" + }, + "time_s": { + "type": "func", + "name": "time_s", + "doc": { + "brief": "Get current time in s", + "return": "current time in s, uint64_t type", + "attention": "If board have no RTC battery, when bootup and connect to network,\nsystem will automatically sync time by NTP, will cause time() have big change,\ne.g. before NTP: 10(s), after: 1718590639(s)", + "maixpy": "maix.time.time_s", + "py_doc": "Get current time in s\n\nReturns: current time in s, uint64_t type\n" + }, + "args": [], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t time_s()", + "py_def": "def time_s() -> int" + }, + "time_us": { + "type": "func", + "name": "time_us", + "doc": { + "brief": "Get current time in us", + "return": "current time in us, uint64_t type", + "attention": "If board have no RTC battery, when bootup and connect to network,\nsystem will automatically sync time by NTP, will cause time() have big change,\ne.g. before NTP: 10000000(us), after: 1718590639000000(s)\nIf you want to calculate time interval, please use ticks_us().", + "maixpy": "maix.time.time_us", + "py_doc": "Get current time in us\n\nReturns: current time in us, uint64_t type\n" + }, + "args": [], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t time_us()", + "py_def": "def time_us() -> int" + }, + "time_diff": { + "type": "func", + "name": "time_diff", + "doc": { + "brief": "Calculate time difference in s.", + "param": { + "last": "last time", + "now": "current time, can be -1 if use current time" + }, + "return": "time difference", + "attention": "If board have no RTC battery, when bootup and connect to network,\nsystem will automatically sync time by NTP, will cause time() have big change, and lead to big value.\ne.g. before NTP: 1(s), after: 1718590500(s)\nIf you want to calculate time interval, please use ticks_diff().", + "maixpy": "maix.time.time_diff", + "py_doc": "Calculate time difference in s.\n\nArgs:\n - last: last time\n - now: current time, can be -1 if use current time\n\n\nReturns: time difference\n" + }, + "args": [ + [ + "double", + "last", + null + ], + [ + "double", + "now", + "-1" + ] + ], + "ret_type": "double", + "static": false, + "def": "double time_diff(double last, double now = -1)", + "py_def": "def time_diff(last: float, now: float = -1) -> float" + }, + "ticks_s": { + "type": "func", + "name": "ticks_s", + "doc": { + "brief": "Get current time in s since bootup", + "return": "current time in s, double type", + "maixpy": "maix.time.ticks_s", + "py_doc": "Get current time in s since bootup\n\nReturns: current time in s, double type\n" + }, + "args": [], + "ret_type": "double", + "static": false, + "def": "double ticks_s()", + "py_def": "def ticks_s() -> float" + }, + "ticks_ms": { + "type": "func", + "name": "ticks_ms", + "doc": { + "brief": "Get current time in ms since bootup", + "return": "current time in ms, uint64_t type", + "maixpy": "maix.time.ticks_ms", + "py_doc": "Get current time in ms since bootup\n\nReturns: current time in ms, uint64_t type\n" + }, + "args": [], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t ticks_ms()", + "py_def": "def ticks_ms() -> int" + }, + "ticks_us": { + "type": "func", + "name": "ticks_us", + "doc": { + "brief": "Get current time in us since bootup", + "return": "current time in us, uint64_t type", + "maixpy": "maix.time.ticks_us", + "py_doc": "Get current time in us since bootup\n\nReturns: current time in us, uint64_t type\n" + }, + "args": [], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t ticks_us()", + "py_def": "def ticks_us() -> int" + }, + "ticks_diff": { + "type": "func", + "name": "ticks_diff", + "doc": { + "brief": "Calculate time difference in s.", + "param": { + "last": "last time", + "now": "current time, can be -1 if use current time" + }, + "return": "time difference", + "maixpy": "maix.time.ticks_diff", + "py_doc": "Calculate time difference in s.\n\nArgs:\n - last: last time\n - now: current time, can be -1 if use current time\n\n\nReturns: time difference\n" + }, + "args": [ + [ + "double", + "last", + null + ], + [ + "double", + "now", + "-1" + ] + ], + "ret_type": "double", + "static": false, + "def": "double ticks_diff(double last, double now = -1)", + "py_def": "def ticks_diff(last: float, now: float = -1) -> float" + }, + "sleep": { + "type": "func", + "name": "sleep", + "doc": { + "brief": "Sleep seconds", + "param": { + "s": "seconds, double type" + }, + "maixpy": "maix.time.sleep", + "py_doc": "Sleep seconds\n\nArgs:\n - s: seconds, double type\n" + }, + "args": [ + [ + "double", + "s", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void sleep(double s)" + }, + "sleep_ms": { + "type": "func", + "name": "sleep_ms", + "doc": { + "brief": "Sleep milliseconds", + "param": { + "ms": "milliseconds, uint64_t type" + }, + "maixpy": "maix.time.sleep_ms", + "py_doc": "Sleep milliseconds\n\nArgs:\n - ms: milliseconds, uint64_t type\n" + }, + "args": [ + [ + "uint64_t", + "ms", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void sleep_ms(uint64_t ms)" + }, + "sleep_us": { + "type": "func", + "name": "sleep_us", + "doc": { + "brief": "Sleep microseconds", + "param": { + "us": "microseconds, uint64_t type" + }, + "maixpy": "maix.time.sleep_us", + "py_doc": "Sleep microseconds\n\nArgs:\n - us: microseconds, uint64_t type\n" + }, + "args": [ + [ + "uint64_t", + "us", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void sleep_us(uint64_t us)" + }, + "DateTime": { + "type": "class", + "name": "DateTime", + "doc": { + "brief": "Date and time class", + "maixpy": "maix.time.DateTime", + "py_doc": "Date and time class" + }, + "members": { + "year": { + "type": "var", + "name": "year", + "doc": { + "brief": "Year", + "maixpy": "maix.time.DateTime.year", + "py_doc": "Year" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int year" + }, + "month": { + "type": "var", + "name": "month", + "doc": { + "brief": "Month, 1~12", + "maixpy": "maix.time.DateTime.month", + "py_doc": "Month, 1~12" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int month" + }, + "day": { + "type": "var", + "name": "day", + "doc": { + "brief": "Day", + "maixpy": "maix.time.DateTime.day", + "py_doc": "Day" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int day" + }, + "hour": { + "type": "var", + "name": "hour", + "doc": { + "brief": "Hour", + "maixpy": "maix.time.DateTime.hour", + "py_doc": "Hour" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int hour" + }, + "minute": { + "type": "var", + "name": "minute", + "doc": { + "brief": "Minute", + "maixpy": "maix.time.DateTime.minute", + "py_doc": "Minute" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int minute" + }, + "second": { + "type": "var", + "name": "second", + "doc": { + "brief": "Second", + "maixpy": "maix.time.DateTime.second", + "py_doc": "Second" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int second" + }, + "microsecond": { + "type": "var", + "name": "microsecond", + "doc": { + "brief": "Microsecond", + "maixpy": "maix.time.DateTime.microsecond", + "py_doc": "Microsecond" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int microsecond" + }, + "yearday": { + "type": "var", + "name": "yearday", + "doc": { + "brief": "Year day", + "maixpy": "maix.time.DateTime.yearday", + "py_doc": "Year day" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int yearday" + }, + "weekday": { + "type": "var", + "name": "weekday", + "doc": { + "brief": "Weekday, 0 is Monday, 6 is Sunday", + "maixpy": "maix.time.DateTime.weekday", + "py_doc": "Weekday, 0 is Monday, 6 is Sunday" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int weekday" + }, + "zone": { + "type": "var", + "name": "zone", + "doc": { + "brief": "Time zone", + "maixpy": "maix.time.DateTime.zone", + "py_doc": "Time zone" + }, + "value": null, + "static": false, + "readonly": false, + "def": "float zone" + }, + "zone_name": { + "type": "var", + "name": "zone_name", + "doc": { + "brief": "Time zone name", + "maixpy": "maix.time.DateTime.zone_name", + "py_doc": "Time zone name" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string zone_name" + }, + "__init__": { + "type": "func", + "name": "DateTime", + "doc": { + "brief": "Constructor", + "param": { + "year": "year", + "month": "month", + "day": "day", + "hour": "hour", + "minute": "minute", + "second": "second", + "microsecond": "microsecond", + "yearday": "year day", + "weekday": "weekday", + "zone": "time zone" + }, + "maixcdk": "maix.time.DateTime.DateTime", + "maixpy": "maix.time.DateTime.__init__", + "py_doc": "Constructor\n\nArgs:\n - year: year\n - month: month\n - day: day\n - hour: hour\n - minute: minute\n - second: second\n - microsecond: microsecond\n - yearday: year day\n - weekday: weekday\n - zone: time zone\n" + }, + "args": [ + [ + "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" + ] + ], + "ret_type": null, + "static": false, + "def": "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)", + "py_def": "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" + }, + "strftime": { + "type": "func", + "name": "strftime", + "doc": { + "brief": "Convert to string", + "return": "date time string", + "maixpy": "maix.time.DateTime.strftime", + "py_doc": "Convert to string\n\nReturns: date time string\n" + }, + "args": [ + [ + "const std::string &", + "format", + null + ] + ], + "ret_type": "std::string", + "static": false, + "def": "std::string strftime(const std::string &format)", + "py_def": "def strftime(self, format: str) -> str" + }, + "timestamp": { + "type": "func", + "name": "timestamp", + "doc": { + "brief": "Convert to float timestamp", + "return": "float timestamp", + "maixpy": "maix.time.DateTime.timestamp", + "py_doc": "Convert to float timestamp\n\nReturns: float timestamp\n" + }, + "args": [], + "ret_type": "double", + "static": false, + "def": "double timestamp()", + "py_def": "def timestamp(self) -> float" + } + }, + "def": "class DateTime" + }, + "now": { + "type": "func", + "name": "now", + "doc": { + "brief": "Get current UTC date and time", + "return": "current date and time, DateTime type", + "maixpy": "maix.time.now", + "py_doc": "Get current UTC date and time\n\nReturns: current date and time, DateTime type\n" + }, + "args": [], + "ret_type": "time::DateTime*", + "static": false, + "def": "time::DateTime *now()", + "py_def": "def now() -> DateTime" + }, + "localtime": { + "type": "func", + "name": "localtime", + "doc": { + "brief": "Get local time", + "return": "local time, DateTime type", + "maixpy": "maix.time.localtime", + "py_doc": "Get local time\n\nReturns: local time, DateTime type\n" + }, + "args": [], + "ret_type": "time::DateTime*", + "static": false, + "def": "time::DateTime *localtime()", + "py_def": "def localtime() -> DateTime" + }, + "strptime": { + "type": "func", + "name": "strptime", + "doc": { + "brief": "DateTime from string", + "param": { + "str": "date time string", + "format": "date time format" + }, + "return": "DateTime", + "maixpy": "maix.time.strptime", + "py_doc": "DateTime from string\n\nArgs:\n - str: date time string\n - format: date time format\n\n\nReturns: DateTime\n" + }, + "args": [ + [ + "const std::string &", + "str", + null + ], + [ + "const std::string &", + "format", + null + ] + ], + "ret_type": "time::DateTime*", + "static": false, + "def": "time::DateTime *strptime(const std::string &str, const std::string &format)", + "py_def": "def strptime(str: str, format: str) -> DateTime" + }, + "gmtime": { + "type": "func", + "name": "gmtime", + "doc": { + "brief": "timestamp to DateTime(time zone is UTC (value 0))", + "param": { + "timestamp": "double timestamp" + }, + "return": "DateTime", + "maixpy": "maix.time.gmtime", + "py_doc": "timestamp to DateTime(time zone is UTC (value 0))\n\nArgs:\n - timestamp: double timestamp\n\n\nReturns: DateTime\n" + }, + "args": [ + [ + "double", + "timestamp", + null + ] + ], + "ret_type": "time::DateTime*", + "static": false, + "def": "time::DateTime *gmtime(double timestamp)" + } + }, + "auto_add": true + }, + "network": { + "type": "module", + "doc": { + "brief": "maix.network module" + }, + "members": { + "wifi": { + "type": "module", + "doc": { + "brief": "maix.network.wifi module" + }, + "members": { + "AP_Info": { + "type": "class", + "name": "AP_Info", + "doc": { + "brief": "WiFi AP info", + "maixpy": "maix.network.wifi.AP_Info", + "py_doc": "WiFi AP info" + }, + "members": { + "ssid": { + "type": "var", + "name": "ssid", + "doc": { + "brief": "WiFi AP info SSID", + "maixpy": "maix.network.wifi.AP_Info.ssid", + "py_doc": "WiFi AP info SSID" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::vector ssid" + }, + "bssid": { + "type": "var", + "name": "bssid", + "doc": { + "brief": "WiFi AP info BSSID", + "maixpy": "maix.network.wifi.AP_Info.bssid", + "py_doc": "WiFi AP info BSSID" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string bssid" + }, + "security": { + "type": "var", + "name": "security", + "doc": { + "brief": "WiFi AP info security", + "maixpy": "maix.network.wifi.AP_Info.security", + "py_doc": "WiFi AP info security" + }, + "value": null, + "static": false, + "readonly": false, + "def": "std::string security" + }, + "channel": { + "type": "var", + "name": "channel", + "doc": { + "brief": "WiFi AP info channel", + "maixpy": "maix.network.wifi.AP_Info.channel", + "py_doc": "WiFi AP info channel" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int channel" + }, + "frequency": { + "type": "var", + "name": "frequency", + "doc": { + "brief": "WiFi AP info frequency", + "maixpy": "maix.network.wifi.AP_Info.frequency", + "py_doc": "WiFi AP info frequency" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int frequency" + }, + "rssi": { + "type": "var", + "name": "rssi", + "doc": { + "brief": "WiFi AP info rssi", + "maixpy": "maix.network.wifi.AP_Info.rssi", + "py_doc": "WiFi AP info rssi" + }, + "value": null, + "static": false, + "readonly": false, + "def": "int rssi" + }, + "ssid_str": { + "type": "func", + "name": "ssid_str", + "doc": { + "brief": "WiFi AP info ssid_str", + "maixpy": "maix.network.wifi.AP_Info.ssid_str", + "py_doc": "WiFi AP info ssid_str" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string ssid_str()", + "py_def": "def ssid_str(self) -> str" + } + }, + "def": "class AP_Info" + }, + "list_devices": { + "type": "func", + "name": "list_devices", + "doc": { + "brief": "List WiFi interfaces", + "return": "WiFi interface list, string type", + "maixpy": "maix.network.wifi.list_devices", + "py_doc": "List WiFi interfaces\n\nReturns: WiFi interface list, string type\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector list_devices()", + "py_def": "def list_devices() -> list[str]" + }, + "Wifi": { + "type": "class", + "name": "Wifi", + "doc": { + "brief": "Wifi class", + "maixpy": "maix.network.wifi.Wifi", + "py_doc": "Wifi class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Wifi", + "doc": { + "brief": "Wifi class", + "param": { + "iface": "wifi interface name, default is wlan0" + }, + "maixpy": "maix.network.wifi.Wifi.__init__", + "maixcdk": "maix.network.wifi.Wifi.Wifi", + "py_doc": "Wifi class\n\nArgs:\n - iface: wifi interface name, default is wlan0\n" + }, + "args": [ + [ + "std::string", + "iface", + "\"wlan0\"" + ] + ], + "ret_type": null, + "static": false, + "def": "Wifi(std::string iface = \"wlan0\")" + }, + "get_ip": { + "type": "func", + "name": "get_ip", + "doc": { + "brief": "Get current WiFi ip", + "return": "ip, string type, if network not connected, will return empty string.", + "maixpy": "maix.network.wifi.Wifi.get_ip", + "py_doc": "Get current WiFi ip\n\nReturns: ip, string type, if network not connected, will return empty string.\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string get_ip()" + }, + "get_mac": { + "type": "func", + "name": "get_mac", + "doc": { + "brief": "Get current WiFi MAC address", + "return": "ip, string type.", + "maixpy": "maix.network.wifi.Wifi.get_mac", + "py_doc": "Get current WiFi MAC address\n\nReturns: ip, string type.\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string get_mac()" + }, + "get_ssid": { + "type": "func", + "name": "get_ssid", + "doc": { + "brief": "Get current WiFi SSID", + "param": { + "from_cache": "if true, will not read config from file, direct use ssid in cache.\nattention, first time call this method will auto matically read config from file, and if call connect method will set cache." + }, + "return": "SSID, string type.", + "maixpy": "maix.network.wifi.Wifi.get_ssid", + "py_doc": "Get current WiFi SSID\n\nArgs:\n - from_cache: if true, will not read config from file, direct use ssid in cache.\nattention, first time call this method will auto matically read config from file, and if call connect method will set cache.\n\n\nReturns: SSID, string type.\n" + }, + "args": [ + [ + "bool", + "from_cache", + "true" + ] + ], + "ret_type": "std::string", + "static": false, + "def": "std::string get_ssid(bool from_cache = true)" + }, + "get_gateway": { + "type": "func", + "name": "get_gateway", + "doc": { + "brief": "Get current WiFi ip", + "return": "ip, string type, if network not connected, will return empty string.", + "maixpy": "maix.network.wifi.Wifi.get_gateway", + "py_doc": "Get current WiFi ip\n\nReturns: ip, string type, if network not connected, will return empty string.\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string get_gateway()" + }, + "start_scan": { + "type": "func", + "name": "start_scan", + "doc": { + "brief": "WiFi start scan AP info around in background.", + "return": "If success, return err.Err.ERR_NONE, else means failed.", + "maixpy": "maix.network.wifi.Wifi.start_scan", + "py_doc": "WiFi start scan AP info around in background.\n\nReturns: If success, return err.Err.ERR_NONE, else means failed.\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err start_scan()" + }, + "get_scan_result": { + "type": "func", + "name": "get_scan_result", + "doc": { + "brief": "Get WiFi scan AP info.", + "return": "wifi.AP_Info list.", + "maixpy": "maix.network.wifi.Wifi.get_scan_result", + "py_doc": "Get WiFi scan AP info.\n\nReturns: wifi.AP_Info list.\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector get_scan_result()" + }, + "stop_scan": { + "type": "func", + "name": "stop_scan", + "doc": { + "brief": "Stop WiFi scan AP info.", + "maixpy": "maix.network.wifi.Wifi.stop_scan", + "py_doc": "Stop WiFi scan AP info." + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void stop_scan()" + }, + "connect": { + "type": "func", + "name": "connect", + "doc": { + "brief": "Connect to WiFi AP.", + "param": { + "ssid": "SSID of AP", + "password": "password of AP, if no password, leave it empty.", + "wait": "wait for got IP or failed or timeout.", + "timeout": "connect timeout internal, unit second." + }, + "return": "If success, return err.Err.ERR_NONE, else means failed.", + "maixpy": "maix.network.wifi.Wifi.connect", + "py_doc": "Connect to WiFi AP.\n\nArgs:\n - ssid: SSID of AP\n - password: password of AP, if no password, leave it empty.\n - wait: wait for got IP or failed or timeout.\n - timeout: connect timeout internal, unit second.\n\n\nReturns: If success, return err.Err.ERR_NONE, else means failed.\n" + }, + "args": [ + [ + "const std::string &", + "ssid", + null + ], + [ + "const std::string &", + "password", + null + ], + [ + "bool", + "wait", + "true" + ], + [ + "int", + "timeout", + "60" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err connect(const std::string &ssid, const std::string &password, bool wait = true, int timeout = 60)" + }, + "disconnect": { + "type": "func", + "name": "disconnect", + "doc": { + "brief": "Disconnect from WiFi AP.", + "return": "If success, return err.Err.ERR_NONE, else means failed.", + "maixpy": "maix.network.wifi.Wifi.disconnect", + "py_doc": "Disconnect from WiFi AP.\n\nReturns: If success, return err.Err.ERR_NONE, else means failed.\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err disconnect()" + }, + "is_connected": { + "type": "func", + "name": "is_connected", + "doc": { + "brief": "See if WiFi is connected to AP.", + "return": "If connected return true, else false.", + "maixpy": "maix.network.wifi.Wifi.is_connected", + "py_doc": "See if WiFi is connected to AP.\n\nReturns: If connected return true, else false.\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_connected()" + } + }, + "def": "class Wifi" + } + }, + "auto_add": true + }, + "have_network": { + "type": "func", + "name": "have_network", + "doc": { + "brief": "Return if device have network(WiFi/Eth etc.)", + "return": "True if have network, else False.", + "maixpy": "maix.network.have_network", + "py_doc": "Return if device have network(WiFi/Eth etc.)\n\nReturns: True if have network, else False.\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool have_network()", + "py_def": "def have_network() -> bool" + } + }, + "auto_add": true + }, + "touchscreen": { + "type": "module", + "doc": { + "brief": "maix.touchscreen module" + }, + "members": { + "TouchScreen": { + "type": "class", + "name": "TouchScreen", + "doc": { + "brief": "TouchScreen class", + "maixpy": "maix.touchscreen.TouchScreen", + "py_doc": "TouchScreen class" + }, + "members": { + "__init__": { + "type": "func", + "name": "TouchScreen", + "doc": { + "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", + "open": "If true, touchscreen will automatically call open() after creation. default is true." + }, + "maixpy": "maix.touchscreen.TouchScreen.__init__", + "maixcdk": "maix.touchscreen.TouchScreen.TouchScreen", + "py_doc": "Construct a new TouchScreen object\n\nArgs:\n - device: touchscreen device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device\n - open: If true, touchscreen will automatically call open() after creation. default is true.\n" + }, + "args": [ + [ + "const std::string &", + "device", + "\"\"" + ], + [ + "bool", + "open", + "true" + ] + ], + "ret_type": null, + "static": false, + "def": "TouchScreen(const std::string &device = \"\", bool open = true)" + }, + "open": { + "type": "func", + "name": "open", + "doc": { + "brief": "open touchscreen device", + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.touchscreen.TouchScreen.open", + "py_doc": "open touchscreen device\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err open()" + }, + "close": { + "type": "func", + "name": "close", + "doc": { + "brief": "close touchscreen device", + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.touchscreen.TouchScreen.close", + "py_doc": "close touchscreen device\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err close()" + }, + "read": { + "type": "func", + "name": "read", + "doc": { + "brief": "read touchscreen device", + "attention": "This method will discard same event in buffer, that is:\nif too many move event in buffer when call this method, it will only return the last one,\nand if read pressed or released event, it will return immediately.", + "return": "Returns a list include x, y, pressed state", + "maixpy": "maix.touchscreen.TouchScreen.read", + "py_doc": "read touchscreen device\n\nReturns: Returns a list include x, y, pressed state\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector read()", + "overload": [ + { + "type": "func", + "name": "read0", + "doc": { + "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,\nor 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", + "maixpy": "maix.touchscreen.TouchScreen.read", + "py_doc": "read touchscreen device\n\nReturns: Returns a list include x, y, pressed state\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector read0()" + } + ] + }, + "available": { + "type": "func", + "name": "available", + "doc": { + "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." + }, + "return": "true if need to read(have event), false if not", + "maixpy": "maix.touchscreen.TouchScreen.available", + "py_doc": "If we need to read from touchscreen, for event driven touchscreen means have event or not\n\nArgs:\n - timeout: -1 means block, 0 means no block, >0 means timeout, default is 0, unit is ms.\n\n\nReturns: true if need to read(have event), false if not\n" + }, + "args": [ + [ + "int", + "timeout", + "0" + ] + ], + "ret_type": "bool", + "static": false, + "def": "bool available(int timeout = 0)" + }, + "is_opened": { + "type": "func", + "name": "is_opened", + "doc": { + "brief": "Check if touchscreen is opened", + "return": "true if touchscreen is opened, false if not", + "maixpy": "maix.touchscreen.TouchScreen.is_opened", + "py_doc": "Check if touchscreen is opened\n\nReturns: true if touchscreen is opened, false if not\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_opened()" + } + }, + "def": "class TouchScreen" + } + }, + "auto_add": true + }, + "video": { + "type": "module", + "doc": { + "brief": "maix.video module", + "maixpy": "maix.video", + "py_doc": "maix.video module" + }, + "members": { + "VideoType": { + "type": "enum", + "name": "VideoType", + "doc": { + "brief": "Video type", + "maixpy": "maix.video.VideoType", + "py_doc": "Video type" + }, + "values": [ + [ + "VIDEO_NONE", + "0", + "format invalid" + ], + [ + "VIDEO_ENC_H265_CBR", + "", + "" + ], + [ + "VIDEO_ENC_MP4_CBR", + "", + "" + ], + [ + "VIDEO_DEC_H265_CBR", + "", + "" + ], + [ + "VIDEO_DEC_MP4_CBR", + "", + "" + ], + [ + "VIDEO_H264_CBR", + "", + "" + ], + [ + "VIDEO_H265_CBR", + "", + "" + ], + [ + "VIDEO_H264_CBR_MP4", + "", + "" + ], + [ + "VIDEO_H265_CBR_MP4", + "", + "" + ] + ], + "def": "enum VideoType\n {\n VIDEO_NONE = 0, // format invalid\n VIDEO_ENC_H265_CBR,\n VIDEO_ENC_MP4_CBR,\n VIDEO_DEC_H265_CBR,\n VIDEO_DEC_MP4_CBR,\n VIDEO_H264_CBR,\n VIDEO_H265_CBR,\n VIDEO_H264_CBR_MP4,\n VIDEO_H265_CBR_MP4,\n }" + }, + "Frame": { + "type": "class", + "name": "Frame", + "doc": { + "brief": "Frame class", + "maixpy": "maix.video.Frame", + "py_doc": "Frame class" + }, + "members": { + "to_bytes": { + "type": "func", + "name": "to_bytes", + "doc": { + "brief": "Get raw data of packet", + "param": { + "copy": "if true, will alloc memory and copy data to new buffer" + }, + "return": "raw data", + "maixpy": "maix.video.Frame.to_bytes", + "py_doc": "Get raw data of packet\n\nArgs:\n - copy: if true, will alloc memory and copy data to new buffer\n\n\nReturns: raw data\n" + }, + "args": [ + [ + "bool", + "copy", + "false" + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *to_bytes(bool copy = false)", + "py_def": "def to_bytes(*args, **kwargs)" + }, + "size": { + "type": "func", + "name": "size", + "doc": { + "brief": "Get raw data size of packet", + "return": "size of raw data", + "maixpy": "maix.video.Frame.size", + "py_doc": "Get raw data size of packet\n\nReturns: size of raw data\n" + }, + "args": [], + "ret_type": "size_t", + "static": false, + "def": "size_t size()", + "py_def": "def size(self) -> int" + }, + "is_valid": { + "type": "func", + "name": "is_valid", + "doc": { + "brief": "Check packet is valid", + "return": "true, packet is valid; false, packet is invalid", + "maixpy": "maix.video.Frame.is_valid", + "py_doc": "Check packet is valid\n\nReturns: true, packet is valid; false, packet is invalid\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_valid()", + "py_def": "def is_valid(self) -> bool" + }, + "set_pts": { + "type": "func", + "name": "set_pts", + "doc": { + "brief": "Set pts", + "param": { + "pts": "presentation time stamp. unit: time_base" + }, + "maixpy": "maix.video.Frame.set_pts", + "py_doc": "Set pts\n\nArgs:\n - pts: presentation time stamp. unit: time_base\n" + }, + "args": [ + [ + "uint64_t", + "pts", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_pts(uint64_t pts)", + "py_def": "def set_pts(self, pts: int) -> None" + }, + "set_dts": { + "type": "func", + "name": "set_dts", + "doc": { + "brief": "Set dts", + "param": { + "dts": "decoding time stamp. unit: time_base" + }, + "maixpy": "maix.video.Frame.set_dts", + "py_doc": "Set dts\n\nArgs:\n - dts: decoding time stamp. unit: time_base\n" + }, + "args": [ + [ + "uint64_t", + "dts", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_dts(uint64_t dts)", + "py_def": "def set_dts(self, dts: int) -> None" + }, + "set_duration": { + "type": "func", + "name": "set_duration", + "doc": { + "brief": "Set duration", + "param": { + "duration": "packet display time. unit: time_base" + }, + "maixpy": "maix.video.Frame.set_duration", + "py_doc": "Set duration\n\nArgs:\n - duration: packet display time. unit: time_base\n" + }, + "args": [ + [ + "uint64_t", + "duration", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_duration(uint64_t duration)", + "py_def": "def set_duration(self, duration: int) -> None" + }, + "get_pts": { + "type": "func", + "name": "get_pts", + "doc": { + "brief": "Set pts", + "param": { + "pts": "presentation time stamp. unit: time_base" + }, + "return": "pts value", + "maixpy": "maix.video.Frame.get_pts", + "py_doc": "Set pts\n\nArgs:\n - pts: presentation time stamp. unit: time_base\n\n\nReturns: pts value\n" + }, + "args": [], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t get_pts()", + "py_def": "def get_pts(self) -> int" + }, + "get_dts": { + "type": "func", + "name": "get_dts", + "doc": { + "brief": "Set dts", + "param": { + "dts": "decoding time stamp. unit: time_base" + }, + "return": "dts value", + "maixpy": "maix.video.Frame.get_dts", + "py_doc": "Set dts\n\nArgs:\n - dts: decoding time stamp. unit: time_base\n\n\nReturns: dts value\n" + }, + "args": [], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t get_dts()", + "py_def": "def get_dts(self) -> int" + }, + "get_duration": { + "type": "func", + "name": "get_duration", + "doc": { + "brief": "Get duration", + "return": "duration value", + "maixpy": "maix.video.Frame.get_duration", + "py_doc": "Get duration\n\nReturns: duration value\n" + }, + "args": [], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t get_duration()", + "py_def": "def get_duration(self) -> int" + }, + "type": { + "type": "func", + "name": "type", + "doc": { + "brief": "Get frame type", + "return": "video type. @see video::VideoType", + "maixpy": "maix.video.Frame.type", + "py_doc": "Get frame type\n\nReturns: video type. @see video::VideoType\n" + }, + "args": [], + "ret_type": "video::VideoType", + "static": false, + "def": "video::VideoType type()", + "py_def": "def type(self) -> VideoType" + } + }, + "def": "class Frame" + }, + "Packet": { + "type": "class", + "name": "Packet", + "doc": { + "brief": "Packet class", + "maixpy": "maix.video.Packet", + "py_doc": "Packet class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Packet", + "doc": { + "brief": "Packet number (pair of numerator and denominator).", + "param": { + "data": "src data pointer, use pointers directly without copying.\nNote: this object will try to free this memory", + "len": "data len", + "pts": "presentation time stamp. unit: time_base", + "dts": "decoding time stamp. unit: time_base", + "duration": "packet display time. unit: time_base" + }, + "maixpy": "maix.video.Packet.__init__", + "maixcdk": "maix.video.Packet.Packet", + "py_doc": "Packet number (pair of numerator and denominator).\n\nArgs:\n - data: src data pointer, use pointers directly without copying.\nNote: this object will try to free this memory\n - len: data len\n - pts: presentation time stamp. unit: time_base\n - dts: decoding time stamp. unit: time_base\n - duration: packet display time. unit: time_base\n" + }, + "args": [ + [ + "uint8_t *", + "data", + null + ], + [ + "int", + "len", + null + ], + [ + "uint64_t", + "pts", + "-1" + ], + [ + "uint64_t", + "dts", + "-1" + ], + [ + "int64_t", + "duration", + "0" + ] + ], + "ret_type": null, + "static": false, + "def": "Packet(uint8_t *data, int len, uint64_t pts = -1, uint64_t dts = -1, int64_t duration = 0)" + }, + "get": { + "type": "func", + "name": "get", + "doc": { + "brief": "Get raw data of packet", + "return": "raw data", + "maixpy": "maix.video.Packet.get", + "py_doc": "Get raw data of packet\n\nReturns: raw data\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector get()" + }, + "data": { + "type": "func", + "name": "data", + "doc": { + "brief": "Get raw data of packet", + "return": "raw data", + "maixpy": "maix.video.Packet.data", + "py_doc": "Get raw data of packet\n\nReturns: raw data\n" + }, + "args": [], + "ret_type": "uint8_t*", + "static": false, + "def": "uint8_t *data()" + }, + "data_size": { + "type": "func", + "name": "data_size", + "doc": { + "brief": "Get raw data size of packet", + "return": "size of raw data", + "maixpy": "maix.video.Packet.data_size", + "py_doc": "Get raw data size of packet\n\nReturns: size of raw data\n" + }, + "args": [], + "ret_type": "size_t", + "static": false, + "def": "size_t data_size()" + }, + "is_valid": { + "type": "func", + "name": "is_valid", + "doc": { + "brief": "Check packet is valid", + "return": "true, packet is valid; false, packet is invalid", + "maixpy": "maix.video.Packet.is_valid", + "py_doc": "Check packet is valid\n\nReturns: true, packet is valid; false, packet is invalid\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_valid()" + }, + "set_pts": { + "type": "func", + "name": "set_pts", + "doc": { + "brief": "Set pts", + "param": { + "pts": "presentation time stamp. unit: time_base" + }, + "return": "true, packet is valid; false, packet is invalid", + "maixpy": "maix.video.Packet.set_pts", + "py_doc": "Set pts\n\nArgs:\n - pts: presentation time stamp. unit: time_base\n\n\nReturns: true, packet is valid; false, packet is invalid\n" + }, + "args": [ + [ + "uint64_t", + "pts", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_pts(uint64_t pts)" + }, + "set_dts": { + "type": "func", + "name": "set_dts", + "doc": { + "brief": "Set dts", + "param": { + "dts": "decoding time stamp. unit: time_base" + }, + "return": "true, packet is valid; false, packet is invalid", + "maixpy": "maix.video.Packet.set_dts", + "py_doc": "Set dts\n\nArgs:\n - dts: decoding time stamp. unit: time_base\n\n\nReturns: true, packet is valid; false, packet is invalid\n" + }, + "args": [ + [ + "uint64_t", + "dts", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_dts(uint64_t dts)" + }, + "set_duration": { + "type": "func", + "name": "set_duration", + "doc": { + "brief": "Set duration", + "param": { + "duration": "packet display time. unit: time_base" + }, + "return": "true, packet is valid; false, packet is invalid", + "maixpy": "maix.video.Packet.set_duration", + "py_doc": "Set duration\n\nArgs:\n - duration: packet display time. unit: time_base\n\n\nReturns: true, packet is valid; false, packet is invalid\n" + }, + "args": [ + [ + "uint64_t", + "duration", + null + ] + ], + "ret_type": "void", + "static": false, + "def": "void set_duration(uint64_t duration)" + } + }, + "def": "class Packet" + }, + "Encoder": { + "type": "class", + "name": "Encoder", + "doc": { + "brief": "Encode class", + "maixpy": "maix.video.Encoder", + "py_doc": "Encode class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Encoder", + "doc": { + "brief": "Construct a new Video object", + "param": { + "width": "picture width. this value may be set automatically. default is 2560.", + "height": "picture height. this value may be set automatically. default is 1440.", + "format": "picture format. default is image::Format::FMT_YVU420SP. @see image::Format", + "type": "video encode/decode type. default is ENC_H265_CBR. @see EncodeType", + "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.", + "gop": "for h264/h265 encoding, the interval between two I-frames, default is 50.", + "bitrate": "for h264/h265 encoding, used to limit the bandwidth used by compressed data, default is 3000kbps", + "time_base": "frame time base. time_base default is 1000, means 1/1000 ms (not used)", + "capture": "enable capture, if true, you can use capture() function to get an image object" + }, + "maixpy": "maix.video.Encoder.__init__", + "maixcdk": "maix.video.Encoder.Encoder", + "py_doc": "Construct a new Video object\n\nArgs:\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 format. default is image::Format::FMT_YVU420SP. @see image::Format\n - type: video encode/decode type. default is ENC_H265_CBR. @see EncodeType\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 - gop: for h264/h265 encoding, the interval between two I-frames, default is 50.\n - bitrate: for h264/h265 encoding, used to limit the bandwidth used by compressed data, default is 3000kbps\n - time_base: frame time base. time_base default is 1000, means 1/1000 ms (not used)\n - capture: enable capture, if true, you can use capture() function to get an image object\n" + }, + "args": [ + [ + "int", + "width", + "2560" + ], + [ + "int", + "height", + "1440" + ], + [ + "image::Format", + "format", + "image::Format::FMT_YVU420SP" + ], + [ + "video::VideoType", + "type", + "video::VideoType::VIDEO_H265_CBR" + ], + [ + "int", + "framerate", + "30" + ], + [ + "int", + "gop", + "50" + ], + [ + "int", + "bitrate", + "3000 * 1000" + ], + [ + "int", + "time_base", + "1000" + ], + [ + "bool", + "capture", + "false" + ] + ], + "ret_type": null, + "static": false, + "def": "Encoder(int width = 2560, int height = 1440, image::Format format = image::Format::FMT_YVU420SP, video::VideoType type = video::VideoType::VIDEO_H265_CBR, int framerate = 30, int gop = 50, int bitrate = 3000 * 1000, int time_base = 1000, bool capture = false)" + }, + "bind_camera": { + "type": "func", + "name": "bind_camera", + "doc": { + "brief": "Bind camera", + "param": { + "camera": "camera object" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.video.Encoder.bind_camera", + "py_doc": "Bind camera\n\nArgs:\n - camera: camera object\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "camera::Camera *", + "camera", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err bind_camera(camera::Camera *camera)" + }, + "encode": { + "type": "func", + "name": "encode", + "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() function to bind the camera." + }, + "return": "encode result", + "maixpy": "maix.video.Encoder.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() function to bind the camera.\n\n\nReturns: encode result\n" + }, + "args": [ + [ + "image::Image *", + "img", + "maix::video::Encoder::NoneImage" + ] + ], + "ret_type": "video::Frame*", + "static": false, + "def": "video::Frame *encode(image::Image *img = maix::video::Encoder::NoneImage)" + }, + "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.Encoder.capture", + "py_doc": "Capture image\n\nReturns: error code\n" + }, + "args": [], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *capture()" + }, + "width": { + "type": "func", + "name": "width", + "doc": { + "brief": "Get video width", + "return": "video width", + "maixpy": "maix.video.Encoder.width", + "py_doc": "Get video width\n\nReturns: video width\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int width()" + }, + "height": { + "type": "func", + "name": "height", + "doc": { + "brief": "Get video height", + "return": "video height", + "maixpy": "maix.video.Encoder.height", + "py_doc": "Get video height\n\nReturns: video height\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int height()" + }, + "type": { + "type": "func", + "name": "type", + "doc": { + "brief": "Get video encode type", + "return": "VideoType", + "maixpy": "maix.video.Encoder.type", + "py_doc": "Get video encode type\n\nReturns: VideoType\n" + }, + "args": [], + "ret_type": "video::VideoType", + "static": false, + "def": "video::VideoType type()" + }, + "framerate": { + "type": "func", + "name": "framerate", + "doc": { + "brief": "Get video encode framerate", + "return": "frame rate", + "maixpy": "maix.video.Encoder.framerate", + "py_doc": "Get video encode framerate\n\nReturns: frame rate\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int framerate()" + }, + "gop": { + "type": "func", + "name": "gop", + "doc": { + "brief": "Get video encode gop", + "return": "gop value", + "maixpy": "maix.video.Encoder.gop", + "py_doc": "Get video encode gop\n\nReturns: gop value\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int gop()" + }, + "bitrate": { + "type": "func", + "name": "bitrate", + "doc": { + "brief": "Get video encode bitrate", + "return": "bitrate value", + "maixpy": "maix.video.Encoder.bitrate", + "py_doc": "Get video encode bitrate\n\nReturns: bitrate value\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int bitrate()" + }, + "time_base": { + "type": "func", + "name": "time_base", + "doc": { + "brief": "Get video encode time base", + "return": "time base value", + "maixpy": "maix.video.Encoder.time_base", + "py_doc": "Get video encode time base\n\nReturns: time base value\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int time_base()" + }, + "get_pts": { + "type": "func", + "name": "get_pts", + "doc": { + "brief": "Get current pts, unit: time_base\\nNote: The current default is to assume that there is no B-frame implementation, so pts and bts are always the same", + "param": { + "time_ms": "start time from the first frame. unit: ms" + }, + "return": "time base value", + "maixpy": "maix.video.Encoder.get_pts", + "py_doc": "Get current pts, unit: time_base\nNote: The current default is to assume that there is no B-frame implementation, so pts and bts are always the same\n\nArgs:\n - time_ms: start time from the first frame. unit: ms\n\n\nReturns: time base value\n" + }, + "args": [ + [ + "uint64_t", + "time_ms", + null + ] + ], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t get_pts(uint64_t time_ms)" + }, + "get_dts": { + "type": "func", + "name": "get_dts", + "doc": { + "brief": "Get current dts, unit: time_base\\nNote: The current default is to assume that there is no B-frame implementation, so pts and bts are always the same", + "param": { + "time_ms": "start time from the first frame. unit: ms" + }, + "return": "time base value", + "maixpy": "maix.video.Encoder.get_dts", + "py_doc": "Get current dts, unit: time_base\nNote: The current default is to assume that there is no B-frame implementation, so pts and bts are always the same\n\nArgs:\n - time_ms: start time from the first frame. unit: ms\n\n\nReturns: time base value\n" + }, + "args": [ + [ + "uint64_t", + "time_ms", + null + ] + ], + "ret_type": "uint64_t", + "static": false, + "def": "uint64_t get_dts(uint64_t time_ms)" + } + }, + "def": "class Encoder" + }, + "Decoder": { + "type": "class", + "name": "Decoder", + "doc": { + "brief": "Decoder class", + "maixpy": "maix.video.Decoder", + "py_doc": "Decoder class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Decoder", + "doc": { + "brief": "Construct a new Decoder object", + "maixpy": "maix.video.Decoder.__init__", + "maixcdk": "maix.video.Decoder.Decoder", + "py_doc": "Construct a new Decoder object" + }, + "args": [], + "ret_type": null, + "static": false, + "def": "Decoder()", + "py_def": "def __init__(self) -> None" + }, + "prepare": { + "type": "func", + "name": "prepare", + "doc": { + "brief": "Prepare data to decode", + "param": { + "data": "need decode data", + "copy": "if false, need to ensure that data is not released in decoding." + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.video.Decoder.prepare", + "py_doc": "Prepare data to decode\n\nArgs:\n - data: need decode data\n - copy: if false, need to ensure that data is not released in decoding.\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "Bytes *", + "data", + null + ], + [ + "bool", + "copy", + "true" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err prepare(Bytes *data, bool copy = true)", + "py_def": "def prepare(self, data: maix.Bytes(bytes), copy: bool = True) -> maix.err.Err" + }, + "decode": { + "type": "func", + "name": "decode", + "doc": { + "brief": "Decode", + "param": { + "frame": "the frame will be decode (not used)" + }, + "return": "decode result", + "maixpy": "maix.video.Decoder.decode", + "py_doc": "Decode\n\nArgs:\n - frame: the frame will be decode (not used)\n\n\nReturns: decode result\n" + }, + "args": [ + [ + "video::Frame *", + "frame", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *decode(video::Frame *frame = nullptr)", + "py_def": "def decode(self, frame: Frame = None) -> maix.image.Image" + } + }, + "def": "class Decoder" + }, + "Video": { + "type": "class", + "name": "Video", + "doc": { + "brief": "Video class", + "maixpy": "maix.video.Video", + "py_doc": "Video class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Video", + "doc": { + "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.\nxxx.h265 means video format is H265, xxx.mp4 means video format is MP4", + "width": "picture width. this value may be set automatically. default is 2560.", + "height": "picture height. this value may be set automatically. default is 1440.", + "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.", + "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 - 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": [ + [ + "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" + ] + ], + "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 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", + "name": "open", + "doc": { + "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.\nxxx.h265 means video format is H265, xxx.mp4 means video format is MP4", + "fps": "video fps" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.video.Video.open", + "py_doc": "Open video and run\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 - fps: video fps\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "std::string", + "path", + "std::string()" + ], + [ + "double", + "fps", + "30.0" + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err open(std::string path = std::string(), double fps = 30.0)", + "py_def": "def open(self, path: str = '', fps: float = 30.0) -> maix.err.Err" + }, + "close": { + "type": "func", + "name": "close", + "doc": { + "brief": "Close video", + "maixpy": "maix.video.Video.close", + "py_doc": "Close video" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void close()", + "py_def": "def close(self) -> None" + }, + "bind_camera": { + "type": "func", + "name": "bind_camera", + "doc": { + "brief": "Bind camera", + "param": { + "camera": "camera object" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.video.Video.bind_camera", + "py_doc": "Bind camera\n\nArgs:\n - camera: camera object\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "camera::Camera *", + "camera", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err bind_camera(camera::Camera *camera)", + "py_def": "def bind_camera(self, camera: maix.camera.Camera) -> maix.err.Err" + }, + "encode": { + "type": "func", + "name": "encode", + "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() 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() function to bind the camera.\n\n\nReturns: encode result\n" + }, + "args": [ + [ + "image::Image *", + "img", + "maix::video::Video::NoneImage" + ] + ], + "ret_type": "video::Packet*", + "static": false, + "def": "video::Packet *encode(image::Image *img = maix::video::Video::NoneImage)", + "py_def": "def encode(self, img: maix.image.Image = ...) -> Packet" + }, + "decode": { + "type": "func", + "name": "decode", + "doc": { + "brief": "Decode frame", + "param": { + "frame": "the frame will be decode" + }, + "return": "decode result", + "maixpy": "maix.video.Video.decode", + "py_doc": "Decode frame\n\nArgs:\n - frame: the frame will be decode\n\n\nReturns: decode result\n" + }, + "args": [ + [ + "video::Frame *", + "frame", + "nullptr" + ] + ], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *decode(video::Frame *frame = nullptr)", + "py_def": "def decode(self, frame: Frame = None) -> maix.image.Image" + }, + "finish": { + "type": "func", + "name": "finish", + "doc": { + "brief": "Encode or decode finish", + "return": "error code", + "maixpy": "maix.video.Video.finish", + "py_doc": "Encode or decode finish\n\nReturns: error code\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "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", + "doc": { + "brief": "Check if video is recording", + "return": "true if video is recording, false if not", + "maixpy": "maix.video.Video.is_recording", + "py_doc": "Check if video is recording\n\nReturns: true if video is recording, false if not\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_recording()", + "py_def": "def is_recording(self) -> bool" + }, + "is_opened": { + "type": "func", + "name": "is_opened", + "doc": { + "brief": "Check if video is opened", + "return": "true if video is opened, false if not", + "maixpy": "maix.video.Video.is_opened", + "py_doc": "Check if video is opened\n\nReturns: true if video is opened, false if not\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_opened()", + "py_def": "def is_opened(self) -> bool" + }, + "is_closed": { + "type": "func", + "name": "is_closed", + "doc": { + "brief": "check video device is closed or not", + "return": "closed or not, bool type", + "maixpy": "maix.video.Video.is_closed", + "py_doc": "check video device is closed or not\n\nReturns: closed or not, bool type\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_closed()", + "py_def": "def is_closed(self) -> bool" + }, + "width": { + "type": "func", + "name": "width", + "doc": { + "brief": "Get video width", + "return": "video width", + "maixpy": "maix.video.Video.width", + "py_doc": "Get video width\n\nReturns: video width\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int width()", + "py_def": "def width(self) -> int" + }, + "height": { + "type": "func", + "name": "height", + "doc": { + "brief": "Get video height", + "return": "video height", + "maixpy": "maix.video.Video.height", + "py_doc": "Get video height\n\nReturns: video height\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int height()", + "py_def": "def height(self) -> int" + } + }, + "def": "class Video" + } + }, + "auto_add": false + }, + "http": { + "type": "module", + "doc": { + "brief": "maix.http module" + }, + "members": { + "JpegStreamer": { + "type": "class", + "name": "JpegStreamer", + "doc": { + "brief": "JpegStreamer class", + "maixpy": "maix.http.JpegStreamer", + "py_doc": "JpegStreamer class" + }, + "members": { + "__init__": { + "type": "func", + "name": "JpegStreamer", + "doc": { + "brief": "Construct a new jpeg streamer object", + "note": "You can get the picture stream through http://host:port/stream, you can also get it through http://ip:port, and you can add personal style through set_html() at this time", + "param": { + "host": "http host", + "port": "http port, default is 8000", + "client_number": "the max number of client" + }, + "maixpy": "maix.http.JpegStreamer.__init__", + "maixcdk": "maix.http.JpegStreamer.JpegStreamer", + "py_doc": "Construct a new jpeg streamer object\n\nArgs:\n - host: http host\n - port: http port, default is 8000\n - client_number: the max number of client\n" + }, + "args": [ + [ + "std::string", + "host", + "std::string()" + ], + [ + "int", + "port", + "8000" + ], + [ + "int", + "client_number", + "16" + ] + ], + "ret_type": null, + "static": false, + "def": "JpegStreamer(std::string host = std::string(), int port = 8000, int client_number = 16)" + }, + "start": { + "type": "func", + "name": "start", + "doc": { + "brief": "start jpeg streame", + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.http.JpegStreamer.start", + "py_doc": "start jpeg streame\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err start()", + "overload": [ + { + "type": "func", + "name": "stop", + "doc": { + "brief": "stop http", + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.http.JpegStreamer.start", + "py_doc": "stop http\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err stop()" + } + ] + }, + "write": { + "type": "func", + "name": "write", + "doc": { + "brief": "Write data to http", + "param": { + "img": "image object" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.http.JpegStreamer.write", + "py_doc": "Write data to http\n\nArgs:\n - img: image object\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "image::Image *", + "img", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err write(image::Image *img)" + }, + "set_html": { + "type": "func", + "name": "set_html", + "doc": { + "brief": "add your style in this api\\ndefault is:\\n\\n\\n

JPG Stream

\\n\\n\\n", + "param": { + "data": "html code" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.http.JpegStreamer.set_html", + "py_doc": "add your style in this api\ndefault is:\n\n\n

JPG Stream

\n\n\n\n\nArgs:\n - data: html code\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "std::string", + "data", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_html(std::string data)" + }, + "host": { + "type": "func", + "name": "host", + "doc": { + "brief": "Get host", + "return": "host name", + "maixpy": "maix.http.JpegStreamer.host", + "py_doc": "Get host\n\nReturns: host name\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string host()" + }, + "port": { + "type": "func", + "name": "port", + "doc": { + "brief": "Get port", + "return": "port", + "maixpy": "maix.http.JpegStreamer.port", + "py_doc": "Get port\n\nReturns: port\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int port()" + } + }, + "def": "class JpegStreamer" + } + }, + "auto_add": true + }, + "rtmp": { + "type": "module", + "doc": { + "brief": "maix.rtmp module", + "maixpy": "maix.rtmp", + "py_doc": "maix.rtmp module" + }, + "members": { + "TagType": { + "type": "enum", + "name": "TagType", + "doc": { + "brief": "Video type", + "maixpy": "maix.rtmp.TagType", + "py_doc": "Video type" + }, + "values": [ + [ + "TAG_NONE", + "", + "" + ], + [ + "TAG_VIDEO", + "", + "" + ], + [ + "TAG_AUDIO", + "", + "" + ], + [ + "TAG_SCRIPT", + "", + "" + ] + ], + "def": "enum TagType\n {\n TAG_NONE,\n TAG_VIDEO,\n TAG_AUDIO,\n TAG_SCRIPT,\n }" + }, + "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", + "bitrate": "rtmp bitrate, default is 1000 * 1000" + }, + "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 - bitrate: rtmp bitrate, default is 1000 * 1000\n" + }, + "args": [ + [ + "std::string", + "host", + "\"localhost\"" + ], + [ + "int", + "port", + "1935" + ], + [ + "std::string", + "app", + "std::string()" + ], + [ + "std::string", + "stream", + "std::string()" + ], + [ + "int", + "bitrate", + "1000 * 1000" + ] + ], + "ret_type": null, + "static": false, + "def": "Rtmp(std::string host = \"localhost\", int port = 1935, std::string app = std::string(), std::string stream = std::string(), int bitrate = 1000 * 1000)", + "py_def": "def __init__(self, host: str = 'localhost', port: int = 1935, app: str = '', stream: str = '', bitrate: int = 1000000) -> None" + }, + "push_video": { + "type": "func", + "name": "bitrate", + "doc": { + "brief": "Get bitrate", + "return": "bitrate", + "maixpy": "maix.rtmp.Rtmp.push_video", + "py_doc": "Get bitrate\n\nReturns: bitrate\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int bitrate()", + "py_def": "def push_video(self) -> int" + }, + "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)", + "py_def": "def bind_camera(self, cam: maix.camera.Camera) -> maix.err.Err" + }, + "get_camera": { + "type": "func", + "name": "get_camera", + "doc": { + "brief": "If you bind a camera, return the camera object.", + "return": "Camera object", + "maixpy": "maix.rtmp.Rtmp.get_camera", + "py_doc": "If you bind a camera, return the camera object.\n\nReturns: Camera object\n" + }, + "args": [], + "ret_type": "camera::Camera*", + "static": false, + "def": "camera::Camera *get_camera()", + "py_def": "def get_camera(self) -> maix.camera.Camera" + }, + "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())", + "py_def": "def start(self, path: str = '') -> maix.err.Err" + }, + "stop": { + "type": "func", + "name": "stop", + "doc": { + "brief": "Stop push stream", + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.rtmp.Rtmp.stop", + "py_doc": "Stop push stream\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err stop()", + "py_def": "def stop(self) -> maix.err.Err" + }, + "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()" + } + ], + "py_def": "def get_path(self) -> str" + } + }, + "def": "class Rtmp" + } + }, + "auto_add": false + }, + "rtsp": { + "type": "module", + "doc": { + "brief": "maix.rtsp module" + }, + "members": { + "RtspStreamType": { + "type": "enum", + "name": "RtspStreamType", + "doc": { + "brief": "The stream type of rtsp", + "maixpy": "maix.rtsp.RtspStreamType", + "py_doc": "The stream type of rtsp" + }, + "values": [ + [ + "RTSP_STREAM_NONE", + "0", + "format invalid" + ], + [ + "RTSP_STREAM_H265", + "", + "" + ] + ], + "def": "enum RtspStreamType\n {\n RTSP_STREAM_NONE = 0, // format invalid\n RTSP_STREAM_H265,\n }" + }, + "Region": { + "type": "class", + "name": "Region", + "doc": { + "brief": "Region class", + "maixpy": "maix.rtsp.Region", + "py_doc": "Region class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Region", + "doc": { + "brief": "Construct a new Region object", + "param": { + "x": "region coordinate x", + "y": "region coordinate y", + "width": "region width", + "height": "region height", + "format": "region format", + "camera": "bind region to camera" + }, + "maixpy": "maix.rtsp.Region.__init__", + "maixcdk": "maix.rtsp.Region.Region", + "py_doc": "Construct a new Region object\n\nArgs:\n - x: region coordinate x\n - y: region coordinate y\n - width: region width\n - height: region height\n - format: region format\n - camera: bind region to camera\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "width", + null + ], + [ + "int", + "height", + null + ], + [ + "image::Format", + "format", + null + ], + [ + "camera::Camera *", + "camera", + null + ] + ], + "ret_type": null, + "static": false, + "def": "Region(int x, int y, int width, int height, image::Format format, camera::Camera *camera)", + "py_def": "def __init__(self, x: int, y: int, width: int, height: int, format: maix.image.Format, camera: maix.camera.Camera) -> None" + }, + "get_canvas": { + "type": "func", + "name": "get_canvas", + "doc": { + "brief": "Return an image object from region", + "return": "image object", + "maixpy": "maix.rtsp.Region.get_canvas", + "py_doc": "Return an image object from region\n\nReturns: image object\n" + }, + "args": [], + "ret_type": "image::Image*", + "static": false, + "def": "image::Image *get_canvas()", + "py_def": "def get_canvas(self) -> maix.image.Image" + }, + "update_canvas": { + "type": "func", + "name": "update_canvas", + "doc": { + "brief": "Update canvas", + "return": "error code", + "maixpy": "maix.rtsp.Region.update_canvas", + "py_doc": "Update canvas\n\nReturns: error code\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err update_canvas()", + "py_def": "def update_canvas(self) -> maix.err.Err" + } + }, + "def": "class Region" + }, + "Rtsp": { + "type": "class", + "name": "Rtsp", + "doc": { + "brief": "Rtsp class", + "maixpy": "maix.rtsp.Rtsp", + "py_doc": "Rtsp class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Rtsp", + "doc": { + "brief": "Construct a new Video object", + "param": { + "ip": "rtsp ip", + "port": "rtsp port", + "fps": "rtsp fps", + "stream_type": "rtsp stream type" + }, + "maixpy": "maix.rtsp.Rtsp.__init__", + "maixcdk": "maix.rtsp.Rtsp.Rtsp", + "py_doc": "Construct a new Video object\n\nArgs:\n - ip: rtsp ip\n - port: rtsp port\n - fps: rtsp fps\n - stream_type: rtsp stream type\n" + }, + "args": [ + [ + "std::string", + "ip", + "std::string()" + ], + [ + "int", + "port", + "8554" + ], + [ + "int", + "fps", + "30" + ], + [ + "rtsp::RtspStreamType", + "stream_type", + "rtsp::RtspStreamType::RTSP_STREAM_H265" + ] + ], + "ret_type": null, + "static": false, + "def": "Rtsp(std::string ip = std::string(), int port = 8554, int fps = 30, rtsp::RtspStreamType stream_type = rtsp::RtspStreamType::RTSP_STREAM_H265)" + }, + "start": { + "type": "func", + "name": "start", + "doc": { + "brief": "start rtsp", + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.rtsp.Rtsp.start", + "py_doc": "start rtsp\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err start()", + "overload": [ + { + "type": "func", + "name": "stop", + "doc": { + "brief": "stop rtsp", + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.rtsp.Rtsp.start", + "py_doc": "stop rtsp\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err stop()" + } + ] + }, + "bind_camera": { + "type": "func", + "name": "bind_camera", + "doc": { + "brief": "Bind camera", + "param": { + "camera": "camera object" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.rtsp.Rtsp.bind_camera", + "py_doc": "Bind camera\n\nArgs:\n - camera: camera object\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "camera::Camera *", + "camera", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err bind_camera(camera::Camera *camera)" + }, + "write": { + "type": "func", + "name": "write", + "doc": { + "brief": "Write data to rtsp", + "param": { + "frame": "video frame data" + }, + "return": "error code, err::ERR_NONE means success, others means failed", + "maixpy": "maix.rtsp.Rtsp.write", + "py_doc": "Write data to rtsp\n\nArgs:\n - frame: video frame data\n\n\nReturns: error code, err::ERR_NONE means success, others means failed\n" + }, + "args": [ + [ + "video::Frame &", + "frame", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err write(video::Frame &frame)" + }, + "get_url": { + "type": "func", + "name": "get_url", + "doc": { + "brief": "Get url of rtsp", + "return": "url of rtsp", + "maixpy": "maix.rtsp.Rtsp.get_url", + "py_doc": "Get url of rtsp\n\nReturns: url of rtsp\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string get_url()" + }, + "get_urls": { + "type": "func", + "name": "get_urls", + "doc": { + "brief": "Get url list of rtsp", + "return": "url list of rtsp", + "maixpy": "maix.rtsp.Rtsp.get_urls", + "py_doc": "Get url list of rtsp\n\nReturns: url list of rtsp\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector get_urls()" + }, + "to_camera": { + "type": "func", + "name": "to_camera", + "doc": { + "brief": "Get camera object from rtsp", + "return": "camera object", + "maixpy": "maix.rtsp.Rtsp.to_camera", + "py_doc": "Get camera object from rtsp\n\nReturns: camera object\n" + }, + "args": [], + "ret_type": "camera::Camera*", + "static": false, + "def": "camera::Camera *to_camera()" + }, + "rtsp_is_start": { + "type": "func", + "name": "rtsp_is_start", + "doc": { + "brief": "return rtsp start status", + "return": "true means rtsp is start, false means rtsp is stop.", + "maixpy": "maix.rtsp.Rtsp.rtsp_is_start", + "py_doc": "return rtsp start status\n\nReturns: true means rtsp is start, false means rtsp is stop.\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool rtsp_is_start()" + }, + "add_region": { + "type": "func", + "name": "add_region", + "doc": { + "brief": "return a region object, you can draw image on the region.", + "param": { + "x": "region coordinate x", + "y": "region coordinate y", + "width": "region width", + "height": "region height", + "format": "region format, support Format::FMT_BGRA8888 only" + }, + "return": "the reigon object", + "maixpy": "maix.rtsp.Rtsp.add_region", + "py_doc": "return a region object, you can draw image on the region.\n\nArgs:\n - x: region coordinate x\n - y: region coordinate y\n - width: region width\n - height: region height\n - format: region format, support Format::FMT_BGRA8888 only\n\n\nReturns: the reigon object\n" + }, + "args": [ + [ + "int", + "x", + null + ], + [ + "int", + "y", + null + ], + [ + "int", + "width", + null + ], + [ + "int", + "height", + null + ], + [ + "image::Format", + "format", + "image::Format::FMT_BGRA8888" + ] + ], + "ret_type": "rtsp::Region*", + "static": false, + "def": "rtsp::Region *add_region(int x, int y, int width, int height, image::Format format = image::Format::FMT_BGRA8888)" + }, + "update_region": { + "type": "func", + "name": "update_region", + "doc": { + "brief": "update and show region", + "return": "error code", + "maixpy": "maix.rtsp.Rtsp.update_region", + "py_doc": "update and show region\n\nReturns: error code\n" + }, + "args": [ + [ + "rtsp::Region &", + "region", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err update_region(rtsp::Region ®ion)" + } + }, + "def": "class Rtsp" + } + }, + "auto_add": true + }, + "peripheral": { + "type": "module", + "doc": { + "brief": "Chip's peripheral driver", + "maixpy": "maix.peripheral", + "py_doc": "Chip's peripheral driver" + }, + "members": { + "wdt": { + "type": "module", + "doc": { + "brief": "maix.peripheral.wdt module" + }, + "members": { + "WDT": { + "type": "class", + "name": "WDT", + "doc": { + "brief": "Peripheral wdt class", + "maixpy": "maix.peripheral.wdt.WDT", + "py_doc": "Peripheral wdt class" + }, + "members": { + "__init__": { + "type": "func", + "name": "WDT", + "doc": { + "brief": "WDT constructor, after construct, the wdt will auto start.", + "param": { + "id": "direction [in], id of wdt, int type", + "feed_ms": "direction [in], feed interval, int type, unit is ms, you must feed wdt in this interval, or system will restart." + }, + "maixpy": "maix.peripheral.wdt.WDT.__init__", + "py_doc": "WDT constructor, after construct, the wdt will auto start.\n\nArgs:\n - id: direction [in], id of wdt, int type\n - feed_ms: direction [in], feed interval, int type, unit is ms, you must feed wdt in this interval, or system will restart.\n" + }, + "args": [ + [ + "int", + "id", + null + ], + [ + "int", + "feed_ms", + null + ] + ], + "ret_type": null, + "static": false, + "def": "WDT(int id, int feed_ms)" + }, + "feed": { + "type": "func", + "name": "feed", + "doc": { + "brief": "feed wdt", + "return": "error code, if feed success, return err::ERR_NONE", + "maixpy": "maix.peripheral.wdt.WDT.feed", + "py_doc": "feed wdt\n\nReturns: error code, if feed success, return err::ERR_NONE\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int feed()" + }, + "stop": { + "type": "func", + "name": "stop", + "doc": { + "brief": "stop wdt", + "maixpy": "maix.peripheral.wdt.WDT.stop", + "py_doc": "stop wdt" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int stop()" + }, + "restart": { + "type": "func", + "name": "restart", + "doc": { + "brief": "restart wdt, stop and start watchdog timer.", + "maixpy": "maix.peripheral.wdt.WDT.restart", + "py_doc": "restart wdt, stop and start watchdog timer." + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int restart()" + } + }, + "def": "class WDT" + } + }, + "auto_add": true + }, + "timer": { + "type": "module", + "doc": { + "brief": "maix.peripheral.timer module" + }, + "members": { + "TIMER": { + "type": "class", + "name": "TIMER", + "doc": { + "brief": "Peripheral timer class", + "maixpy": "maix.peripheral.timer.TIMER", + "py_doc": "Peripheral timer class" + }, + "members": { + "__init__": { + "type": "func", + "name": "TIMER", + "doc": { + "brief": "TIMER constructor", + "maixpy": "maix.peripheral.timer.TIMER.__init__", + "py_doc": "TIMER constructor" + }, + "args": [], + "ret_type": null, + "static": false, + "def": "TIMER()" + } + }, + "def": "class TIMER" + } + }, + "auto_add": true + }, + "spi": { + "type": "module", + "doc": { + "brief": "maix.peripheral.spi module" + }, + "members": { + "Mode": { + "type": "enum", + "name": "Mode", + "doc": { + "brief": "SPI mode enum", + "maixpy": "maix.peripheral.spi.Mode", + "py_doc": "SPI mode enum" + }, + "values": [ + [ + "MASTER", + "0x0", + "spi master mode" + ], + [ + "SLAVE", + "0x1", + "spi slave mode" + ] + ], + "def": "enum Mode\n {\n MASTER = 0x0, // spi master mode\n SLAVE = 0x1, // spi slave mode\n }" + }, + "SPI": { + "type": "class", + "name": "SPI", + "doc": { + "brief": "Peripheral spi class", + "maixpy": "maix.peripheral.spi.SPI", + "py_doc": "Peripheral spi class" + }, + "members": { + "__init__": { + "type": "func", + "name": "SPI", + "doc": { + "brief": "SPI constructor", + "param": { + "id": "direction [in], spi bus id, int type", + "mode": "direction [in], mode of spi, spi.Mode type, spi.Mode.MASTER or spi.Mode.SLAVE.", + "freq": "direction [in], freq of spi, int type", + "polarity": "direction [in], polarity of spi, 0 means idle level of clock is low, 1 means high, int type, default is 0.", + "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.", + "bits": "direction [in], bits of spi, int type, default is 8.", + "cs_enable": "direction [in], cs pin active level, default is 0(low)", + "soft_cs": "direction [in], not use hardware cs, bool type, if set true, you can operate cs pin use gpio manually.", + "cs": "direction [in], soft cs pin number, std::string type, default is \"GPIOA19\", if SPI support multi hardware cs, you can set it to other value." + }, + "maixpy": "maix.peripheral.spi.SPI.__init__", + "py_doc": "SPI constructor\n\nArgs:\n - id: direction [in], spi bus id, int type\n - mode: direction [in], mode of spi, spi.Mode type, spi.Mode.MASTER or spi.Mode.SLAVE.\n - freq: direction [in], freq of spi, int type\n - polarity: direction [in], polarity of spi, 0 means idle level of clock is low, 1 means high, int type, default is 0.\n - 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.\n - bits: direction [in], bits of spi, int type, default is 8.\n - cs_enable: direction [in], cs pin active level, default is 0(low)\n - soft_cs: direction [in], not use hardware cs, bool type, if set true, you can operate cs pin use gpio manually.\n - cs: direction [in], soft cs pin number, std::string type, default is \"GPIOA19\", if SPI support multi hardware cs, you can set it to other value.\n" + }, + "args": [ + [ + "int", + "id", + null + ], + [ + "spi::Mode", + "mode", + null + ], + [ + "int", + "freq", + null + ], + [ + "int", + "polarity", + "0" + ], + [ + "int", + "phase", + "0" + ], + [ + "int", + "bits", + "8" + ], + [ + "unsigned char", + "cs_enable", + "0" + ], + [ + "bool", + "soft_cs", + "false" + ], + [ + "std::string", + "cs", + "\"GPIOA19\"" + ] + ], + "ret_type": null, + "static": false, + "def": "SPI(int id, spi::Mode mode, int freq, int polarity = 0, int phase = 0,\n int bits = 8, unsigned char cs_enable=0, bool soft_cs = false, std::string cs = \"GPIOA19\")" + }, + "read": { + "type": "func", + "name": "read", + "doc": { + "brief": "read data from spi", + "param": { + "length": "direction [in], read length, int type" + }, + "return": "bytes data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++.", + "maixpy": "maix.peripheral.spi.SPI.read", + "py_doc": "read data from spi\n\nArgs:\n - length: direction [in], read length, int type\n\n\nReturns: bytes data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++.\n" + }, + "args": [ + [ + "int", + "length", + null + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *read(int length)" + }, + "write": { + "type": "func", + "name": "write", + "doc": { + "brief": "write data to spi", + "param": { + "data": "direction [in], data to write, Bytes type in C++, bytes type in MaixPy" + }, + "return": "write length, int type, if write failed, return -err::Err code.", + "maixpy": "maix.peripheral.spi.SPI.write", + "py_doc": "write data to spi\n\nArgs:\n - data: direction [in], data to write, Bytes type in C++, bytes type in MaixPy\n\n\nReturns: write length, int type, if write failed, return -err::Err code.\n" + }, + "args": [ + [ + "Bytes *", + "data", + null + ] + ], + "ret_type": "int", + "static": false, + "def": "int write(Bytes *data)" + }, + "write_read": { + "type": "func", + "name": "write_read", + "doc": { + "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", + "read_len": "direction [in], read length, int type, should > 0." + }, + "return": "read data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++.", + "maixpy": "maix.peripheral.spi.SPI.write_read", + "py_doc": "write data to spi and read data from spi at the same time.\n\nArgs:\n - data: direction [in], data to write, Bytes type in C++, bytes type in MaixPy\n - read_len: direction [in], read length, int type, should > 0.\n\n\nReturns: read data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++.\n" + }, + "args": [ + [ + "Bytes *", + "data", + null + ], + [ + "int", + "read_len", + null + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *write_read(Bytes *data, int read_len)" + }, + "is_busy": { + "type": "func", + "name": "is_busy", + "doc": { + "brief": "get busy status of spi", + "return": "busy status, bool type", + "maixpy": "maix.peripheral.spi.SPI.is_busy", + "py_doc": "get busy status of spi\n\nReturns: busy status, bool type\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_busy()" + } + }, + "def": "class SPI" + } + }, + "auto_add": true + }, + "gpio": { + "type": "module", + "doc": { + "brief": "maix.peripheral.gpio module" + }, + "members": { + "Mode": { + "type": "enum", + "name": "Mode", + "doc": { + "brief": "GPIO mode", + "maixpy": "maix.peripheral.gpio.Mode", + "py_doc": "GPIO mode" + }, + "values": [ + [ + "IN", + "0x01", + "input mode" + ], + [ + "OUT", + "0x02", + "output mode" + ], + [ + "OUT_OD", + "0x03", + "output open drain mode" + ], + [ + "MODE_MAX", + "", + "" + ] + ], + "def": "enum Mode\n {\n IN = 0x01, // input mode\n OUT = 0x02, // output mode\n OUT_OD = 0x03, // output open drain mode\n MODE_MAX\n }" + }, + "Pull": { + "type": "enum", + "name": "Pull", + "doc": { + "brief": "GPIO pull mode", + "maixpy": "maix.peripheral.gpio.Pull", + "py_doc": "GPIO pull mode" + }, + "values": [ + [ + "PULL_NONE", + "0x00", + "pull none mode" + ], + [ + "PULL_UP", + "0x01", + "pull up mode" + ], + [ + "PULL_DOWN", + "0x02", + "pull down mode" + ], + [ + "PULL_MAX", + "", + "" + ] + ], + "def": "enum Pull\n {\n PULL_NONE = 0x00, // pull none mode\n PULL_UP = 0x01, // pull up mode\n PULL_DOWN = 0x02, // pull down mode\n PULL_MAX\n }" + }, + "GPIO": { + "type": "class", + "name": "GPIO", + "doc": { + "brief": "Peripheral gpio class", + "maixpy": "maix.peripheral.gpio.GPIO", + "py_doc": "Peripheral gpio class" + }, + "members": { + "__init__": { + "type": "func", + "name": "GPIO", + "doc": { + "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.", + "mode": "direction [in], gpio mode. gpio.Mode type, default is gpio.Mode.IN (input) mode.", + "pull": "direction [in], gpio pull. gpio.Pull type, default is gpio.Pull.PULL_NONE (pull none) mode.\nFor input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.\nFor output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0." + }, + "throw": "err::Exception if open gpio device failed.", + "maixpy": "maix.peripheral.gpio.GPIO.__init__", + "py_doc": "GPIO constructor\n\nArgs:\n - 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.\n - mode: direction [in], gpio mode. gpio.Mode type, default is gpio.Mode.IN (input) mode.\n - pull: direction [in], gpio pull. gpio.Pull type, default is gpio.Pull.PULL_NONE (pull none) mode.\nFor input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.\nFor output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0.\n" + }, + "args": [ + [ + "std::string", + "pin", + null + ], + [ + "gpio::Mode", + "mode", + "gpio::Mode::IN" + ], + [ + "gpio::Pull", + "pull", + "gpio::Pull::PULL_NONE" + ] + ], + "ret_type": null, + "static": false, + "def": "GPIO(std::string pin, gpio::Mode mode = gpio::Mode::IN, gpio::Pull pull = gpio::Pull::PULL_NONE)", + "py_def": "def __init__(self, pin: str, mode: Mode = ..., pull: Pull = ...) -> None" + }, + "value": { + "type": "func", + "name": "value", + "doc": { + "brief": "set and get gpio value", + "param": { + "value": "direction [in], gpio value. int type.\n0, means write gpio to low level\n1, means write gpio to high level\n-1, means read gpio value, not set" + }, + "return": "int type, return gpio value, can be 0 or 1", + "maixpy": "maix.peripheral.gpio.GPIO.value", + "py_doc": "set and get gpio value\n\nArgs:\n - value: direction [in], gpio value. int type.\n0, means write gpio to low level\n1, means write gpio to high level\n-1, means read gpio value, not set\n\n\nReturns: int type, return gpio value, can be 0 or 1\n" + }, + "args": [ + [ + "int", + "value", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int value(int value = -1)", + "py_def": "def value(self, value: int = -1) -> int" + }, + "high": { + "type": "func", + "name": "high", + "doc": { + "brief": "set gpio high (value to 1)", + "maixpy": "maix.peripheral.gpio.GPIO.high", + "py_doc": "set gpio high (value to 1)" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void high()", + "py_def": "def high(self) -> None" + }, + "low": { + "type": "func", + "name": "low", + "doc": { + "brief": "set gpio low (value to 0)", + "maixpy": "maix.peripheral.gpio.GPIO.low", + "py_doc": "set gpio low (value to 0)" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void low()", + "py_def": "def low(self) -> None" + }, + "toggle": { + "type": "func", + "name": "toggle", + "doc": { + "brief": "gpio toggle", + "maixpy": "maix.peripheral.gpio.GPIO.toggle", + "py_doc": "gpio toggle" + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void toggle()", + "py_def": "def toggle(self) -> None" + }, + "get_mode": { + "type": "func", + "name": "get_mode", + "doc": { + "brief": "gpio get mode", + "maixpy": "maix.peripheral.gpio.GPIO.get_mode", + "py_doc": "gpio get mode" + }, + "args": [], + "ret_type": "gpio::Mode", + "static": false, + "def": "gpio::Mode get_mode()", + "py_def": "def get_mode(self) -> Mode" + }, + "get_pull": { + "type": "func", + "name": "get_pull", + "doc": { + "brief": "get gpio pull", + "return": "gpio::Pull type", + "maixpy": "maix.peripheral.gpio.GPIO.get_pull", + "py_doc": "get gpio pull\n\nReturns: gpio::Pull type\n" + }, + "args": [], + "ret_type": "gpio::Pull", + "static": false, + "def": "gpio::Pull get_pull()", + "py_def": "def get_pull(self) -> Pull" + }, + "reset": { + "type": "func", + "name": "reset", + "doc": { + "brief": "reset gpio", + "param": { + "mode": "direction [in], gpio mode. gpio.Mode type", + "pull": "direction [in], gpio pull. gpio.Pull type\nFor input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.\nFor output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0." + }, + "return": "err::Err type", + "maixpy": "maix.peripheral.gpio.GPIO.reset", + "py_doc": "reset gpio\n\nArgs:\n - mode: direction [in], gpio mode. gpio.Mode type\n - pull: direction [in], gpio pull. gpio.Pull type\nFor input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.\nFor output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0.\n\n\nReturns: err::Err type\n" + }, + "args": [ + [ + "gpio::Mode", + "mode", + null + ], + [ + "gpio::Pull", + "pull", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err reset(gpio::Mode mode, gpio::Pull pull)", + "py_def": "def reset(self, mode: Mode, pull: Pull) -> maix.err.Err" + } + }, + "def": "class GPIO" + } + }, + "auto_add": true + }, + "uart": { + "type": "module", + "doc": { + "brief": "maix uart peripheral driver", + "maixpy": "maix.peripheral.uart", + "py_doc": "maix uart peripheral driver" + }, + "members": { + "PARITY": { + "type": "enum", + "name": "PARITY", + "doc": { + "brief": "uart parity enum", + "maixpy": "maix.peripheral.uart.PARITY", + "py_doc": "uart parity enum" + }, + "values": [ + [ + "PARITY_NONE", + "0x00", + "no parity" + ], + [ + "PARITY_ODD", + "0x01", + "odd parity" + ], + [ + "PARITY_EVEN", + "0x02", + "even parity" + ], + [ + "PARITY_MAX", + "", + "" + ] + ], + "def": "enum PARITY\n {\n PARITY_NONE = 0x00, // no parity\n PARITY_ODD = 0x01, // odd parity\n PARITY_EVEN = 0x02, // even parity\n PARITY_MAX\n }" + }, + "STOP": { + "type": "enum", + "name": "STOP", + "doc": { + "brief": "uart stop bits", + "maixpy": "maix.peripheral.uart.STOP", + "py_doc": "uart stop bits" + }, + "values": [ + [ + "STOP_1", + "0x01", + "1 stop bit" + ], + [ + "STOP_2", + "0x02", + "2 stop bits" + ], + [ + "STOP_1_5", + "0x03", + "1.5 stop bits" + ], + [ + "STOP_MAX", + "", + "" + ] + ], + "def": "enum STOP\n {\n STOP_1 = 0x01, // 1 stop bit\n STOP_2 = 0x02, // 2 stop bits\n STOP_1_5 = 0x03, // 1.5 stop bits\n STOP_MAX\n }" + }, + "BITS": { + "type": "enum", + "name": "BITS", + "doc": { + "brief": "uart stop bits", + "maixpy": "maix.peripheral.uart.BITS", + "py_doc": "uart stop bits" + }, + "values": [ + [ + "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", + "", + "" + ] + ], + "def": "enum BITS\n {\n BITS_5 = 5, // 5 data bits\n BITS_6 = 6, // 6 data bits\n BITS_7 = 7, // 7 data bits\n BITS_8 = 8, // 8 data bits\n BITS_MAX\n }" + }, + "FLOW_CTRL": { + "type": "enum", + "name": "FLOW_CTRL", + "doc": { + "brief": "uart flow control", + "maixpy": "maix.peripheral.uart.FLOW_CTRL", + "py_doc": "uart flow control" + }, + "values": [ + [ + "FLOW_CTRL_NONE", + "0", + "no flow control" + ], + [ + "FLOW_CTRL_HW", + "1", + "hardware flow control" + ], + [ + "FLOW_CTRL_MAX", + "", + "" + ] + ], + "def": "enum FLOW_CTRL\n {\n FLOW_CTRL_NONE = 0, // no flow control\n FLOW_CTRL_HW = 1, // hardware flow control\n FLOW_CTRL_MAX\n }" + }, + "list_devices": { + "type": "func", + "name": "list_devices", + "doc": { + "brief": "Get supported uart ports.", + "return": "uart ports list, string type.", + "maixpy": "maix.peripheral.uart.list_devices", + "py_doc": "Get supported uart ports.\n\nReturns: uart ports list, string type.\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector list_devices()" + }, + "UART": { + "type": "class", + "name": "UART", + "doc": { + "brief": "maix uart peripheral driver", + "maixpy": "maix.peripheral.uart.UART", + "py_doc": "maix uart peripheral driver" + }, + "members": { + "__init__": { + "type": "func", + "name": "UART", + "doc": { + "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().\nIf empty, will not open device in constructor, default empty.\nif not empty, will auto open device in constructor, open fail will throw err.Exception.", + "baudrate": "baudrate of uart. int type, default 115200.", + "databits": "databits, values @see uart.DATA_BITS", + "parity": "parity, values @see uart.PARITY", + "stopbits": "stopbits, values @see uart.STOP_BITS", + "flow_control": "flow_control, values @see uart.FLOW_CTRL" + }, + "maixpy": "maix.peripheral.uart.UART.__init__", + "py_doc": "UART constructor. You need to call open() to open the device.\n\nArgs:\n - port: uart port. string type, can get it by uart.list_devices().\nIf empty, will not open device in constructor, default empty.\nif not empty, will auto open device in constructor, open fail will throw err.Exception.\n - baudrate: baudrate of uart. int type, default 115200.\n - databits: databits, values @see uart.DATA_BITS\n - parity: parity, values @see uart.PARITY\n - stopbits: stopbits, values @see uart.STOP_BITS\n - flow_control: flow_control, values @see uart.FLOW_CTRL\n" + }, + "args": [ + [ + "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" + ] + ], + "ret_type": null, + "static": false, + "def": "UART(const std::string &port = \"\", int baudrate = 115200, uart::BITS databits = uart::BITS_8,\n uart::PARITY parity = uart::PARITY_NONE, uart::STOP stopbits = uart::STOP_1,\n uart::FLOW_CTRL flow_ctrl = uart::FLOW_CTRL_NONE)", + "py_def": "def __init__(self, port: str = '', baudrate: int = 115200, databits: BITS = ..., parity: PARITY = ..., stopbits: STOP = ..., flow_ctrl: FLOW_CTRL = ...) -> None" + }, + "set_port": { + "type": "func", + "name": "set_port", + "doc": { + "brief": "Set port", + "param": { + "port": "uart port. string type, can get it by uart.list_devices()." + }, + "return": "set port error code, err.Err type.", + "maixpy": "maix.peripheral.uart.UART.set_port", + "py_doc": "Set port\n\nArgs:\n - port: uart port. string type, can get it by uart.list_devices().\n\n\nReturns: set port error code, err.Err type.\n" + }, + "args": [ + [ + "const std::string &", + "port", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_port(const std::string &port)", + "py_def": "def set_port(self, port: str) -> maix.err.Err" + }, + "get_port": { + "type": "func", + "name": "get_port", + "doc": { + "brief": "Get port", + "return": "uart port, string type.", + "maixpy": "maix.peripheral.uart.UART.get_port", + "py_doc": "Get port\n\nReturns: uart port, string type.\n" + }, + "args": [], + "ret_type": "std::string", + "static": false, + "def": "std::string get_port()", + "py_def": "def get_port(self) -> str" + }, + "set_baudrate": { + "type": "func", + "name": "set_baudrate", + "doc": { + "brief": "Set baud rate", + "param": { + "baudrate": "baudrate of uart. int type, default 115200." + }, + "return": "set baud rate error code, err.Err type.", + "maixpy": "maix.peripheral.uart.UART.set_baudrate", + "py_doc": "Set baud rate\n\nArgs:\n - baudrate: baudrate of uart. int type, default 115200.\n\n\nReturns: set baud rate error code, err.Err type.\n" + }, + "args": [ + [ + "int", + "baudrate", + null + ] + ], + "ret_type": "err::Err", + "static": false, + "def": "err::Err set_baudrate(int baudrate)", + "py_def": "def set_baudrate(self, baudrate: int) -> maix.err.Err" + }, + "get_baudrate": { + "type": "func", + "name": "get_baudrate", + "doc": { + "brief": "Get baud rate", + "return": "baud rate, int type.", + "maixpy": "maix.peripheral.uart.UART.get_baudrate", + "py_doc": "Get baud rate\n\nReturns: baud rate, int type.\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int get_baudrate()", + "py_def": "def get_baudrate(self) -> int" + }, + "open": { + "type": "func", + "name": "open", + "doc": { + "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.", + "maixpy": "maix.peripheral.uart.UART.open", + "py_doc": "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.\n\nReturns: open device error code, err.Err type.\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err open()", + "py_def": "def open(self) -> maix.err.Err" + }, + "is_open": { + "type": "func", + "name": "is_open", + "doc": { + "brief": "Check if device is opened.", + "return": "true if opened, false if not opened.", + "maixpy": "maix.peripheral.uart.UART.is_open", + "py_doc": "Check if device is opened.\n\nReturns: true if opened, false if not opened.\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_open()", + "py_def": "def is_open(self) -> bool" + }, + "close": { + "type": "func", + "name": "close", + "doc": { + "brief": "Close uart device, if already closed, do nothing and return err.ERR_NONE.", + "return": "close device error code, err.Err type.", + "maixpy": "maix.peripheral.uart.UART.close", + "py_doc": "Close uart device, if already closed, do nothing and return err.ERR_NONE.\n\nReturns: close device error code, err.Err type.\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err close()", + "py_def": "def close(self) -> maix.err.Err" + }, + "write_str": { + "type": "func", + "name": "write_str", + "doc": { + "brief": "Send string data", + "param": { + "str": "string data" + }, + "return": "sent data length, < 0 means error, value is -err.Err.", + "maixpy": "maix.peripheral.uart.UART.write_str", + "py_doc": "Send string data\n\nArgs:\n - str: string data\n\n\nReturns: sent data length, < 0 means error, value is -err.Err.\n" + }, + "args": [ + [ + "const std::string &", + "str", + null + ] + ], + "ret_type": "int", + "static": false, + "def": "int write_str(const std::string &str)", + "py_def": "def write_str(self, str: str) -> int" + }, + "write": { + "type": "func", + "name": "write", + "doc": { + "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." + }, + "return": "sent length, int type, if < 0 means error, value is -err.Err.", + "maixpy": "maix.peripheral.uart.UART.write", + "py_doc": "Send data to uart\n\nArgs:\n - data: direction [in], data to send, bytes type. If you want to send str type, use str.encode() to convert.\n\n\nReturns: sent length, int type, if < 0 means error, value is -err.Err.\n" + }, + "args": [ + [ + "Bytes &", + "data", + null + ] + ], + "ret_type": "int", + "static": false, + "def": "int write(Bytes &data)", + "py_def": "def write(self, data: maix.Bytes(bytes)) -> int" + }, + "available": { + "type": "func", + "name": "available", + "doc": { + "brief": "Check if data available or wait data available.", + "param": { + "timeout": "unit ms, timeout to wait data, default 0.\n0 means check data available and return immediately,\n> 0 means wait until data available or timeout.\n- 1 means wait until data available." + }, + "return": "available data number, 0 if timeout or no data, <0 if error, value is -err.Err, can be err::ERR_IO\uff0c err::ERR_CANCEL, err::ERR_NOT_OPEN.", + "throw": "err.Exception if fatal error.", + "maixpy": "maix.peripheral.uart.UART.available", + "py_doc": "Check if data available or wait data available.\n\nArgs:\n - timeout: unit ms, timeout to wait data, default 0.\n0 means check data available and return immediately,\n> 0 means wait until data available or timeout.\n- 1 means wait until data available.\n\n\nReturns: available data number, 0 if timeout or no data, <0 if error, value is -err.Err, can be err::ERR_IO\uff0c err::ERR_CANCEL, err::ERR_NOT_OPEN.\n" + }, + "args": [ + [ + "int", + "timeout", + "0" + ] + ], + "ret_type": "int", + "static": false, + "def": "int available(int timeout = 0)", + "py_def": "def available(self, timeout: int = 0) -> int" + }, + "read": { + "type": "func", + "name": "read", + "doc": { + "brief": "Recv data from uart", + "param": { + "len": "max data length want to receive, default -1.\n-1 means read data in uart receive buffer.\n>0 means read len data want to receive.\nother values is invalid.", + "timeout": "unit ms, timeout to receive data, default 0.\n0 means read data in uart receive buffer and return immediately,\n-1 means block until read len data,\n>0 means block until read len data or timeout." + }, + "return": "received data, bytes type.\nAttention, you need to delete the returned object yourself in C++.", + "maixpy": "maix.peripheral.uart.UART.read", + "py_doc": "Recv data from uart\n\nArgs:\n - len: max data length want to receive, default -1.\n-1 means read data in uart receive buffer.\n>0 means read len data want to receive.\nother values is invalid.\n - timeout: unit ms, timeout to receive data, default 0.\n0 means read data in uart receive buffer and return immediately,\n-1 means block until read len data,\n>0 means block until read len data or timeout.\n\n\nReturns: received data, bytes type.\nAttention, you need to delete the returned object yourself in C++.\n" + }, + "args": [ + [ + "int", + "len", + "-1" + ], + [ + "int", + "timeout", + "0" + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *read(int len = -1, int timeout = 0)", + "py_def": "def read(*args, **kwargs)" + }, + "readline": { + "type": "func", + "name": "readline", + "doc": { + "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'.\n> 0 means block until read '\\n' or '\\r\\n' or timeout." + }, + "return": "received data, bytes type. If timeout will return the current received data despite not read '\\n' or '\\r\\n'.\ne.g. If we want to read b'123\\n', but when we only read b'12', timeout, then return b'12'.", + "maixpy": "maix.peripheral.uart.UART.readline", + "py_doc": "Read line from uart, that is read until '\\n' or '\\r\\n'.\n\nArgs:\n - timeout: unit ms, timeout to receive data, default -1 means block until read '\\n' or '\\r\\n'.\n> 0 means block until read '\\n' or '\\r\\n' or timeout.\n\n\nReturns: received data, bytes type. If timeout will return the current received data despite not read '\\n' or '\\r\\n'.\ne.g. If we want to read b'123\\n', but when we only read b'12', timeout, then return b'12'.\n" + }, + "args": [ + [ + "int", + "timeout", + "-1" + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes *readline(int timeout = -1)", + "py_def": "def readline(*args, **kwargs)" + } + }, + "def": "class UART : public comm::CommBase" + } + }, + "auto_add": false + }, + "i2c": { + "type": "module", + "doc": { + "brief": "maix.peripheral.i2c module" + }, + "members": { + "AddrSize": { + "type": "enum", + "name": "AddrSize", + "doc": { + "brief": "Address size enum", + "maixpy": "maix.peripheral.i2c.AddrSize", + "py_doc": "Address size enum" + }, + "values": [ + [ + "SEVEN_BIT", + "7", + "7-bit address mode" + ], + [ + "TEN_BIT", + "10", + "10-bit address mode" + ] + ], + "def": "enum AddrSize\n {\n SEVEN_BIT = 7, // 7-bit address mode\n TEN_BIT = 10 // 10-bit address mode\n }" + }, + "Mode": { + "type": "enum", + "name": "Mode", + "doc": { + "brief": "I2C mode enum", + "maixpy": "maix.peripheral.i2c.Mode", + "py_doc": "I2C mode enum" + }, + "values": [ + [ + "MASTER", + "0x00", + "master mode" + ], + [ + "SLAVE", + "0x01", + "slave mode" + ] + ], + "def": "enum Mode\n {\n MASTER = 0x00, // master mode\n SLAVE = 0x01 // slave mode\n }" + }, + "list_devices": { + "type": "func", + "name": "list_devices", + "doc": { + "brief": "Get supported i2c bus devices.", + "return": "i2c bus devices list, int type, is the i2c bus id.", + "maixpy": "maix.peripheral.i2c.list_devices", + "py_doc": "Get supported i2c bus devices.\n\nReturns: i2c bus devices list, int type, is the i2c bus id.\n" + }, + "args": [], + "ret_type": "std::vector", + "static": false, + "def": "std::vector list_devices()" + }, + "I2C": { + "type": "class", + "name": "I2C", + "doc": { + "brief": "Peripheral i2c class", + "maixpy": "maix.peripheral.i2c.I2C", + "py_doc": "Peripheral i2c class" + }, + "members": { + "__init__": { + "type": "func", + "name": "I2C", + "doc": { + "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", + "freq": "direction [in], i2c clock, int type, default is 100000(100kbit/s), will auto set fast mode if freq > 100000.", + "mode": "direction [in], mode of i2c, i2c.Mode.SLAVE or i2c.Mode.MASTER.", + "addr_size": "direction [in], address length of i2c, i2c.AddrSize.SEVEN_BIT or i2c.AddrSize.TEN_BIT." + }, + "throw": "err::Exception if open i2c device failed.", + "maixpy": "maix.peripheral.i2c.I2C.__init__", + "py_doc": "I2C Device constructor\nthis constructor will be export to MaixPy as _maix.example.Example.__init__\n\nArgs:\n - id: direction [in], i2c bus id, int type, e.g. 0, 1, 2\n - freq: direction [in], i2c clock, int type, default is 100000(100kbit/s), will auto set fast mode if freq > 100000.\n - mode: direction [in], mode of i2c, i2c.Mode.SLAVE or i2c.Mode.MASTER.\n - addr_size: direction [in], address length of i2c, i2c.AddrSize.SEVEN_BIT or i2c.AddrSize.TEN_BIT.\n" + }, + "args": [ + [ + "int", + "id", + null + ], + [ + "i2c::Mode", + "mode", + null + ], + [ + "int", + "freq", + "100000" + ], + [ + "i2c::AddrSize", + "addr_size", + "i2c::AddrSize::SEVEN_BIT" + ] + ], + "ret_type": null, + "static": false, + "def": "I2C(int id, i2c::Mode mode, int freq = 100000, i2c::AddrSize addr_size = i2c::AddrSize::SEVEN_BIT)" + }, + "scan": { + "type": "func", + "name": "scan", + "doc": { + "brief": "scan all i2c salve address on the bus", + "param": { + "addr": "If -1, only scan this addr, or scan from 0x08~0x77, default -1." + }, + "return": "the list of i2c slave address, int list type.", + "maixpy": "maix.peripheral.i2c.I2C.scan", + "py_doc": "scan all i2c salve address on the bus\n\nArgs:\n - addr: If -1, only scan this addr, or scan from 0x08~0x77, default -1.\n\n\nReturns: the list of i2c slave address, int list type.\n" + }, + "args": [ + [ + "int", + "addr", + "-1" + ] + ], + "ret_type": "std::vector", + "static": false, + "def": "std::vector scan(int addr = -1)" + }, + "writeto": { + "type": "func", + "name": "writeto", + "doc": { + "brief": "write data to i2c slave", + "param": { + "addr": "direction [in], i2c slave address, int type", + "data": "direction [in], data to write, bytes type.\nNote: The range of value should be in [0,255]." + }, + "return": "if success, return the length of written data, error occurred will return -err::Err.", + "maixpy": "maix.peripheral.i2c.I2C.writeto", + "py_doc": "write data to i2c slave\n\nArgs:\n - addr: direction [in], i2c slave address, int type\n - data: direction [in], data to write, bytes type.\nNote: The range of value should be in [0,255].\n\n\nReturns: if success, return the length of written data, error occurred will return -err::Err.\n" + }, + "args": [ + [ + "int", + "addr", + null + ], + [ + "const Bytes &", + "data", + null + ] + ], + "ret_type": "int", + "static": false, + "def": "int writeto(int addr, const Bytes &data)" + }, + "readfrom": { + "type": "func", + "name": "readfrom", + "doc": { + "brief": "read data from i2c slave", + "param": { + "addr": "direction [in], i2c slave address, int type", + "len": "direction [in], data length to read, int type" + }, + "return": "the list of data read from i2c slave, bytes type, you should delete it after use in C++.\nIf read failed, return nullptr in C++, None in MaixPy.", + "maixpy": "maix.peripheral.i2c.I2C.readfrom", + "py_doc": "read data from i2c slave\n\nArgs:\n - addr: direction [in], i2c slave address, int type\n - len: direction [in], data length to read, int type\n\n\nReturns: the list of data read from i2c slave, bytes type, you should delete it after use in C++.\nIf read failed, return nullptr in C++, None in MaixPy.\n" + }, + "args": [ + [ + "int", + "addr", + null + ], + [ + "int", + "len", + null + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes* readfrom(int addr, int len)" + }, + "writeto_mem": { + "type": "func", + "name": "writeto_mem", + "doc": { + "brief": "write data to i2c slave's memory address", + "param": { + "addr": "direction [in], i2c slave address, int type", + "mem_addr": "direction [in], memory address want to write, int type.", + "data": "direction [in], data to write, bytes type.", + "mem_addr_size": "direction [in], memory address size, default is 8.", + "mem_addr_le": "direction [in], memory address little endian, default is false, that is send high byte first." + }, + "return": "data length written if success, error occurred will return -err::Err.", + "maixpy": "maix.peripheral.i2c.I2C.writeto_mem", + "py_doc": "write data to i2c slave's memory address\n\nArgs:\n - addr: direction [in], i2c slave address, int type\n - mem_addr: direction [in], memory address want to write, int type.\n - data: direction [in], data to write, bytes type.\n - mem_addr_size: direction [in], memory address size, default is 8.\n - mem_addr_le: direction [in], memory address little endian, default is false, that is send high byte first.\n\n\nReturns: data length written if success, error occurred will return -err::Err.\n" + }, + "args": [ + [ + "int", + "addr", + null + ], + [ + "int", + "mem_addr", + null + ], + [ + "const Bytes &", + "data", + null + ], + [ + "int", + "mem_addr_size", + "8" + ], + [ + "bool", + "mem_addr_le", + "false" + ] + ], + "ret_type": "int", + "static": false, + "def": "int writeto_mem(int addr, int mem_addr, const Bytes &data, int mem_addr_size = 8, bool mem_addr_le = false)" + }, + "readfrom_mem": { + "type": "func", + "name": "readfrom_mem", + "doc": { + "brief": "read data from i2c slave", + "param": { + "addr": "direction [in], i2c slave address, int type", + "mem_addr": "direction [in], memory address want to read, int type.", + "len": "direction [in], data length to read, int type", + "mem_addr_size": "direction [in], memory address size, default is 8.", + "mem_addr_le": "direction [in], memory address little endian, default is false, that is send high byte first." + }, + "return": "the list of data read from i2c slave, bytes type, you should delete it after use in C++.\nIf read failed, return nullptr in C++, None in MaixPy.", + "maixpy": "maix.peripheral.i2c.I2C.readfrom_mem", + "py_doc": "read data from i2c slave\n\nArgs:\n - addr: direction [in], i2c slave address, int type\n - mem_addr: direction [in], memory address want to read, int type.\n - len: direction [in], data length to read, int type\n - mem_addr_size: direction [in], memory address size, default is 8.\n - mem_addr_le: direction [in], memory address little endian, default is false, that is send high byte first.\n\n\nReturns: the list of data read from i2c slave, bytes type, you should delete it after use in C++.\nIf read failed, return nullptr in C++, None in MaixPy.\n" + }, + "args": [ + [ + "int", + "addr", + null + ], + [ + "int", + "mem_addr", + null + ], + [ + "int", + "len", + null + ], + [ + "int", + "mem_addr_size", + "8" + ], + [ + "bool", + "mem_addr_le", + "false" + ] + ], + "ret_type": "Bytes*", + "static": false, + "def": "Bytes* readfrom_mem(int addr, int mem_addr, int len, int mem_addr_size = 8, bool mem_addr_le = false)" + } + }, + "def": "class I2C" + } + }, + "auto_add": true + }, + "adc": { + "type": "module", + "doc": { + "brief": "maix.peripheral.adc module" + }, + "members": { + "RES_BIT_8": { + "type": "var", + "name": "", + "doc": { + "brief": "8-bit resolution, supported by the actual hardware", + "maixpy": "maix.peripheral.adc.RES_BIT_8", + "py_doc": "8-bit resolution, supported by the actual hardware" + }, + "value": "8", + "static": false, + "readonly": true, + "def": "const int RES_BIT_8 = 8" + }, + "RES_BIT_10": { + "type": "var", + "name": "", + "doc": { + "brief": "10-bit resolution, supported by the actual hardware", + "maixpy": "maix.peripheral.adc.RES_BIT_10", + "py_doc": "10-bit resolution, supported by the actual hardware" + }, + "value": "10", + "static": false, + "readonly": true, + "def": "const int RES_BIT_10 = 10" + }, + "RES_BIT_12": { + "type": "var", + "name": "", + "doc": { + "brief": "12-bit resolution, supported by the actual hardware", + "maixpy": "maix.peripheral.adc.RES_BIT_12", + "py_doc": "12-bit resolution, supported by the actual hardware" + }, + "value": "12", + "static": false, + "readonly": true, + "def": "const int RES_BIT_12 = 12" + }, + "RES_BIT_16": { + "type": "var", + "name": "", + "doc": { + "brief": "16-bit resolution, supported by the actual hardware", + "maixpy": "maix.peripheral.adc.RES_BIT_16", + "py_doc": "16-bit resolution, supported by the actual hardware" + }, + "value": "16", + "static": false, + "readonly": true, + "def": "const int RES_BIT_16 = 16" + }, + "ADC": { + "type": "class", + "name": "ADC", + "doc": { + "brief": "Peripheral adc class", + "maixpy": "maix.peripheral.adc.ADC", + "py_doc": "Peripheral adc class" + }, + "members": { + "__init__": { + "type": "func", + "name": "ADC", + "doc": { + "brief": "ADC constructor", + "param": { + "pin": "direction [in], adc pin, int type", + "resolution": "direction [in], adc resolution. default is -1, means use default resolution\noption:\nresolution = adc.RES_BIT_8, means 8-bit resolution\nresolution = adc.RES_BIT_10, means 10-bit resolution\nresolution = adc.RES_BIT_12, means 12-bit resolution\nresolution = adc.RES_BIT_16, means 16-bit resolution\nthe default resolution is determined by actual hardware.", + "vref": "direction [in], adc refer voltage. default is -1, means use default refer voltage.\nthe default vref is determined by actual hardware. range: [0.0, 10.0]" + }, + "maixpy": "maix.peripheral.adc.ADC.__init__", + "py_doc": "ADC constructor\n\nArgs:\n - pin: direction [in], adc pin, int type\n - resolution: direction [in], adc resolution. default is -1, means use default resolution\noption:\nresolution = adc.RES_BIT_8, means 8-bit resolution\nresolution = adc.RES_BIT_10, means 10-bit resolution\nresolution = adc.RES_BIT_12, means 12-bit resolution\nresolution = adc.RES_BIT_16, means 16-bit resolution\nthe default resolution is determined by actual hardware.\n - vref: direction [in], adc refer voltage. default is -1, means use default refer voltage.\nthe default vref is determined by actual hardware. range: [0.0, 10.0]\n" + }, + "args": [ + [ + "int", + "pin", + null + ], + [ + "int", + "resolution", + null + ], + [ + "float", + "vref", + "-1" + ] + ], + "ret_type": null, + "static": false, + "def": "ADC(int pin, int resolution, float vref = -1)", + "py_def": "def __init__(self, pin: int, resolution: int, vref: float = -1) -> None" + }, + "read": { + "type": "func", + "name": "read", + "doc": { + "brief": "read adc value", + "return": "adc data, int type\nif resolution is 8-bit, return value range is [0, 255]\nif resolution is 10-bit, return value range is [0, 1023]\nif resolution is 12-bit, return value range is [0, 4095]\nif resolution is 16-bit, return value range is [0, 65535]", + "maixpy": "maix.peripheral.adc.ADC.read", + "py_doc": "read adc value\n\nReturns: adc data, int type\nif resolution is 8-bit, return value range is [0, 255]\nif resolution is 10-bit, return value range is [0, 1023]\nif resolution is 12-bit, return value range is [0, 4095]\nif resolution is 16-bit, return value range is [0, 65535]\n" + }, + "args": [], + "ret_type": "int", + "static": false, + "def": "int read()", + "py_def": "def read(self) -> int" + }, + "read_vol": { + "type": "func", + "name": "read_vol", + "doc": { + "brief": "read adc voltage", + "return": "adc voltage, float type\u3002the range is [0.0, vref]", + "maixpy": "maix.peripheral.adc.ADC.read_vol", + "py_doc": "read adc voltage\n\nReturns: adc voltage, float type\u3002the range is [0.0, vref]\n" + }, + "args": [], + "ret_type": "float", + "static": false, + "def": "float read_vol()", + "py_def": "def read_vol(self) -> float" + } + }, + "def": "class ADC" + } + }, + "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", + "static": false, + "def": "std::vector 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", + "static": false, + "def": "std::vector 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": { + "brief": "maix.peripheral.pwm module" + }, + "members": { + "PWM": { + "type": "class", + "name": "PWM", + "doc": { + "brief": "Peripheral pwm class", + "maixpy": "maix.peripheral.pwm.PWM", + "py_doc": "Peripheral pwm class" + }, + "members": { + "__init__": { + "type": "func", + "name": "PWM", + "doc": { + "brief": "PWM constructor", + "param": { + "pin": "direction [in], pwm id, int type, like 0, 1, 2 etc.", + "freq": "direction [in], pwm frequency, unit: Hz. int type. default is 1000", + "duty": "direction [in], pwm duty. double type. range is [0, 100], default is 0.", + "enable": "direction [in], enable pwm output right now. bool type. default is true, if false, you need to call enable() to enable pwm output.", + "duty_val": "direction [in], pwm duty value, int type. default -1 means not set and auto calculate by freq and duty.\nThis arg directly set pwm duty value, if set, will ignore duty arg.\nduty_val = duty / 100 * T_ns, T_ns = 1 / freq * 1000000000." + }, + "throw": "If args error or init pwm failed, will throw err::Exception", + "maixpy": "maix.peripheral.pwm.PWM.__init__", + "py_doc": "PWM constructor\n\nArgs:\n - pin: direction [in], pwm id, int type, like 0, 1, 2 etc.\n - freq: direction [in], pwm frequency, unit: Hz. int type. default is 1000\n - duty: direction [in], pwm duty. double type. range is [0, 100], default is 0.\n - enable: direction [in], enable pwm output right now. bool type. default is true, if false, you need to call enable() to enable pwm output.\n - duty_val: direction [in], pwm duty value, int type. default -1 means not set and auto calculate by freq and duty.\nThis arg directly set pwm duty value, if set, will ignore duty arg.\nduty_val = duty / 100 * T_ns, T_ns = 1 / freq * 1000000000.\n" + }, + "args": [ + [ + "int", + "id", + null + ], + [ + "int", + "freq", + "1000" + ], + [ + "double", + "duty", + "0" + ], + [ + "bool", + "enable", + "true" + ], + [ + "int", + "duty_val", + "-1" + ] + ], + "ret_type": null, + "static": false, + "def": "PWM(int id, int freq = 1000, double duty = 0, bool enable = true, int duty_val = -1)" + }, + "duty": { + "type": "func", + "name": "duty", + "doc": { + "brief": "get or set pwm duty", + "param": { + "duty": "direction [in], pwm duty, double type, value in [0, 100], default -1 means only read." + }, + "return": "current duty, float type, if set and set failed will return -err::Err", + "maixpy": "maix.peripheral.pwm.PWM.duty", + "py_doc": "get or set pwm duty\n\nArgs:\n - duty: direction [in], pwm duty, double type, value in [0, 100], default -1 means only read.\n\n\nReturns: current duty, float type, if set and set failed will return -err::Err\n" + }, + "args": [ + [ + "double", + "duty", + "-1" + ] + ], + "ret_type": "double", + "static": false, + "def": "double duty(double duty = -1)" + }, + "duty_val": { + "type": "func", + "name": "duty_val", + "doc": { + "brief": "set pwm duty value", + "param": { + "duty_val": "direction [in], pwm duty value. int type. default is -1\nduty_val > 0 means set duty_val\nduty_val == -1 or not set, return current duty_val" + }, + "return": "int type\nwhen get duty_val, return current duty_val, else return -err::Err code.", + "maixpy": "maix.peripheral.pwm.PWM.duty_val", + "py_doc": "set pwm duty value\n\nArgs:\n - duty_val: direction [in], pwm duty value. int type. default is -1\nduty_val > 0 means set duty_val\nduty_val == -1 or not set, return current duty_val\n\n\nReturns: int type\nwhen get duty_val, return current duty_val, else return -err::Err code.\n" + }, + "args": [ + [ + "int", + "duty_val", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int duty_val(int duty_val = -1)" + }, + "freq": { + "type": "func", + "name": "freq", + "doc": { + "brief": "get or set pwm frequency", + "param": { + "freq": "direction [in], pwm frequency. int type. default is -1\nfreq >= 0, set freq\nfreq == -1 or not set, return current freq" + }, + "return": "int type, current freq, if set and set failed will return -err::Err", + "maixpy": "maix.peripheral.pwm.PWM.freq", + "py_doc": "get or set pwm frequency\n\nArgs:\n - freq: direction [in], pwm frequency. int type. default is -1\nfreq >= 0, set freq\nfreq == -1 or not set, return current freq\n\n\nReturns: int type, current freq, if set and set failed will return -err::Err\n" + }, + "args": [ + [ + "int", + "freq", + "-1" + ] + ], + "ret_type": "int", + "static": false, + "def": "int freq(int freq = -1)" + }, + "enable": { + "type": "func", + "name": "enable", + "doc": { + "brief": "set pwm enable", + "return": "err::Err type, err.Err.ERR_NONE means success", + "maixpy": "maix.peripheral.pwm.PWM.enable", + "py_doc": "set pwm enable\n\nReturns: err::Err type, err.Err.ERR_NONE means success\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err enable()" + }, + "disable": { + "type": "func", + "name": "disable", + "doc": { + "brief": "set pwm disable", + "return": "err::Err type, err.Err.ERR_NONE means success", + "maixpy": "maix.peripheral.pwm.PWM.disable", + "py_doc": "set pwm disable\n\nReturns: err::Err type, err.Err.ERR_NONE means success\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err disable()" + }, + "is_enabled": { + "type": "func", + "name": "is_enabled", + "doc": { + "brief": "get pwm enable status", + "return": "bool type, true means enable, false means disable", + "maixpy": "maix.peripheral.pwm.PWM.is_enabled", + "py_doc": "get pwm enable status\n\nReturns: bool type, true means enable, false means disable\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_enabled()" + } + }, + "def": "class PWM" + } + }, + "auto_add": true + }, + "key": { + "type": "module", + "doc": { + "brief": "maix.peripheral.key module" + }, + "members": { + "Keys": { + "type": "enum", + "name": "Keys{", + "doc": { + "brief": "Keys enum, id the same as linux input.h(input-event-codes.h)", + "maixpy": "maix.peripheral.key.Keys", + "py_doc": "Keys enum, id the same as linux input.h(input-event-codes.h)" + }, + "values": [ + [ + "KEY_NONE", + "0x000", + "" + ], + [ + "KEY_ESC", + "0x001", + "" + ], + [ + "KEY_OK", + "0x160", + "" + ], + [ + "KEY_OPTION", + "0x165", + "" + ], + [ + "KEY_NEXT", + "0x197", + "" + ], + [ + "KEY_PREV", + "0x19c", + "" + ] + ], + "def": "enum Keys{\n KEY_NONE = 0x000,\n KEY_ESC = 0x001,\n KEY_OK = 0x160,\n KEY_OPTION = 0x165,\n KEY_NEXT = 0x197,\n KEY_PREV = 0x19c\n }" + }, + "State": { + "type": "enum", + "name": "State{", + "doc": { + "brief": "Key state enum", + "maixpy": "maix.peripheral.key.State", + "py_doc": "Key state enum" + }, + "values": [ + [ + "KEY_RELEASED", + "0", + "" + ], + [ + "KEY_PRESSED", + "1", + "" + ] + ], + "def": "enum State{\n KEY_RELEASED = 0,\n KEY_PRESSED = 1,\n }" + }, + "Key": { + "type": "class", + "name": "Key", + "doc": { + "brief": "Key input class", + "maixpy": "maix.peripheral.key.Key", + "py_doc": "Key input class" + }, + "members": { + "__init__": { + "type": "func", + "name": "Key", + "doc": { + "brief": "Key Device constructor", + "param": { + "callback": "When key triggered and callback is not empty(empty In MaixPy is None, in C++ is nullptr),\ncallback will be called with args key(key.Keys) and value(key.State).\nIf set to null, you can get key value by read() function.\nThis callback called in a standalone thread, so you can block a while in callback, and you should be carefully when operate shared data.", + "open": "auto open device in constructor, if false, you need call open() to open device" + }, + "maixpy": "maix.peripheral.key.Key.__init__", + "maixcdk": "maix.peripheral.key.Key.Key", + "py_doc": "Key Device constructor\n\nArgs:\n - callback: When key triggered and callback is not empty(empty In MaixPy is None, in C++ is nullptr),\ncallback will be called with args key(key.Keys) and value(key.State).\nIf set to null, you can get key value by read() function.\nThis callback called in a standalone thread, so you can block a while in callback, and you should be carefully when operate shared data.\n - open: auto open device in constructor, if false, you need call open() to open device\n" + }, + "args": [ + [ + "std::function", + "callback", + "nullptr" + ], + [ + "bool", + "open", + "true" + ] + ], + "ret_type": null, + "static": false, + "def": "Key(std::function callback = nullptr, bool open = true)", + "py_def": "def __init__(self, callback: typing.Callable[[int, int], None] = None, open: bool = True) -> None" + }, + "open": { + "type": "func", + "name": "open", + "doc": { + "brief": "Open(Initialize) key device, if already opened, will close first and then open.", + "return": "err::Err type, err.Err.ERR_NONE means success", + "maixpy": "maix.peripheral.key.Key.open", + "py_doc": "Open(Initialize) key device, if already opened, will close first and then open.\n\nReturns: err::Err type, err.Err.ERR_NONE means success\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err open()", + "py_def": "def open(self) -> maix.err.Err" + }, + "close": { + "type": "func", + "name": "close", + "doc": { + "brief": "Close key device", + "return": "err::Err type, err.Err.ERR_NONE means success", + "maixpy": "maix.peripheral.key.Key.close", + "py_doc": "Close key device\n\nReturns: err::Err type, err.Err.ERR_NONE means success\n" + }, + "args": [], + "ret_type": "err::Err", + "static": false, + "def": "err::Err close()", + "py_def": "def close(self) -> maix.err.Err" + }, + "is_opened": { + "type": "func", + "name": "is_opened", + "doc": { + "brief": "Check key device is opened", + "return": "bool type, true means opened, false means closed", + "maixpy": "maix.peripheral.key.Key.is_opened", + "py_doc": "Check key device is opened\n\nReturns: bool type, true means opened, false means closed\n" + }, + "args": [], + "ret_type": "bool", + "static": false, + "def": "bool is_opened()", + "py_def": "def is_opened(self) -> bool" + }, + "read": { + "type": "func", + "name": "read", + "doc": { + "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.", + "maixpy": "maix.peripheral.key.Key.read", + "py_doc": "Read key input, and return key and value, if callback is set, DO NOT call this function manually.\n\nReturns: list type, first is key(maix.key.Keys), second is value(maix.key.State), if no key input, return [0, 0]\n" + }, + "args": [], + "ret_type": "std::pair", + "static": false, + "def": "std::pair read()", + "py_def": "def read(self) -> tuple[int, int]" + } + }, + "def": "class Key" + }, + "add_default_listener": { + "type": "func", + "name": "add_default_listener", + "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).", + "maixpy": "maix.peripheral.key.add_default_listener", + "py_doc": "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)." + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void add_default_listener()" + }, + "rm_default_listener": { + "type": "func", + "name": "rm_default_listener", + "doc": { + "brief": "Remove default listener, if you want to cancel the default ok button function(exit app), you can just call this function.", + "maixpy": "maix.peripheral.key.rm_default_listener", + "py_doc": "Remove default listener, if you want to cancel the default ok button function(exit app), you can just call this function." + }, + "args": [], + "ret_type": "void", + "static": false, + "def": "void rm_default_listener()" + } + }, + "auto_add": true + } + }, + "auto_add": true + } + } + } + } +} \ No newline at end of file diff --git a/maixpy/api/config.json b/maixpy/api/config.json new file mode 100644 index 0000000..ff4f116 --- /dev/null +++ b/maixpy/api/config.json @@ -0,0 +1,4 @@ +{ + "import": "config_en", + "name": "MaixPy API Reference" +} diff --git a/maixpy/api/index.html b/maixpy/api/index.html new file mode 100644 index 0000000..f8eae1d --- /dev/null +++ b/maixpy/api/index.html @@ -0,0 +1,401 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy API -- Maix AI machine vision platform Python API - MaixPy + + + + + + + + + + +
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MaixPy API -- Maix AI machine vision platform Python API

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You can read API doc at MaixPy API on Sipeed Wiki

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If you want to preview API doc offline, build MaixPy, and API doc will be generated in MaixPy/docs/api/ directory.

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For MaixPy developer: This API documentation is generated from the source code, DO NOT edit this file manually!

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MaixPy API documentation, modules:

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modulebrief
maix.errmaix.err module
maix.tensormaix.tensor module
maix.imagemaix.image module, image related definition and functions
maix.cameramaix.camera module, access camera device and get image from it
maix.displaymaix.display module, control display device and show image on it
maix.nnmaix.nn module
maix.commmaix.comm module
maix.audiomaix.audio module
maix.exampleexample module, this will be maix.example module in MaixPy, maix::example namespace in MaixCDK
maix.fsmaix.fs module
maix.appmaix.app module
maix.sysmaix.sys module
maix.threadmaix.thread module
maix.utilmaix.util module
maix.i18nmaix.i18n module
maix.protocolmaix.protocol module
maix.timemaix.time module
maix.networkmaix.network module
maix.touchscreenmaix.touchscreen module
maix.videomaix.video module
maix.httpmaix.http module
maix.rtmpmaix.rtmp module
maix.rtspmaix.rtsp module
maix.peripheralChip's peripheral driver
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/app.html b/maixpy/api/maix/app.html new file mode 100644 index 0000000..b627458 --- /dev/null +++ b/maixpy/api/maix/app.html @@ -0,0 +1,1310 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.app - MaixPy + + + + + + + + + + +
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maix.app

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maix.app module

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You can use maix.app to access this module with MaixPy
+This module is generated from MaixCDK

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Module

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No module

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Enum

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Variable

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Function

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app_id

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def app_id() -> str
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itemdoc
briefGet current APP ID.
returnAPP ID.
+

C++ defination code:

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string app_id()
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set_app_id

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def set_app_id(app_id: str) -> str
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itemdoc
briefSet current APP ID.
paramapp_id: APP ID.
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C++ defination code:

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string set_app_id(const string &app_id)
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get_apps_info_path

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def get_apps_info_path() -> str
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itemdoc
briefGet APP info file path.
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C++ defination code:

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string get_apps_info_path()
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get_apps_info

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def get_apps_info(ignore_launcher: bool = False, ignore_app_store: bool = False) -> list[APP_Info]
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itemdoc
briefGet APP info list.
paramignore_launcher: if true, ignore launcher APP. default false.
ignore_app_store: if true, ignore app store APP. default false.
returnAPP info list. APP_Info object list.
+

C++ defination code:

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vector<app::APP_Info> &get_apps_info(bool ignore_launcher = false, bool ignore_app_store = false)
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get_app_data_path

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def get_app_data_path() -> str
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itemdoc
briefGet APP info, APP can store private data in this directory.
returnAPP data path "./data", just return the data folder in current path because APP executed in app install path or project path.
So, you must execute your program in you project path to use the project/data folder when you debug your APP.
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C++ defination code:

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string get_app_data_path()
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get_app_path

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def get_app_path(app_id: str = '') -> str
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itemdoc
briefGet APP path.
paramapp_id: APP ID, if empty, return current APP path, else return the APP path by app_id.
returnAPP path, just return the current path because APP executed in app install path or project path.
So, you must execute your program in you project path to use the project/data folder when you debug your APP.
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C++ defination code:

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string get_app_path(const string &app_id = "")
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get_tmp_path

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def get_tmp_path() -> str
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itemdoc
briefGet global temporary data path, APPs can use this path as temporary data directory.
returntemporary data path.
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C++ defination code:

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string get_tmp_path()
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get_share_path

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def get_share_path() -> str
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itemdoc
briefGet data path of share, shared data like picture and video will put in this directory
returnshare data path.
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C++ defination code:

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string get_share_path()
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get_picture_path

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def get_picture_path() -> str
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itemdoc
briefGet picture path of share, shared picture will put in this directory
returnshare picture path.
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C++ defination code:

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string get_picture_path()
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get_video_path

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def get_video_path() -> str
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itemdoc
briefGet video path of share, shared video will put in this directory
returnshare video path.
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C++ defination code:

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string get_video_path()
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get_font_path

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def get_font_path() -> str
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itemdoc
briefGet font path of share, shared font will put in this directory
returnshare font path.
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C++ defination code:

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string get_font_path()
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get_icon_path

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def get_icon_path() -> str
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itemdoc
briefGet icon path of share, shared icon will put in this directory
returnshare icon path.
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C++ defination code:

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string get_icon_path()
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get_sys_config_kv

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def get_sys_config_kv(item: str, key: str, value: str = '', from_cache: bool = True) -> str
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itemdoc
briefGet system config item value.
paramitem: name of setting item, e.g. wifi, language. more see settings APP.
key: config key, e.g. for wifi, key can be ssid, for language, key can be locale.
value: default value, if not found, return this value.
from_cache: if true, read from cache, if false, read from file.
returnconfig value, always string type, if not found, return empty string.
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C++ defination code:

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string get_sys_config_kv(const string &item, const string &key, const string &value = "", bool from_cache = true)
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get_app_config_kv

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def get_app_config_kv(item: str, key: str, value: str = '', from_cache: bool = True) -> str
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itemdoc
briefGet APP config item value.
paramitem: name of setting item, e.g. user_info
key: config key, e.g. for user_info, key can be name, age etc.
value: default value, if not found, return this value.
from_cache: if true, read from cache, if false, read from file.
returnconfig value, always string type, if not found, return empty string.
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C++ defination code:

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string get_app_config_kv(const string &item, const string &key, const string &value = "", bool from_cache = true)
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set_app_config_kv

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def set_app_config_kv(item: str, key: str, value: str, write_file: bool = True) -> maix.err.Err
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itemdoc
briefSet APP config item value.
paramitem: name of setting item, e.g. user_info
key: config key, e.g. for user_info, key can be name, age etc.
value: config value, always string type.
write_file: if true, write to file, if false, just write to cache.
returnerr::Err
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C++ defination code:

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err::Err set_app_config_kv(const string &item, const string &key, const string &value, bool write_file = true)
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get_app_config_path

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def get_app_config_path() -> str
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itemdoc
briefGet 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.
returnAPP config path(ini format).
+

C++ defination code:

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string get_app_config_path()
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set_exit_msg

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def set_exit_msg(code: maix.err.Err, msg: str) -> maix.err.Err
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itemdoc
briefSet APP exit code and exit message.\nIf code != 0, the launcher will show a dialog to user, and display the msg.
paramcode: exit code, 0 means success, other means error, if code is 0, do nothing.
msg: exit message, if code is 0, msg is not used.
returnexit code, the same as arg @code.
+

C++ defination code:

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err::Err set_exit_msg(err::Err code, const string &msg)
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get_exit_msg

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def get_exit_msg(cache: bool = False) -> tuple[str, maix.err.Err, str]
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itemdoc
briefGet APP exit code and exit message.
paramcache: if true, read from cache, if false, read from file. default false.
returnexit return app_id, exit code and exit message.
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C++ defination code:

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tuple<string, err::Err, string> get_exit_msg(bool cache = false)
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have_exit_msg

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def have_exit_msg(cache: bool = False) -> bool
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briefCheck if have exit msg
paramcache: if true, just check from cache, if false, check from file. default false.
returntrue if have exit msg, false if not.
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C++ defination code:

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bool have_exit_msg(bool cache = false)
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switch_app

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def switch_app(app_id: str, idx: int = -1) -> None
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itemdoc
briefExit 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.
paramapp_id: APP ID which will be started. app_id and idx must have one is valid.
idx: APP index. app_id and idx must have one is valid.
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C++ defination code:

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void switch_app(const string &app_id, int idx = -1)
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need_exit

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def need_exit() -> bool
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itemdoc
briefShoule this APP exit?
returntrue if this APP should exit, false if not.
attentionThis API is a function, not a variable.
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C++ defination code:

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bool need_exit()
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running

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def running() -> bool
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itemdoc
briefApp should running? The same as !app::need_exit() (not app::need_exit() in MaixPy).
returntrue if this APP should running, false if not.
attentionThis API is a function, not a variable.
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C++ defination code:

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bool running()
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set_exit_flag

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def set_exit_flag(exit: bool) -> None
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itemdoc
briefSet exit flag. You can get exit flag by app.need_exit().
paramexit: true if this APP should exit, false if not.
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C++ defination code:

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void set_exit_flag(bool exit)
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Class

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Version

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itemdoc
briefAPP version
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C++ defination code:

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class Version
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__str__

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itemdoc
typefunc
briefConvert to string, e.g. 1.0.0
staticFalse
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C++ defination code:

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std::string __str__()
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from_str

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itemdoc
typefunc
briefConvert from string, e.g. "1.0.0"
staticTrue
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C++ defination code:

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static app::Version from_str(const string &version_str)
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APP_Info

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itemdoc
briefAPP info
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C++ defination code:

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class APP_Info
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id

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itemdoc
typevar
briefAPP id
staticFalse
readonlyFalse
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C++ defination code:

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string id
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name

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itemdoc
typevar
briefAPP name
staticFalse
readonlyFalse
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C++ defination code:

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string name
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icon

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itemdoc
typevar
briefAPP icon
staticFalse
readonlyFalse
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C++ defination code:

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string icon
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version

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itemdoc
typevar
briefAPP version
staticFalse
readonlyFalse
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C++ defination code:

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Version version
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exec

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itemdoc
typevar
briefAPP exec
staticFalse
readonlyFalse
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C++ defination code:

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string exec
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author

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itemdoc
typevar
briefAPP author
staticFalse
readonlyFalse
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C++ defination code:

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string author
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desc

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itemdoc
typevar
briefAPP desc
staticFalse
readonlyFalse
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C++ defination code:

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string desc
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names

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itemdoc
typevar
briefAPP names
staticFalse
readonlyFalse
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C++ defination code:

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map<string, string> names
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descs

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itemdoc
typevar
briefAPP descs
staticFalse
readonlyFalse
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C++ defination code:

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map<string, string> descs
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maix.audio

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maix.audio module

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You can use maix.audio to access this module with MaixPy
+This module is generated from MaixCDK

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Module

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No module

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Enum

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Format

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itemdoc
briefAudio type
valuesFMT_NONE: 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
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + +
itemdoc
briefRecorder class
+

C++ defination code:

+ +
class Recorder
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Recorder object. currectly only pcm and wav formats supported.
parampath: 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
staticFalse
+

C++ defination code:

+ +
Recorder(std::string path = std::string(), int sample_rate = 48000, audio::Format format = audio::Format::FMT_S16_LE, int channel = 1)
+
+

volume

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get record volume
paramvalue: volume value, If you use this parameter, audio will set the value to volume,
if you don't, it will return the current volume.
returnthe current volume
staticFalse
+

C++ defination code:

+ +
int volume(int value = -1)
+
+

record

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRecord, Read all cached data in buffer and return. If there is no audio data in the buffer, may return empty data.
paramrecord_ms: Block and record audio data lasting record_ms milliseconds and save it to a file, the return value does not return audio data. Only valid if the initialisation path is set.
returnpcm data. datatype @see Bytes. If you pass in record_ms parameter, the return value is an empty Bytes object.
staticFalse
+

C++ defination code:

+ +
maix::Bytes *record(int record_ms = -1)
+
+

finish

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFinish the record, if you have passed in the path, this api will save the audio data to file.
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err finish()
+
+

sample_rate

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet sample rate
returnreturns sample rate
staticFalse
+

C++ defination code:

+ +
int sample_rate()
+
+

format

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet sample format
returnreturns sample format
staticFalse
+

C++ defination code:

+ +
audio::Format format()
+
+

channel

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet sample channel
returnreturns sample channel
staticFalse
+

C++ defination code:

+ +
int channel()
+
+

Player

+ + + + + + + + + + + + + +
itemdoc
briefPlayer class
+

C++ defination code:

+ +
class Player
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Player object
parampath: 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
staticFalse
+

C++ defination code:

+ +
Player(std::string path = std::string(), int sample_rate = 48000, audio::Format format = audio::Format::FMT_S16_LE, int channel = 1)
+
+

volume

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get player volume(Not support now)
paramvalue: volume value, If you use this parameter, audio will set the value to volume,
if you don't, it will return the current volume.
returnthe current volume
staticFalse
+

C++ defination code:

+ +
int volume(int value = -1)
+
+

play

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPlay
paramdata: audio data, must be raw data
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err play(maix::Bytes *data = maix::audio::Player::NoneBytes)
+
+

sample_rate

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet sample rate
returnreturns sample rate
staticFalse
+

C++ defination code:

+ +
int sample_rate()
+
+

format

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet sample format
returnreturns sample format
staticFalse
+

C++ defination code:

+ +
audio::Format format()
+
+

channel

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet sample channel
returnreturns sample channel
staticFalse
+

C++ defination code:

+ +
int channel()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/camera.html b/maixpy/api/maix/camera.html new file mode 100644 index 0000000..d50489b --- /dev/null +++ b/maixpy/api/maix/camera.html @@ -0,0 +1,1469 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.camera - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

list_devices

+ + + + + + + + + + + + + + + + + +
itemdoc
briefList all supported camera devices.
returnReturns the path to the camera device.
+

C++ defination code:

+ +
std::vector<std::string> list_devices()
+
+

set_regs_enable

+ +
def set_regs_enable(enable: bool = True) -> None
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefEnable set camera registers, default is false, if set to true, will not set camera registers, you can manually set registers by write_reg API.
paramenable: enable/disable set camera registers
+

C++ defination code:

+ +
void set_regs_enable(bool enable = true)
+
+

Class

+

Camera

+ + + + + + + + + + + + + +
itemdoc
briefCamera class
+

C++ defination code:

+ +
class Camera
+
+

__init__

+ +
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
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Camera object.\nMaximum resolution support 2560x1440.
paramwidth: camera width, default is -1, means auto, mostly means max width of camera support
height: camera height, default is -1, means auto, mostly means max height of camera support
format: camera output format, default is image.Format.FMT_RGB888
device: camera device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device
fps: camera fps, default is -1, means auto, mostly means max fps of camera support
buff_num: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,
more than one buffer will accelerate image read speed, but will cost more memory.
open: If true, camera will automatically call open() after creation. default is true.
staticFalse
+

C++ defination code:

+ +
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

+ +
def get_ch_nums(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet the number of channels supported by the camera.
returnReturns the maximum number of channels.
staticFalse
+

C++ defination code:

+ +
int get_ch_nums()
+
+

open

+ +
def open(self, width: int = -1, height: int = -1, format: maix.image.Format = ..., fps: int = -1, buff_num: int = -1) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefOpen camera and run
paramwidth: camera width, default is -1, means auto, mostly means max width of camera support
height: camera height, default is -1, means auto, mostly means max height of camera support
format: camera output format, default same as the constructor's format argument
fps: camera fps, default is -1, means auto, mostly means max fps of camera support
buff_num: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,
more than one buffer will accelerate image read speed, but will cost more memory.
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err open(int width = -1, int height = -1, image::Format format = image::FMT_INVALID, int fps = -1, int buff_num = -1)
+
+

read

+ +
def read(self, buff: capsule = None, buff_size: int = 0, block: bool = True) -> maix.image.Image
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet 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.
parambuff: buffer to store image data, if buff is nullptr, will alloc memory automatically.
In MaixPy, default to None, you can create a image.Image object, then pass img.data() to buff.
block: block read, default is true, means block util read image successfully,
if set to false, will return nullptr if no image in buffer
returnimage::Image object, if failed, return nullptr, you should delete if manually in C++
staticFalse
+

C++ defination code:

+ +
image::Image *read(void *buff = nullptr, size_t buff_size = 0, bool block = true)
+
+

clear_buff

+ +
def clear_buff(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefClear buff to ensure the next read image is the latest image
staticFalse
+

C++ defination code:

+ +
void clear_buff()
+
+

skip_frames

+ +
def skip_frames(self, num: int) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRead some frames and drop, this is usually used avoid read not stable image when camera just opened.
paramnum: number of frames to read and drop
staticFalse
+

C++ defination code:

+ +
void skip_frames(int num)
+
+

close

+ +
def close(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefClose camera
staticFalse
+

C++ defination code:

+ +
void close()
+
+

add_channel

+ +
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
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAdd a new channel and return a new Camera object, you can use close() to close this channel.
paramwidth: camera width, default is -1, means auto, mostly means max width of camera support
height: camera height, default is -1, means auto, mostly means max height of camera support
format: camera output format, default is RGB888
fps: camera fps, default is -1, means auto, mostly means max fps of camera support
buff_num: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,
more than one buffer will accelerate image read speed, but will cost more memory.
open: If true, camera will automatically call open() after creation. default is true.
returnnew Camera object
staticFalse
+

C++ defination code:

+ +
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

+ +
def is_opened(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck if camera is opened
returntrue if camera is opened, false if not
staticFalse
+

C++ defination code:

+ +
bool is_opened()
+
+

is_closed

+ +
def is_closed(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefcheck camera device is closed or not
returnclosed or not, bool type
staticFalse
+

C++ defination code:

+ +
bool is_closed()
+
+

width

+ +
def width(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet camera width
returncamera width
staticFalse
+

C++ defination code:

+ +
int width()
+
+

height

+ +
def height(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet camera height
returncamera height
staticFalse
+

C++ defination code:

+ +
int height()
+
+

fps

+ +
def fps(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet camera fps
returncamera fps
staticFalse
+

C++ defination code:

+ +
int fps()
+
+

format

+ +
def format(self) -> maix.image.Format
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet camera output format
returncamera output format, image::Format object
staticFalse
+

C++ defination code:

+ +
image::Format format()
+
+

buff_num

+ +
def buff_num(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet camera buffer number
returncamera buffer number
staticFalse
+

C++ defination code:

+ +
int buff_num()
+
+

hmirror

+ +
def hmirror(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get camera horizontal mirror
returncamera horizontal mirror
staticFalse
+

C++ defination code:

+ +
int hmirror(int value = -1)
+
+

vflip

+ +
def vflip(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get camera vertical flip
returncamera vertical flip
staticFalse
+

C++ defination code:

+ +
int vflip(int value = -1)
+
+

device

+ +
def device(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet camera device path
returncamera device path
staticFalse
+

C++ defination code:

+ +
std::string device()
+
+

write_reg

+ +
def write_reg(self, addr: int, data: int, bit_width: int = 8) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefWrite camera register
paramaddr: register address
data: register data
bit_width: register data bit width, default is 8
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err write_reg(int addr, int data, int bit_width = 8)
+
+

read_reg

+ +
def read_reg(self, addr: int, bit_width: int = 8) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRead camera register
paramaddr: register address
bit_width: register data bit width, default is 8
returnregister data, -1 means failed
staticFalse
+

C++ defination code:

+ +
int read_reg(int addr, int bit_width = 8)
+
+

show_colorbar

+ +
def show_colorbar(self, enable: bool) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCamera output color bar image for test
paramenable: enable/disable color bar
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err show_colorbar(bool enable)
+
+

get_channel

+ +
def get_channel(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet channel of camera
returnchannel number
staticFalse
+

C++ defination code:

+ +
int get_channel()
+
+

set_resolution

+ +
def set_resolution(self, width: int, height: int) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet camera resolution
paramwidth: new width
height: new height
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err set_resolution(int width, int height)
+
+

exposure

+ +
def exposure(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get camera exposure
attentionThis method will affect the isp and thus the image, so please be careful with it.
paramvalue: exposure time. unit: us
If value == -1, return exposure time.
If value != 0, set and return exposure time.
returncamera exposure time
staticFalse
+

C++ defination code:

+ +
int exposure(int value = -1)
+
+

gain

+ +
def gain(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get camera gain
attentionThis method will affect the isp and thus the image, so please be careful with it.
paramvalue: camera gain.
If value == -1, returns camera gain.
If value != 0, set and return camera gain.
returncamera gain
staticFalse
+

C++ defination code:

+ +
int gain(int value = -1)
+
+

luma

+ +
def luma(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get camera luma
attentionThis method will affect the isp and thus the image, so please be careful with it.
paramvalue: luma value, range is [0, 100]
If value == -1, returns luma value.
If value != 0, set and return luma value.
returnreturns luma value
staticFalse
+

C++ defination code:

+ +
int luma(int value = -1)
+
+

constrast

+ +
def constrast(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get camera constrast
attentionThis method will affect the isp and thus the image, so please be careful with it.
paramvalue: constrast value, range is [0, 100]
If value == -1, returns constrast value.
If value != 0, set and return constrast value.
returnreturns constrast value
staticFalse
+

C++ defination code:

+ +
int constrast(int value = -1)
+
+

saturation

+ +
def saturation(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get camera saturation
attentionThis method will affect the isp and thus the image, so please be careful with it.
paramvalue: saturation value, range is [0, 100]
If value == -1, returns saturation value.
If value != 0, set and return saturation value.
returnreturns saturation value
staticFalse
+

C++ defination code:

+ +
int saturation(int value = -1)
+
+

awb_mode

+ +
def awb_mode(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get white balance mode
attentionThis method will affect the isp and thus the image, so please be careful with it.
paramvalue: value = 0, means set white balance to auto mode, value = 1, means set white balance to manual mode, default is auto mode.
returnreturns awb mode
staticFalse
+

C++ defination code:

+ +
int awb_mode(int value = -1)
+
+

exp_mode

+ +
def exp_mode(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet/Get exposure mode
attentionThis method will affect the isp and thus the image, so please be careful with it.
paramvalue: value = 0, means set exposure to auto mode, value = 1, means set exposure to manual mode, default is auto mode.
returnreturns exposure mode
staticFalse
+

C++ defination code:

+ +
int exp_mode(int value = -1)
+
+ + +
+
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+ + +
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+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/comm.html b/maixpy/api/maix/comm.html new file mode 100644 index 0000000..232fa41 --- /dev/null +++ b/maixpy/api/maix/comm.html @@ -0,0 +1,491 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.comm - MaixPy + + + + + + + + + + +
+ +
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+ +

maix.comm

+ +
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+ +

maix.comm module

+
+

You can use maix.comm to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

Class

+

CommProtocol

+ + + + + + + + + + + + + +
itemdoc
briefClass for communication protocol
+

C++ defination code:

+ +
class CommProtocol
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new CommProtocol object
parambuff_size: buffer size, default to 1024 bytes
staticFalse
+

C++ defination code:

+ +
CommProtocol(int buff_size = 1024)
+
+

get_msg

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRead data to buffer, and try to decode it as maix.protocol.MSG object
returndecoded data, if nullptr, means no valid frame found.
Attentioin, delete it after use in C++.
staticFalse
+

C++ defination code:

+ +
protocol::MSG *get_msg()
+
+

resp_ok

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSend response ok(success) message
paramcmd: CMD value
body: response body, can be null
returnencoded data, if nullptr, means error, and the error code is -err.Err.
Attentioin, delete it after use in C++.
staticFalse
+

C++ defination code:

+ +
err::Err resp_ok(uint8_t cmd, Bytes *body = nullptr)
+
+

report

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSend report message
paramcmd: CMD value
body: report body, can be null
returnencoded data, if nullptr, means error, and the error code is -err.Err.
Attentioin, delete it after use in C++.
staticFalse
+

C++ defination code:

+ +
err::Err report(uint8_t cmd, Bytes *body = nullptr)
+
+

resp_err

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode response error message to buffer
paramcmd: CMD value
code: error code
msg: error message
returnencoded data, if nullptr, means error, and the error code is -err.Err.
Attentioin, delete it after use in C++.
staticFalse
+

C++ defination code:

+ +
err::Err resp_err(uint8_t cmd, err::Err code, const std::string &msg)
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/display.html b/maixpy/api/maix/display.html new file mode 100644 index 0000000..33f4209 --- /dev/null +++ b/maixpy/api/maix/display.html @@ -0,0 +1,911 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.display - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.display

+ +
+
+
    + +
+
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+
+ + + + +
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+ + + +
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+
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+ + +
+
+ +
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

send_to_maixvision

+ + + + + + + + + + + + + + + + + +
itemdoc
briefSend image to MaixVision work station if connected.\nIf you want to debug your program an don't want to initialize display, use this method.
paramimg: image to send, image.Image object
+

C++ defination code:

+ +
void send_to_maixvision(image::Image &img)
+
+

Class

+

Display

+ + + + + + + + + + + + + +
itemdoc
briefDisplay class
+

C++ defination code:

+ +
class Display
+
+

__init__

+ +
def __init__(self, width: int = -1, height: int = -1, format: maix.image.Format = ..., device: str = None, open: bool = True) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Display object
paramwidth: display width, by default(value is -1) means auto detect,
if width > max device supported width, will auto set to max device supported width
height: display height, by default(value is -1) means auto detect,
if height > max device supported height, will auto set to max device supported height
device: display device name, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device
open: If true, display will automatically call open() after creation. default is true.
staticFalse
+

C++ defination code:

+ +
Display(int width = -1, int height = -1, image::Format format = image::FMT_RGB888, const char *device = nullptr, bool open = true)
+
+

width

+ +
def width(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet display width
returnwidth
staticFalse
+

C++ defination code:

+ +
int width()
+
+

height

+ +
def height(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet display height
paramch: channel to get, by default(value is 0) means the first channel
returnheight
staticFalse
+

C++ defination code:

+ +
int height()
+
+

size

+ +
def size(self) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet display size
paramch: channel to get, by default(value is 0) means the first channel
returnsize A list type in MaixPy, [width, height]
staticFalse
+

C++ defination code:

+ +
std::vector<int> size()
+
+

format

+ +
def format(self) -> maix.image.Format
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet display format
returnformat
staticFalse
+

C++ defination code:

+ +
image::Format format()
+
+

open

+ +
def open(self, width: int = -1, height: int = -1, format: maix.image.Format = ...) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefopen display device, if already opened, will return err.ERR_NONE.
paramwidth: display width, default is -1, means auto, mostly means max width of display support
height: display height, default is -1, means auto, mostly means max height of display support
format: display output format, default is RGB888
returnerror code
staticFalse
+

C++ defination code:

+ +
err::Err open(int width = -1, int height = -1, image::Format format = image::FMT_INVALID)
+
+

close

+ +
def close(self) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefclose display device
returnerror code
staticFalse
+

C++ defination code:

+ +
err::Err close()
+
+

add_channel

+ +
def add_channel(self, width: int = -1, height: int = -1, format: maix.image.Format = ..., open: bool = True) -> Display
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAdd a new channel and return a new Display object, you can use close() to close this channel.
paramwidth: display width, default is -1, means auto, mostly means max width of display support
height: display height, default is -1, means auto, mostly means max height of display support
format: display output format, default is RGB888
open: If true, display will automatically call open() after creation. default is true.
returnnew Display object
staticFalse
+

C++ defination code:

+ +
display::Display *add_channel(int width = -1, int height = -1, image::Format format = image::FMT_RGB888, bool open = true)
+
+

is_opened

+ +
def is_opened(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefcheck display device is opened or not
returnopened or not, bool type
staticFalse
+

C++ defination code:

+ +
bool is_opened()
+
+

is_closed

+ +
def is_closed(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefcheck display device is closed or not
returnclosed or not, bool type
staticFalse
+

C++ defination code:

+ +
bool is_closed()
+
+

show

+ +
def show(self, img: maix.image.Image, fit: maix.image.Fit = ...) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefshow image on display device, and will also send to MaixVision work station if connected.
paramimg: image to show, image.Image object,
if the size of image smaller than display size, will show in the center of display;
if the size of image bigger than display size, will auto resize to display size and keep ratio, fill blank with black color.
fit: image in screen fit mode, by default(value is image.FIT_CONTAIN), @see image.Fit for more details
e.g. image.FIT_CONTAIN means resize image to fit display size and keep ratio, fill blank with black color.
returnerror code
staticFalse
+

C++ defination code:

+ +
err::Err show(image::Image &img, image::Fit fit = image::FIT_CONTAIN)
+
+

device

+ +
def device(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet display device path
returndisplay device path
staticFalse
+

C++ defination code:

+ +
std::string device()
+
+

set_backlight

+ +
def set_backlight(self, value: float) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet display backlight
paramvalue: backlight value, float type, range is [0, 100]
staticFalse
+

C++ defination code:

+ +
void set_backlight(float value)
+
+

get_backlight

+ +
def get_backlight(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet display backlight
returnvalue backlight value, float type, range is [0, 100]
staticFalse
+

C++ defination code:

+ +
float get_backlight()
+
+

set_hmirror

+ +
def set_hmirror(self, en: bool) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet display mirror
paramen: enable/disable mirror
staticFalse
+

C++ defination code:

+ +
err::Err set_hmirror(bool en)
+
+

set_vflip

+ +
def set_vflip(self, en: bool) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet display flip
paramen: enable/disable flip
staticFalse
+

C++ defination code:

+ +
err::Err set_vflip(bool en)
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/err.html b/maixpy/api/maix/err.html new file mode 100644 index 0000000..713dc4a --- /dev/null +++ b/maixpy/api/maix/err.html @@ -0,0 +1,532 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.err - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.err

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.err module

+
+

You can use maix.err to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Err

+ + + + + + + + + + + + + + + + + +
itemdoc
briefMaix Error code
valuesERR_NONE: 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:
+

C++ defination code:

+ +
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

+ +
def to_str(e: Err) -> str
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefError code to string
parame: direction [in], error code, err::Err type
returnerror string
+

C++ defination code:

+ +
std::string to_str(err::Err e)
+
+

get_error

+ +
def get_error() -> str
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefget last error string
returnerror string
+

C++ defination code:

+ +
std::string& get_error()
+
+

set_error

+ +
def set_error(str: str) -> None
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefset last error string
paramstr: direction [in], error string
+

C++ defination code:

+ +
void set_error(const std::string &str)
+
+

check_raise

+ +
def check_raise(e: Err, msg: str = '') -> None
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefCheck error code, if not ERR_NONE, raise err.Exception
parame: direction [in], error code, err::Err type
msg: direction [in], error message
+

C++ defination code:

+ +
void check_raise(err::Err e, const std::string &msg = "")
+
+

check_bool_raise

+ +
def check_bool_raise(ok: bool, msg: str = '') -> None
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefCheck condition, if false, raise err.Exception
paramok: direction [in], condition, if true, do nothing, if false, raise err.Exception
msg: direction [in], error message
+

C++ defination code:

+ +
void check_bool_raise(bool ok, const std::string &msg = "")
+
+

check_null_raise

+ +
def check_null_raise(ptr: capsule, msg: str = '') -> None
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefCheck NULL pointer, if NULL, raise exception
paramptr: direction [in], pointer
msg: direction [in], error message
+

C++ defination code:

+ +
void check_null_raise(void *ptr, const std::string &msg = "")
+
+

Class

+

Exception

+ + + + + + + + + + + + + +
itemdoc
briefMaix Exception
+

C++ defination code:

+ +
class Exception : public std::exception
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/example.html b/maixpy/api/maix/example.html new file mode 100644 index 0000000..fb81490 --- /dev/null +++ b/maixpy/api/maix/example.html @@ -0,0 +1,1229 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.example - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Kind

+ + + + + + + + + + + + + + + + + +
itemdoc
briefExample enum
valuesKIND_NONE: 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
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefExample module variable
attentionIt's a copy of this variable in MaixPy,
so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.
So we add const for this var to avoid this mistake.
value"Sipeed"
readonlyTrue
+

C++ defination code:

+ +
const std::string var1 = "Sipeed"
+
+

list_var

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefTensor data type size in bytes
attention1. DO NOT use C/C++ array directly for python API, the python wrapper not support it.
Use std::vector instead.
2. It's a copy of this variable in MaixPy,
so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.
So we add const for this var to avoid this mistake.
value{
0, 1, 2, 3, 4, 5, 6, 7, 8, 9}
readonlyTrue
+

C++ defination code:

+ +
const std::vector<int> list_var = {
+            0, 1, 2, 3, 4, 5, 6, 7, 8, 9}
+
+

test_var

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefExample module variable test_var
attentionIt's a copy of this variable in MaixPy, so if you change it in C++, it will not take effect in MaixPy.
And change it in MaixPy will not take effect in C++ as well !!!
If you want to use vars shared between C++ and MaixPy, you can create a class and use its member.
value100
readonlyFalse
+

C++ defination code:

+ +
int test_var = 100
+
+

Function

+

hello

+ +
def hello(name: str) -> str
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefsay hello to someone
paramname: direction [in], name of someone, string type
returnstring type, content is hello + name
+

C++ defination code:

+ +
std::string hello(std::string name)
+
+

change_arg_name

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefChange arg name example
parame: Example object
returnsame as arg
+

C++ defination code:

+ +
example::Example *change_arg_name(example::Example *e)
+
+

change_arg_name2

+ +
def change_arg_name2(e: Example) -> None
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefChange arg name example
parame: Example object
+

C++ defination code:

+ +
void change_arg_name2(example::Example &e)
+
+

Class

+

Test

+ + + + + + + + + + + + + +
itemdoc
briefTest class
+

C++ defination code:

+ +
class Test
+
+

__init__

+ +
def __init__(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTest constructor
staticFalse
+

C++ defination code:

+ +
Test()
+
+

Example

+ + + + + + + + + + + + + +
itemdoc
briefExample class\nthis class will be export to MaixPy as maix.example.Example
+

C++ defination code:

+ +
class Example
+
+

__init__

+ +
def __init__(self, name: str, age: int = 18, pet: Kind = ...) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefExample constructor\nthis constructor will be export to MaixPy as maix.example.Example.init
paramname: direction [in], name of Example, string type
age: direction [in], age of Example, int type, default is 18, value range is [0, 100]
attentionto make auto generate code work, param Kind should with full namespace name example::Kind instead of Kind,
namespace maix can be ignored.
staticFalse
+

C++ defination code:

+ +
Example(std::string &name, int age = 18, example::Kind pet = example::KIND_NONE)
+
+

get_name

+ +
def get_name(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget name of Example\nyou can also get name by property name.
returnname of Example, string type
staticFalse
+

C++ defination code:

+ +
std::string get_name()
+
+

get_age

+ +
def get_age(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget age of Example
returnage of Example, int type, value range is [0, 100]
staticFalse
+

C++ defination code:

+ +
int get_age()
+
+

set_name

+ +
def set_name(self, name: str) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefset name of Example
paramname: name of Example, string type
staticFalse
+

C++ defination code:

+ +
void set_name(std::string name)
+
+

set_age

+ +
def set_age(self, age: int) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefset age of Example
paramage: age of Example, int type, value range is [0, 100]
staticFalse
+

C++ defination code:

+ +
void set_age(int age)
+
+

set_pet

+ +
def set_pet(self, pet: Kind) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefExample enum member
attention
staticFalse
+

C++ defination code:

+ +
void set_pet(example::Kind pet)
+
+

get_pet

+ +
def get_pet(self) -> Kind
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefExample enum member
staticFalse
+

C++ defination code:

+ +
example::Kind get_pet()
+
+

get_list

+ +
def get_list(self, in: list[int]) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget list example
paramin: direction [in], input list, items are int type.
In MaixPy, you can pass list or tuple to this API
returnlist, items are int type, content is [1, 2, 3] + in. Alloc item, del in MaixPy will auto free memory.
staticFalse
+

C++ defination code:

+ +
std::vector<int> *get_list(std::vector<int> in)
+
+

get_dict

+ +
def get_dict(self, in: dict[str, int]) -> dict[str, int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefExample dict API
paramin: direction [in], input dict, key is string type, value is int type.
In MaixPy, you can pass dict to this API
returndict, key is string type, value is int type, content is {"a": 1} + in
In MaixPy, return type is dict object
staticFalse
+

C++ defination code:

+ +
std::map<std::string, int> get_dict(std::map<std::string, int> &in)
+
+

hello

+ +
def hello(name: str) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefsay hello to someone
paramname: name of someone, string type
returnstring type, content is Example::hello_str + name
staticTrue
+

C++ defination code:

+ +
static std::string hello(std::string name)
+
+

hello_bytes

+ +
def hello_bytes(*args, **kwargs)
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefparam is bytes example
parambytes: bytes type param
returnbytes type, return value is bytes changed value
staticTrue
+

C++ defination code:

+ +
static Bytes *hello_bytes(Bytes &bytes)
+
+

callback

+ +
def callback(cb: typing.Callable[[int, int], int]) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCallback example
paramcb: callback function, param is two int type, return is int type
returnint type, return value is cb(1, 2)
staticTrue
+

C++ defination code:

+ +
static int callback(std::function<int(int, int)> cb)
+
+

hello_dict

+ +
def hello_dict(dict: dict[str, int]) -> dict[str, int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDict param example
paramdict: dict type param, key is string type, value is int type
staticTrue
+

C++ defination code:

+ +
static std::map<std::string, int> *hello_dict(std::map<std::string, int> *dict)
+
+

name

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefname member of Example
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::string name
+
+

age

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefage member of Example, value range should be [0, 100]
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int age
+
+

hello_str

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefhello_str member of Example, default value is "hello "
staticTrue
readonlyFalse
+

C++ defination code:

+ +
static std::string hello_str
+
+

var1

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefExample module readonly variable
staticFalse
readonlyTrue
+

C++ defination code:

+ +
const std::string var1 = "Example.var1"
+
+

var2

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefExample module readonly variable
staticFalse
readonlyTrue
+

C++ defination code:

+ +
std::string var2 = "Example.var2"
+
+

dict_test

+ +
def dict_test() -> dict[str, Test]
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefdict_test, return dict type, and element is pointer type(alloc in C++).\nHere when the returned Tensor object will auto delete by Python GC.
staticTrue
+

C++ defination code:

+ +
static std::map<std::string, example::Test *> *dict_test()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/fs.html b/maixpy/api/maix/fs.html new file mode 100644 index 0000000..7e65c18 --- /dev/null +++ b/maixpy/api/maix/fs.html @@ -0,0 +1,1310 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.fs - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.fs

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.fs module

+
+

You can use maix.fs to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

SEEK

+ + + + + + + + + + + + + + + + + +
itemdoc
briefSEEK enums
valuesSEEK_SET: Seek from beginning of file.
SEEK_CUR: Seek from current position.
SEEK_END: Seek from end of file.
+

C++ defination code:

+ +
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

+ +
def isabs(path: str) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCheck if the path is absolute path
parampath: path to check
returntrue if path is absolute path
+

C++ defination code:

+ +
bool isabs(const std::string &path)
+
+

isdir

+ +
def isdir(path: str) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCheck if the path is a directory, if not exist, throw exception
parampath: path to check
returntrue if path is a directory
+

C++ defination code:

+ +
bool isdir(const std::string &path)
+
+

isfile

+ +
def isfile(path: str) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCheck if the path is a file, if not exist, throw exception
parampath: path to check
returntrue if path is a file
+

C++ defination code:

+ +
bool isfile(const std::string &path)
+
+ + +
def islink(path: str) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCheck if the path is a link, if not exist, throw exception
parampath: path to check
returntrue if path is a link
+

C++ defination code:

+ +
bool islink(const std::string &path)
+
+ + +
def symlink(src: str, link: str, force: bool = False) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefCreate soft link
paramsrc: real file path
link: link file path
force: force link, if already have link file, will delet it first then create.
+

C++ defination code:

+ +
err::Err symlink(const std::string &src, const std::string &link, bool force = false)
+
+

exists

+ +
def exists(path: str) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCheck if the path exists
parampath: path to check
returntrue if path exists
+

C++ defination code:

+ +
bool exists(const std::string &path)
+
+

mkdir

+ +
def mkdir(path: str, exist_ok: bool = True, recursive: bool = True) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCreate a directory recursively
parampath: path to create
exist_ok: if true, also return true if directory already exists
recursive: if true, create directory recursively, otherwise, only create one directory, default is true
returnerr::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed
+

C++ defination code:

+ +
err::Err mkdir(const std::string &path, bool exist_ok = true, bool recursive = true)
+
+

rmdir

+ +
def rmdir(path: str, recursive: bool = False) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefRemove a directory
parampath: path to remove
recursive: if true, remove directory recursively, otherwise, only remove empty directory, default is false
returnerr::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed
+

C++ defination code:

+ +
err::Err rmdir(const std::string &path, bool recursive = false)
+
+

remove

+ +
def remove(path: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefRemove a file
parampath: path to remove
returnerr::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed
+

C++ defination code:

+ +
err::Err remove(const std::string &path)
+
+

rename

+ +
def rename(src: str, dst: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefRename a file or directory
paramsrc: source path
dst: destination path, if destination dirs not exist, will auto create
returnerr::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed
+

C++ defination code:

+ +
err::Err rename(const std::string &src, const std::string &dst)
+
+

sync

+ +
def sync() -> None
+
+ + + + + + + + + + + + + +
itemdoc
briefSync files, ensure they're wrriten to disk from RAM
+

C++ defination code:

+ +
void sync()
+
+

getsize

+ +
def getsize(path: str) -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet file size
parampath: path to get size
returnfile size if success, -err::Err code if failed
+

C++ defination code:

+ +
int getsize(const std::string &path)
+
+

dirname

+ +
def dirname(path: str) -> str
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet directory name of path
parampath: path to get dirname
returndirname if success, empty string if failed
+

C++ defination code:

+ +
std::string dirname(const std::string &path)
+
+

basename

+ +
def basename(path: str) -> str
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet base name of path
parampath: path to get basename
returnbasename if success, empty string if failed
+

C++ defination code:

+ +
std::string basename(const std::string &path)
+
+

abspath

+ +
def abspath(path: str) -> str
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet absolute path
parampath: path to get absolute path
returnabsolute path if success, empty string if failed
+

C++ defination code:

+ +
std::string abspath(const std::string &path)
+
+

getcwd

+ +
def getcwd() -> str
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet current working directory
returncurrent working directory absolute path
+

C++ defination code:

+ +
std::string getcwd()
+
+

realpath

+ +
def realpath(path: str) -> str
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet realpath of path
parampath: path to get realpath
returnrealpath if success, empty string if failed
+

C++ defination code:

+ +
std::string realpath(const std::string &path)
+
+

splitext

+ +
def splitext(path: str) -> str
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet file extension
parampath: path to get extension
returnextension if success, empty string if failed
+

C++ defination code:

+ +
std::string splitext(const std::string &path)
+
+

listdir

+ +
def listdir(path: str, recursive: bool = False, full_path: bool = False) -> list[str]
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefList files in directory
parampath: path to list
recursive: if true, list recursively, otherwise, only list current directory, default is false
full_path: if true, return full path, otherwise, only return basename, default is false
returnfiles list if success, nullptr if failed, you should manually delete it in C++.
+

C++ defination code:

+ +
std::vector<std::string> *listdir(const std::string &path, bool recursive = false, bool full_path = false)
+
+

open

+ +
def open(self, path: str, mode: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefOpen a file, and return a File object
parampath: path to open
mode: open mode, support "r", "w", "a", "r+", "w+", "a+", "rb", "wb", "ab", "rb+", "wb+", "ab+"
returnFile object if success(need to delete object manually in C/C++), nullptr if failed
+

C++ defination code:

+ +
fs::File *open(const std::string &path, const std::string &mode)
+
+

tempdir

+ +
def tempdir() -> str
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet temp files directory
returntemp files directory
+

C++ defination code:

+ +
std::string tempdir()
+
+

Class

+

File

+ + + + + + + + + + + + + +
itemdoc
briefFile read write ops
+

C++ defination code:

+ +
class File
+
+

__init__

+ +
def __init__(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct File object
staticFalse
+

C++ defination code:

+ +
File()
+
+

open

+ +
def open(self, path: str, mode: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefOpen a file
parampath: path to open
mode: open mode, support "r", "w", "a", "r+", "w+", "a+", "rb", "wb", "ab", "rb+", "wb+", "ab+"
returnerr::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed
staticFalse
+

C++ defination code:

+ +
err::Err open(const std::string &path, const std::string &mode)
+
+

close

+ +
def close(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefClose a file
staticFalse
+

C++ defination code:

+ +
void close()
+
+

read

+ +
def read(self, size: int) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRead data from file API2
paramsize: max read size
returnbytes data if success(need delete manually in C/C++), nullptr if failed
staticFalse
+

C++ defination code:

+ +
std::vector<uint8_t> *read(int size)
+
+

readline

+ +
def readline(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRead line from file
returnline if success, empty string if failed. You need to delete the returned object manually in C/C++.
staticFalse
+

C++ defination code:

+ +
std::string *readline()
+
+

eof

+ +
def eof(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEnd of file or not
return0 if not reach end of file, else eof.
staticFalse
+

C++ defination code:

+ +
int eof()
+
+

write

+ +
def write(self, buf: list[int]) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefWrite data to file API2
parambuf: buffer to write
returnwrite size if success, -err::Err code if failed
staticFalse
+

C++ defination code:

+ +
int write(const std::vector<uint8_t> &buf)
+
+

seek

+ +
def seek(self, offset: int, whence: int) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSeek file position
paramoffset: offset to seek
whence: @see maix.fs.SEEK
returnnew position if success, -err::Err code if failed
staticFalse
+

C++ defination code:

+ +
int seek(int offset, int whence)
+
+

tell

+ +
def tell(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet file position
returnfile position if success, -err::Err code if failed
staticFalse
+

C++ defination code:

+ +
int tell()
+
+

flush

+ +
def flush(self) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFlush file
returnerr::ERR_NONE(err.Err.ERR_NONE in MaixPy) if success, other error code if failed
staticFalse
+

C++ defination code:

+ +
err::Err flush()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/http.html b/maixpy/api/maix/http.html new file mode 100644 index 0000000..af2bd80 --- /dev/null +++ b/maixpy/api/maix/http.html @@ -0,0 +1,553 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.http - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.http

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.http module

+
+

You can use maix.http to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

Class

+

JpegStreamer

+ + + + + + + + + + + + + +
itemdoc
briefJpegStreamer class
+

C++ defination code:

+ +
class JpegStreamer
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new jpeg streamer object
noteYou can get the picture stream through http://host:port/stream, you can also get it through http://ip:port, and you can add personal style through set_html() at this time
paramhost: http host
port: http port, default is 8000
client_number: the max number of client
staticFalse
+

C++ defination code:

+ +
JpegStreamer(std::string host = std::string(), int port = 8000, int client_number = 16)
+
+

start

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefstart jpeg streame
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err start()
+
+

start (overload 1)

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefstop http
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err stop()
+
+

write

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefWrite data to http
paramimg: image object
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err write(image::Image *img)
+
+

set_html

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefadd your style in this api\ndefault is:\n\n\n

JPG Stream

\n\n\n
paramdata: html code
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err set_html(std::string data)
+
+

host

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet host
returnhost name
staticFalse
+

C++ defination code:

+ +
std::string host()
+
+

port

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet port
returnport
staticFalse
+

C++ defination code:

+ +
int port()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/i18n.html b/maixpy/api/maix/i18n.html new file mode 100644 index 0000000..7c86b99 --- /dev/null +++ b/maixpy/api/maix/i18n.html @@ -0,0 +1,577 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.i18n - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.i18n

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.i18n module

+
+

You can use maix.i18n to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Variable

+

locales

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefi18n locales list
value{
"en",
"zh",
"zh-tw",
"ja"
}
readonlyFalse
+

C++ defination code:

+ +
static std::vector<std::string> locales = {
+        "en",
+        "zh",
+        "zh-tw",
+        "ja"
+    }
+
+

names

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefi18n language names list
value{
"English",
"简体中文",
"繁體中文",
"日本語"
}
readonlyTrue
+

C++ defination code:

+ +
const static std::vector<std::string> names = {
+        "English",
+        "简体中文",
+        "繁體中文",
+        "日本語"
+    }
+
+

Function

+

get_locale

+ +
def get_locale(self) -> str
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet system config of locale.
returnlanguage locale, e.g. en, zh, zh_CN, zh_TW, etc.
+

C++ defination code:

+ +
string get_locale()
+
+

get_language_name

+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet system config of language name.
returnlanguage name, e.g. English, 简体中文, 繁體中文, etc.
+

C++ defination code:

+ +
string get_language_name()
+
+

Class

+

Trans

+ + + + + + + + + + + + + +
itemdoc
briefTranslate helper class.
+

C++ defination code:

+ +
class Trans
+
+

__init__

+ +
def __init__(self, locales_dict: dict[str, dict[str, str]]) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTranslate 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.
paramlocales_dict: locales dict, e.g. {"zh": {"Confirm": "确认", "OK": "好的"}, "en": {"Confirm": "Confirm", "OK": "OK"}}
staticFalse
+

C++ defination code:

+ +
Trans(const std::map<string, const std::map<string, string>> &locales_dict)
+
+

tr

+ +
def tr(self, key: str, locale: str = '') -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTranslate string by key.
paramkey: string key, e.g. "Confirm"
locale: locale name, if not assign, use default locale set by system settings or set_locale function.
returntranslated string, if find translation, return it, or return key, e.g. "确认", "Confirm", etc.
staticFalse
+

C++ defination code:

+ +
string tr(const string &key, const string locale = "")
+
+

set_locale

+ +
def set_locale(self, locale: str) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet locale temporarily, will not affect system settings.
paramlocale: locale name, e.g. "zh", "en", etc. @see maix.i18n.locales
staticFalse
+

C++ defination code:

+ +
void set_locale(const string &locale)
+
+

get_locale

+ +
def get_locale(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet current locale.
returnlocale name, e.g. "zh", "en", etc. @see maix.i18n.locales
staticFalse
+

C++ defination code:

+ +
string get_locale()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/image.html b/maixpy/api/maix/image.html new file mode 100644 index 0000000..83fdab7 --- /dev/null +++ b/maixpy/api/maix/image.html @@ -0,0 +1,11068 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.image - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Format

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefImage formats
attentionfor developers, update this enum will also need to update the fmt_size in maix_image.cpp
valuesFMT_RGB888: 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:
FMT_COMPRESSED_MIN:
FMT_JPEG:
FMT_PNG:
FMT_COMPRESSED_MAX:
FMT_INVALID: format not valid
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + +
itemdoc
briefObject fit method
valuesFIT_NONE: no object fit, keep original
FIT_FILL: 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:
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + +
itemdoc
briefResize method
valuesNEAREST:
BILINEAR:
BICUBIC:
AREA:
LANCZOS:
HAMMING:
RESIZE_METHOD_MAX:
+

C++ defination code:

+ +
enum ResizeMethod
+    {
+        NEAREST = 0,
+        BILINEAR,
+        BICUBIC,
+        AREA,
+        LANCZOS,
+        HAMMING,
+        RESIZE_METHOD_MAX
+    }
+
+

ApriltagFamilies

+ + + + + + + + + + + + + + + + + +
itemdoc
briefFamily of apriltag
valuesTAG16H5:
TAG25H7:
TAG25H9:
TAG36H10:
TAG36H11:
ARTOOLKIT:
+

C++ defination code:

+ +
enum ApriltagFamilies
+    {
+        TAG16H5   = 1,
+        TAG25H7   = 2,
+        TAG25H9   = 4,
+        TAG36H10  = 8,
+        TAG36H11  = 16,
+        ARTOOLKIT = 32
+    }
+
+

TemplateMatch

+ + + + + + + + + + + + + + + + + +
itemdoc
briefTemplate match method
valuesSEARCH_EX: Exhaustive search
SEARCH_DS: Diamond search
+

C++ defination code:

+ +
enum TemplateMatch
+    {
+        SEARCH_EX,  // Exhaustive search
+        SEARCH_DS,  // Diamond search
+    }
+
+

CornerDetector

+ + + + + + + + + + + + + + + + + +
itemdoc
briefCornerDetector class
valuesCORNER_FAST:
CORNER_AGAST:
+

C++ defination code:

+ +
enum CornerDetector
+    {
+        CORNER_FAST,
+        CORNER_AGAST
+    }
+
+

EdgeDetector

+ + + + + + + + + + + + + + + + + +
itemdoc
briefEdgeDetector class
valuesEDGE_CANNY:
EDGE_SIMPLE:
+

C++ defination code:

+ +
enum EdgeDetector
+    {
+        EDGE_CANNY,
+        EDGE_SIMPLE,
+    }
+
+

Variable

+

fmt_size

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefImage format size in bytes
attentionIt's a copy of this variable in MaixPy,
so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.
So we add const for this var to avoid this mistake.
value{
3,
3,
4,
4,
2,
2,
2,
2,
1.5,
1.5,
1.5,
1.5,
1,
0,
0,
0,
0,
0
}
readonlyTrue
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefImage format string
value{
"RGB888",
"BGR888",
"RGBA8888",
"BGRA8888",
"RGB565",
"BGR565",
"YUV422SP",
"YUV422P",
"YVU420SP",
"YUV420SP",
"YVU420P"
"YUV420P",
"GRAYSCALE",
"MAX"}
readonlyTrue
+

C++ defination code:

+ +
const std::vector<std::string> fmt_names = {
+        "RGB888",
+        "BGR888",
+        "RGBA8888",
+        "BGRA8888",
+        "RGB565",
+        "BGR565",
+        "YUV422SP",
+        "YUV422P",
+        "YVU420SP",
+        "YUV420SP",
+        "YVU420P"
+        "YUV420P",
+        "GRAYSCALE",
+        "MAX"}
+
+

COLOR_WHITE

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefPredefined color white
valueimage::Color::from_rgb(255, 255, 255)
readonlyTrue
+

C++ defination code:

+ +
const image::Color COLOR_WHITE = image::Color::from_rgb(255, 255, 255)
+
+

COLOR_BLACK

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefPredefined color black
valueimage::Color::from_rgb(0, 0, 0)
readonlyTrue
+

C++ defination code:

+ +
const image::Color COLOR_BLACK = image::Color::from_rgb(0, 0, 0)
+
+

COLOR_RED

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefPredefined color red
valueimage::Color::from_rgb(255, 0, 0)
readonlyTrue
+

C++ defination code:

+ +
const image::Color COLOR_RED = image::Color::from_rgb(255, 0, 0)
+
+

COLOR_GREEN

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefPredefined color green
valueimage::Color::from_rgb(0, 255, 0)
readonlyTrue
+

C++ defination code:

+ +
const image::Color COLOR_GREEN = image::Color::from_rgb(0, 255, 0)
+
+

COLOR_BLUE

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefPredefined color blue
valueimage::Color::from_rgb(0, 0, 255)
readonlyTrue
+

C++ defination code:

+ +
const image::Color COLOR_BLUE = image::Color::from_rgb(0, 0, 255)
+
+

COLOR_YELLOW

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefPredefined color yellow
valueimage::Color::from_rgb(255, 255, 0)
readonlyTrue
+

C++ defination code:

+ +
const image::Color COLOR_YELLOW = image::Color::from_rgb(255, 255, 0)
+
+

COLOR_PURPLE

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefPredefined color purple
valueimage::Color::from_rgb(143, 0, 255)
readonlyTrue
+

C++ defination code:

+ +
const image::Color COLOR_PURPLE = image::Color::from_rgb(143, 0, 255)
+
+

COLOR_ORANGE

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefPredefined color orange
valueimage::Color::from_rgb(255, 127, 0)
readonlyTrue
+

C++ defination code:

+ +
const image::Color COLOR_ORANGE = image::Color::from_rgb(255, 127, 0)
+
+

COLOR_GRAY

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefPredefined color gray
valueimage::Color::from_rgb(127, 127, 127)
readonlyTrue
+

C++ defination code:

+ +
const image::Color COLOR_GRAY = image::Color::from_rgb(127, 127, 127)
+
+

Function

+

resize_map_pos

+ +
def resize_map_pos(w_in: int, h_in: int, w_out: int, h_out: int, fit: Fit, x: int, y: int, w: int = -1, h: int = -1) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefmap point position or rectangle position from one image size to another image size(resize)
paramint: h_out target image height
fit: resize method, see maix.image.Fit
x: original point x, or rectagle left-top point's x
y: original point y, or rectagle left-top point's y
w: original rectagle width, can be -1 if not use this arg, default -1.
h: original rectagle height, can be -1 if not use this arg, default -1.
returnlist type, [x, y] if map point, [x, y, w, h] if resize rectangle.
+

C++ defination code:

+ +
std::vector<int> resize_map_pos(int w_in, int h_in, int w_out, int h_out, image::Fit fit, int x, int y, int w = -1, int h = -1)
+
+

resize_map_pos (overload 1)

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefmap point position or rectangle position from this image size to another image size(resize)
paramint: h_out target image height
fit: resize method, see maix.image.Fit
x: original point x, or rectagle left-top point's x
y: original point y, or rectagle left-top point's y
w: original rectagle width, can be -1 if not use this arg, default -1.
h: original rectagle height, can be -1 if not use this arg, default -1.
returnlist type, [x, y] if map point, [x, y, w, h] if resize rectangle.
+

C++ defination code:

+ +
std::vector<int> resize_map_pos(int w_out, int h_out, image::Fit fit, int x, int y, int w = -1, int h = -1)
+
+

resize_map_pos_reverse

+ +
def resize_map_pos_reverse(w_in: int, h_in: int, w_out: int, h_out: int, fit: Fit, x: int, y: int, w: int = -1, h: int = -1) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefreverse resize_map_pos method, when we call image.resize method resiz image 'a' to image 'b', we want to known the original position on 'a' whith a knew point on 'b'
paramint: h_out image height after resized
fit: resize method, see maix.image.Fit
x: point on resized image x, or rectagle left-top point's x
y: original point y, or rectagle left-top point's y
w: original rectagle width, can be -1 if not use this arg, default -1.
h: original rectagle height, can be -1 if not use this arg, default -1.
returnlist type, [x, y] if map point, [x, y, w, h] if resize rectangle.
+

C++ defination code:

+ +
std::vector<int> resize_map_pos_reverse(int w_in, int h_in, int w_out, int h_out, image::Fit fit, int x, int y, int w = -1, int h = -1)
+
+

load

+ +
def load(path: str, format: Format = ...) -> Image
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefLoad image from file, and convert to Image object
parampath: image file path
format: read as this format, if not match, will convert to this format, by default is RGB888
returnImage object, if load failed, will return None(nullptr in C++), so you should care about it.
+

C++ defination code:

+ +
image::Image *load(const char *path, image::Format format = image::Format::FMT_RGB888)
+
+

from_bytes

+ +
def from_bytes(width: int, height: int, format: Format, data: maix.Bytes(bytes), copy: bool = True) -> Image
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCreate image from bytes
paramwidth: image width
height: image height
format: image format
data: image data, if data is None, will malloc memory for image data
If the image is in jpeg format, data must be filled in.
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.
Use it carefully!!!
returnImage object
+

C++ defination code:

+ +
image::Image *from_bytes(int width, int height, image::Format format, Bytes *data, bool copy = true)
+
+

load_font

+ +
def load_font(name: str, path: str, size: int = 16) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefLoad font from file
paramname: font name, used to identify font
path: font file path, support ttf, ttc, otf
size: font size, font height, by default is 16
returnerror code, err::ERR_NONE is ok, other is error
+

C++ defination code:

+ +
err::Err load_font(const std::string &name, const char *path, int size = 16)
+
+

set_default_font

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefSet default font, if not call this method, default is hershey_plain
paramname: font name, supported names can be get by fonts()
returnerror code, err::ERR_NONE is ok, other is error
+

C++ defination code:

+ +
err::Err set_default_font(const std::string &name)
+
+

fonts

+ +
def fonts() -> list[str]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet all loaded fonts
returnall loaded fonts, string list type
+

C++ defination code:

+ +
std::vector<std::string> *fonts()
+
+

string_size

+ +
def string_size(string: str, scale: float = 1, thickness: int = 1, font: str = '') -> Size
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet text rendered width and height
paramstring: text content
scale: font scale, by default(value is 1)
thickness: text thickness(line width), by default(value is 1)
returntext rendered width and height, [width, height]
+

C++ defination code:

+ +
image::Size string_size(std::string string, float scale = 1, int thickness = 1, const std::string &font = "")
+
+

cv2image

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefOpenCV Mat(numpy array object) to Image object
paramarray: numpy array object, must be a 3-dim or 2-dim continuous array with shape hwc or hw
returnImage object
+

C++ defination code:

+ +
image::Image *cv2image(py::array_t<uint8_t, py::array::c_style> array, bool bgr = true, bool copy = true)
+
+

image2cv

+ +
def image2cv(img: Image, bgr: bool = True, copy: bool = True) -> numpy.ndarray[numpy.uint8]
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefImage object to OpenCV Mat(numpy array object)
paramimg: Image object
returnnumpy array object
+

C++ defination code:

+ +
py::array_t<uint8_t, py::array::c_style> image2cv(image::Image *img, bool bgr = true, bool copy = true)
+
+

Class

+

Size

+ + + + + + + + + + + + + +
itemdoc
briefImage size type
+

C++ defination code:

+ +
class Size
+
+

__init__

+ +
def __init__(self, width: int = 0, height: int = 0) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Size object
paramwidth: image width
height: image height
staticFalse
+

C++ defination code:

+ +
Size(int width = 0, int height = 0)
+
+

width

+ +
def width(self, width: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefwidth of size
paramwidth: set new width, if not set, only return current width
staticFalse
+

C++ defination code:

+ +
int width(int width = -1)
+
+

height

+ +
def height(self, height: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefheight of size
paramheight: set new height, if not set, only return current height
staticFalse
+

C++ defination code:

+ +
int height(int height = -1)
+
+

__getitem__

+ +
def __getitem__(self, index: int) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
paramindex: 0 for width, 1 for height
returnint& width or height
staticFalse
+

C++ defination code:

+ +
int &operator[](int index)
+
+

__str__

+ +
def __str__(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefto string
staticFalse
+

C++ defination code:

+ +
std::string __str__()
+
+

Line

+ + + + + + + + + + + + + +
itemdoc
briefLine class
+

C++ defination code:

+ +
class Line
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLine constructor
paramx1: coordinate x1 of the straight line
y1: coordinate y1 of the straight line
x2: coordinate x2 of the straight line
y2: coordinate y2 of the straight line
magnitude: magnitude of the straight line after Hough transformation
theta: angle of the straight line after Hough transformation
rho: p-value of the straight line after Hough transformation
staticFalse
+

C++ defination code:

+ +
Line(int x1, int y1, int x2, int y2, int magnitude = 0, int theta = 0, int rho = 0)
+
+

__getitem__

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
param**index
+

[0]: get x1 of line
[1] get y1 of line
[2] get x2 of line
[3] get y2 of line
[4] get length of line
[5] get magnitude of the straight line after Hough transformation
[6] get angle of the straight line after Hough transformation (0-179 degrees)
[7] get p-value of the straight line after Hough transformation
|
+| return** | int& |
+| static | False |

+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

x1

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x1 of line
returnreturn x1 of the line, type is int
staticFalse
+

C++ defination code:

+ +
int x1()
+
+

y1

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y1 of line
returnreturn y1 of the line, type is int
staticFalse
+

C++ defination code:

+ +
int y1()
+
+

x2

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x2 of line
returnreturn x2 of the line, type is int
staticFalse
+

C++ defination code:

+ +
int x2()
+
+

y2

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y2 of line
returnreturn y2 of the line, type is int
staticFalse
+

C++ defination code:

+ +
int y2()
+
+

length

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget length of line
returnreturn length of the line, type is int
staticFalse
+

C++ defination code:

+ +
int length()
+
+

magnitude

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget magnitude of the straight line after Hough transformation
returnreturn magnitude, type is int
staticFalse
+

C++ defination code:

+ +
int magnitude()
+
+

theta

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget angle of the straight line after Hough transformation (0-179 degrees)
returnreturn angle, type is int
staticFalse
+

C++ defination code:

+ +
int theta()
+
+

rho

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget p-value of the straight line after Hough transformation
returnreturn p-value, type is int
staticFalse
+

C++ defination code:

+ +
int rho()
+
+

Rect

+ + + + + + + + + + + + + +
itemdoc
briefRect class
+

C++ defination code:

+ +
class Rect
+
+

__init__

+ +
def __init__(self, corners: list[list[int]], x: int, y: int, w: int, h: int, magnitude: int = 0) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRect constructor
paramcorners: corners of rect
x: coordinate x of the straight line
y: coordinate y of the straight line
w: coordinate w of the straight line
h: coordinate h of the straight line
magnitude: magnitude of the straight line after Hough transformation
staticFalse
+

C++ defination code:

+ +
Rect(std::vector<std::vector<int>> &corners, int x, int y, int w, int h, int magnitude = 0)
+
+

__getitem__

+ +
def __getitem__(self, index: int) -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
param**index
+

[0]: get x of rect
[1] get y of rect
[2] get w of rect
[3] get h of rect
[4] get magnitude of the straight line after Hough transformation
|
+| return** | int& |
+| static | False |

+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

corners

+ +
def corners(self) -> list[list[int]]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget corners of rect
returnreturn the coordinate of the rect.
staticFalse
+

C++ defination code:

+ +
std::vector<std::vector<int>> corners()
+
+

rect

+ +
def rect(self) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rectangle of rect
returnreturn the rectangle of the rect. format is {x, y, w, h}, type is std::vector
staticFalse
+

C++ defination code:

+ +
std::vector<int> rect()
+
+

x

+ +
def x(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x of rect
returnreturn x of the rect, type is int
staticFalse
+

C++ defination code:

+ +
int x()
+
+

y

+ +
def y(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y of rect
returnreturn y of the rect, type is int
staticFalse
+

C++ defination code:

+ +
int y()
+
+

w

+ +
def w(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget w of rect
returnreturn w of the rect, type is int
staticFalse
+

C++ defination code:

+ +
int w()
+
+

h

+ +
def h(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget h of rect
returnreturn h of the rect, type is int
staticFalse
+

C++ defination code:

+ +
int h()
+
+

magnitude

+ +
def magnitude(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget magnitude of the straight line after Hough transformation
returnreturn magnitude, type is int
staticFalse
+

C++ defination code:

+ +
int magnitude()
+
+

Circle

+ + + + + + + + + + + + + +
itemdoc
briefcircle class
+

C++ defination code:

+ +
class Circle
+
+

__init__

+ +
def __init__(self, x: int, y: int, r: int, magnitude: int) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCircle constructor
paramx: coordinate x of the circle
y: coordinate y of the circle
r: coordinate r of the circle
magnitude: coordinate y2 of the straight line
staticFalse
+

C++ defination code:

+ +
Circle(int x, int y, int r, int magnitude)
+
+

__getitem__

+ +
def __getitem__(self, index: int) -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
param**index
+

[0]: get x of circle
[1] get y of circle
[2] get r of circle
[3] get magnitude of the circle after Hough transformation
|
+| return** | int& |
+| static | False |

+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

x

+ +
def x(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x of circle
returnreturn x of the circle, type is int
staticFalse
+

C++ defination code:

+ +
int x()
+
+

y

+ +
def y(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y of circle
returnreturn y of the circle, type is int
staticFalse
+

C++ defination code:

+ +
int y()
+
+

r

+ +
def r(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget r of circle
returnreturn r of the circle, type is int
staticFalse
+

C++ defination code:

+ +
int r()
+
+

magnitude

+ +
def magnitude(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget magnitude of the circle after Hough transformation
returnreturn magnitude, type is int
staticFalse
+

C++ defination code:

+ +
int magnitude()
+
+

Blob

+ + + + + + + + + + + + + +
itemdoc
briefBlob class
+

C++ defination code:

+ +
class Blob
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefBlob constructor
paramrect: blob rect, type is std::vector
corners: blob corners, type is std::vector<std::vector>
mini_corners: blob mini_corners, type is std::vector<std::vector>
cx: blob center x, type is float
cy: blob center y, type is float
pixels: blob pixels, type is int
rotation: blob rotation, type is float
code: blob code, type is int
count: blob count, type is int
perimeter: blob perimeter, type is int
roundness: blob roundness, type is float
x_hist_bins: blob x_hist_bins, type is std::vector
y_hist_bins: blob y_hist_bins, type is std::vector
staticFalse
+

C++ defination code:

+ +
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__

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
param**index
+

[0]: Returns the blob’s bounding box x coordinate
[1] Returns the blob’s bounding box y coordinate
[2] Returns the blob’s bounding box w coordinate
[3] Returns the blob’s bounding box h coordinate
[4] Returns the number of pixels that are part of this blob
[5] Returns the centroid x position of the blob
[6] Returns the centroid y position of the blob
|
+| return** | int& width or height |
+| static | False |

+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

corners

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob corners
returnReturns a list of 4 (x,y) tuples of the 4 corners of the object.
(x0, y0)___________(x1, y1)



___________
(x3, y3) (x2, y2)
note: the order of corners may change
staticFalse
+

C++ defination code:

+ +
std::vector<std::vector<int>> corners()
+
+

mini_corners

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob mini corners
returnReturns a list of 4 (x,y) tuples of the 4 corners than bound the min area rectangle of the blob.
(x0, y0)___________(x1, y1)



___________
(x3, y3) (x2, y2)
note: the order of corners may change
staticFalse
+

C++ defination code:

+ +
std::vector<std::vector<int>> mini_corners()
+
+

rect

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob rect
returnReturns the center coordinates and width and height of the rectangle. format is (x, y, w, h)
w
(x, y) ___________

h

___________
staticFalse
+

C++ defination code:

+ +
std::vector<int> rect()
+
+

x

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob x of the upper left coordinate
returnReturns the x coordinate of the upper left corner of the rectangle.
staticFalse
+

C++ defination code:

+ +
int x()
+
+

y

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob y of the upper left coordinate
returnReturns the y coordinate of the upper left corner of the rectangle.
staticFalse
+

C++ defination code:

+ +
int y()
+
+

w

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob width
returnReturns the blob’s bounding box w coordinate
staticFalse
+

C++ defination code:

+ +
int w()
+
+

h

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob height
returnReturns the blob’s bounding box h coordinate
staticFalse
+

C++ defination code:

+ +
int h()
+
+

pixels

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob pixels
returnReturns the number of pixels that are part of this blob.
staticFalse
+

C++ defination code:

+ +
int pixels()
+
+

cx

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob center x
returnReturns the centroid x position of the blob
staticFalse
+

C++ defination code:

+ +
int cx()
+
+

cy

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob center y
returnReturns the centroid y position of the blob
staticFalse
+

C++ defination code:

+ +
int cy()
+
+

cxf

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob center x
returnReturns the centroid x position of the blob
staticFalse
+

C++ defination code:

+ +
float cxf()
+
+

cyf

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob center y
returnReturns the centroid y position of the blob
staticFalse
+

C++ defination code:

+ +
float cyf()
+
+

rotation

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob rotation
returnReturns 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.
staticFalse
+

C++ defination code:

+ +
float rotation()
+
+

rotation_rad

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob rotation_rad
returnReturns the rotation of the blob in radians
staticFalse
+

C++ defination code:

+ +
float rotation_rad()
+
+

rotation_deg

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob rotation_deg
returnReturns the rotation of the blob in degrees.
staticFalse
+

C++ defination code:

+ +
int rotation_deg()
+
+

code

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob code
returnReturns a 32-bit binary number with a bit set in it for each color threshold that’s part of this blob
staticFalse
+

C++ defination code:

+ +
int code()
+
+

count

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob count
returnReturns the number of blobs merged into this blob.
staticFalse
+

C++ defination code:

+ +
int count()
+
+

perimeter

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob merge_cnt
returnReturns the number of pixels on this blob’s perimeter.
staticFalse
+

C++ defination code:

+ +
int perimeter()
+
+

roundness

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob roundness
returnReturns a value between 0 and 1 representing how round the object is
staticFalse
+

C++ defination code:

+ +
float roundness()
+
+

elongation

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob elongation
returnReturnsa value between 0 and 1 representing how long (not round) the object is
staticFalse
+

C++ defination code:

+ +
float elongation()
+
+

area

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob area
returnReturns the area of the bounding box around the blob
staticFalse
+

C++ defination code:

+ +
int area()
+
+

density

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob density
returnReturns the density ratio of the blob
staticFalse
+

C++ defination code:

+ +
float density()
+
+

extent

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAlias for blob.density()
returnReturns the density ratio of the blob
staticFalse
+

C++ defination code:

+ +
float extent()
+
+

compactness

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob compactness
returnReturns the compactness ratio of the blob
staticFalse
+

C++ defination code:

+ +
float compactness()
+
+

solidity

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob solidity
returnReturns the solidity ratio of the blob
staticFalse
+

C++ defination code:

+ +
float solidity()
+
+

convexity

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob convexity
returnReturns a value between 0 and 1 representing how convex the object is
staticFalse
+

C++ defination code:

+ +
float convexity()
+
+

x_hist_bins

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob x_hist_bins
returnReturns the x_hist_bins of the blob
staticFalse
+

C++ defination code:

+ +
std::vector<int> x_hist_bins()
+
+

y_hist_bins

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob y_hist_bins
returnReturns the y_hist_bins of the blob
staticFalse
+

C++ defination code:

+ +
std::vector<int> y_hist_bins()
+
+

major_axis_line

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob major_axis_line
returnReturns a line tuple (x1, y1, x2, y2) of the minor axis of the blob.
staticFalse
+

C++ defination code:

+ +
std::vector<int> major_axis_line()
+
+

minor_axis_line

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob minor_axis_line
returnReturns a line tuple (x1, y1, x2, y2) of the minor axis of the blob.
staticFalse
+

C++ defination code:

+ +
std::vector<int> minor_axis_line()
+
+

enclosing_circle

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob enclosing_circle
returnReturns a circle tuple (x, y, r) of the circle that encloses the min area rectangle of a blob.
staticFalse
+

C++ defination code:

+ +
std::vector<int> enclosing_circle()
+
+

enclosed_ellipse

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget blob enclosed_ellipse
returnReturns an ellipse tuple (x, y, rx, ry, rotation) of the ellipse that fits inside of the min area rectangle of a blob.
staticFalse
+

C++ defination code:

+ +
std::vector<int> enclosed_ellipse()
+
+

QRCode

+ + + + + + + + + + + + + +
itemdoc
briefQRCode class
+

C++ defination code:

+ +
class QRCode
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefQRCode constructor
paramrect: rect of corners, type is std::vector
corners: corners of QRCode
payload: payload of the QRCode
version: version of the QRCode
ecc_level: ecc_level of the QRCode
mask: mask of the QRCode
data_type: data_type of the QRCode
eci: eci of the QRCode
staticFalse
+

C++ defination code:

+ +
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__

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
param**index
+

[0]: Returns the qrcode’s bounding box x coordinate
[1] Returns the qrcode’s bounding box y coordinate
[2] Returns the qrcode’s bounding box w coordinate
[3] Returns the qrcode’s bounding box h coordinate
[4] Not support this index, try to use payload() method
[5] Returns the version of qrcode
[6] Returns the error correction level of qrcode
[7] Returns the mask of qrcode
[8] Returns the datatype of qrcode
[9] Returns the eci of qrcode
|
+| return** | int& |
+| static | False |

+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

corners

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget coordinate of QRCode
returnreturn the coordinate of the QRCode.
staticFalse
+

C++ defination code:

+ +
std::vector<std::vector<int>> corners()
+
+

rect

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rectangle of QRCode
returnreturn the rectangle of the QRCode. format is {x, y, w, h}, type is std::vector
staticFalse
+

C++ defination code:

+ +
std::vector<int> rect()
+
+

x

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x of QRCode
returnreturn x of the QRCode, type is int
staticFalse
+

C++ defination code:

+ +
int x()
+
+

y

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y of QRCode
returnreturn y of the QRCode, type is int
staticFalse
+

C++ defination code:

+ +
int y()
+
+

w

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget w of QRCode
returnreturn w of the QRCode, type is int
staticFalse
+

C++ defination code:

+ +
int w()
+
+

h

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget h of QRCode
returnreturn h of the QRCode, type is int
staticFalse
+

C++ defination code:

+ +
int h()
+
+

payload

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget QRCode payload
returnreturn area of the QRCode
staticFalse
+

C++ defination code:

+ +
std::string payload()
+
+

version

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget QRCode version
returnreturn version of the QRCode
staticFalse
+

C++ defination code:

+ +
int version()
+
+

ecc_level

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget QRCode error correction level
returnreturn error correction level of the QRCode
staticFalse
+

C++ defination code:

+ +
int ecc_level()
+
+

mask

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget QRCode mask
returnreturn mask of the QRCode
staticFalse
+

C++ defination code:

+ +
int mask()
+
+

data_type

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget QRCode dataType
returnreturn mask of the QRCode
staticFalse
+

C++ defination code:

+ +
int data_type()
+
+

eci

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget QRCode eci
returnreturn data of the QRCode
staticFalse
+

C++ defination code:

+ +
int eci()
+
+

is_numeric

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefcheck QRCode is numeric
returnreturn true if the result type of the QRCode is numeric
staticFalse
+

C++ defination code:

+ +
bool is_numeric()
+
+

is_alphanumeric

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefcheck QRCode is alphanumeric
returnreturn true if the result type of the QRCode is alphanumeric
staticFalse
+

C++ defination code:

+ +
bool is_alphanumeric()
+
+

is_binary

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefcheck QRCode is binary
returnreturn true if the result type of the QRCode is binary
staticFalse
+

C++ defination code:

+ +
bool is_binary()
+
+

is_kanji

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefcheck QRCode is kanji
returnreturn true if the result type of the QRCode is kanji
staticFalse
+

C++ defination code:

+ +
bool is_kanji()
+
+

AprilTag

+ + + + + + + + + + + + + +
itemdoc
briefAprilTag class
+

C++ defination code:

+ +
class AprilTag
+
+

__init__

+ +
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
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAprilTag constructor
paramrect: Inlucdes the top-left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector
corners: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector<std::vector>
id: The id of the AprilTag
famliy: The family of the AprilTag
centroid_x: The x coordinate of the center of the AprilTag
centroid_y: The y coordinate of the center of the AprilTag
rotation: The rotation of the AprilTag
decision_margin: The decision_margin of the AprilTag
hamming: The hamming of the AprilTag
goodness: The goodness of the AprilTag
x_translation: The x_translation of the AprilTag
y_translation: The y_translation of the AprilTag
z_translation: The z_translation of the AprilTag
x_rotation: The x_rotation of the AprilTag
y_rotation: The y_rotation of the AprilTag
z_rotation: The z_rotation of the AprilTag
staticFalse
+

C++ defination code:

+ +
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__

+ +
def __getitem__(self, index: int) -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
param**index
+

[0]: Returns the apriltag’s bounding box x coordinate
[1] Returns the apriltag’s bounding box y coordinate
[2] Returns the apriltag’s bounding box w coordinate
[3] Returns the apriltag’s bounding box h coordinate
[4] Returns the apriltag’s id
[5] Returns the apriltag’s family
[6] Not support
[7] Not support
[8] Not support
[9] Not support
[10] Returns the apriltag’s hamming
[11] Not support
[12] Not support
[13] Not support
[14] Not support
[15] Not support
[16] Not support
[17] Not support
|
+| return** | int& |
+| static | False |

+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

corners

+ +
def corners(self) -> list[list[int]]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget coordinate of AprilTag
returnreturn the coordinate of the AprilTag.
staticFalse
+

C++ defination code:

+ +
std::vector<std::vector<int>> corners()
+
+

rect

+ +
def rect(self) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rectangle of AprilTag
returnreturn the rectangle of the AprilTag. format is {x, y, w, h}, type is std::vector
staticFalse
+

C++ defination code:

+ +
std::vector<int> rect()
+
+

x

+ +
def x(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x of AprilTag
returnreturn x of the AprilTag, type is int
staticFalse
+

C++ defination code:

+ +
int x()
+
+

y

+ +
def y(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y of AprilTag
returnreturn y of the AprilTag, type is int
staticFalse
+

C++ defination code:

+ +
int y()
+
+

w

+ +
def w(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget w of AprilTag
returnreturn w of the AprilTag, type is int
staticFalse
+

C++ defination code:

+ +
int w()
+
+

h

+ +
def h(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget h of AprilTag
returnreturn h of the AprilTag, type is int
staticFalse
+

C++ defination code:

+ +
int h()
+
+

id

+ +
def id(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget id of AprilTag
returnreturn id of the AprilTag, type is int
staticFalse
+

C++ defination code:

+ +
int id()
+
+

family

+ +
def family(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget family of AprilTag
returnreturn family of the AprilTag, type is int
staticFalse
+

C++ defination code:

+ +
int family()
+
+

cx

+ +
def cx(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget cx of AprilTag
returnreturn cx of the AprilTag, type is int
staticFalse
+

C++ defination code:

+ +
int cx()
+
+

cxf

+ +
def cxf(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget cxf of AprilTag
returnreturn cxf of the AprilTag, type is float
staticFalse
+

C++ defination code:

+ +
float cxf()
+
+

cy

+ +
def cy(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget cy of AprilTag
returnreturn cy of the AprilTag, type is int
staticFalse
+

C++ defination code:

+ +
int cy()
+
+

cyf

+ +
def cyf(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget cyf of AprilTag
returnreturn cyf of the AprilTag, type is float
staticFalse
+

C++ defination code:

+ +
float cyf()
+
+

rotation

+ +
def rotation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rotation of AprilTag
returnreturn rotation of the AprilTag, type is float
staticFalse
+

C++ defination code:

+ +
float rotation()
+
+

decision_margin

+ +
def decision_margin(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet decision_margin of AprilTag
returnReturns the quality of the apriltag match (0.0 - 1.0) where 1.0 is the best.
staticFalse
+

C++ defination code:

+ +
float decision_margin()
+
+

hamming

+ +
def hamming(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget hamming of AprilTag
returnReturns the number of accepted bit errors for this tag.
return 0, means 0 bit errors will be accepted.
1 is TAG25H7, means up to 1 bit error may be accepted
2 is TAG25H9, means up to 3 bit errors may be accepted
3 is TAG36H10, means up to 3 bit errors may be accepted
4 is TAG36H11, means up to 4 bit errors may be accepted
5 is ARTOOLKIT, means 0 bit errors will be accepted
staticFalse
+

C++ defination code:

+ +
int hamming()
+
+

goodness

+ +
def goodness(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget goodness of AprilTag
returnreturn goodness of the AprilTag, type is float
Note: This value is always 0.0 for now.
staticFalse
+

C++ defination code:

+ +
float goodness()
+
+

x_translation

+ +
def x_translation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x_translation of AprilTag
returnreturn x_translation of the AprilTag, type is float
staticFalse
+

C++ defination code:

+ +
float x_translation()
+
+

y_translation

+ +
def y_translation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y_translation of AprilTag
returnreturn y_translation of the AprilTag, type is float
staticFalse
+

C++ defination code:

+ +
float y_translation()
+
+

z_translation

+ +
def z_translation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget z_translation of AprilTag
returnreturn z_translation of the AprilTag, type is float
staticFalse
+

C++ defination code:

+ +
float z_translation()
+
+

x_rotation

+ +
def x_rotation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x_rotation of AprilTag
returnreturn x_rotation of the AprilTag, type is float
staticFalse
+

C++ defination code:

+ +
float x_rotation()
+
+

y_rotation

+ +
def y_rotation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y_rotation of AprilTag
returnreturn y_rotation of the AprilTag, type is float
staticFalse
+

C++ defination code:

+ +
float y_rotation()
+
+

z_rotation

+ +
def z_rotation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget z_rotation of AprilTag
returnreturn z_rotation of the AprilTag, type is float
staticFalse
+

C++ defination code:

+ +
float z_rotation()
+
+

DataMatrix

+ + + + + + + + + + + + + +
itemdoc
briefDataMatrix class
+

C++ defination code:

+ +
class DataMatrix
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDataMatrix constructor
paramrect: Inlucdes the top-left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector
corners: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector<std::vector>
payload: The payload of the DataMatrix
rotation: The rotation of the DataMatrix
rows: The rows of the DataMatrix
columns: The columns of the DataMatrix
capacity: The capacity of the DataMatrix
padding: The padding of the DataMatrix
staticFalse
+

C++ defination code:

+ +
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__

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
param**index
+

[0]: get x of DataMatrix
[1] get y of DataMatrix
[2] get w of DataMatrix
[3] get h of DataMatrix
[4] Not support this index, try to use payload() method
[5] Not support this index, try to use rotation() method
[6] get rows of DataMatrix
[7] get columns of DataMatrix
[8] get capacity of DataMatrix
[9] get padding of DataMatrix
|
+| return** | int& |
+| static | False |

+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

corners

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget coordinate of DataMatrix
returnreturn the coordinate of the DataMatrix.
staticFalse
+

C++ defination code:

+ +
std::vector<std::vector<int>> corners()
+
+

rect

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rectangle of DataMatrix
returnreturn the rectangle of the DataMatrix. format is {x, y, w, h}, type is std::vector
staticFalse
+

C++ defination code:

+ +
std::vector<int> rect()
+
+

x

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x of DataMatrix
returnreturn x of the DataMatrix, type is int
staticFalse
+

C++ defination code:

+ +
int x()
+
+

y

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y of DataMatrix
returnreturn y of the DataMatrix, type is int
staticFalse
+

C++ defination code:

+ +
int y()
+
+

w

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget w of DataMatrix
returnreturn w of the DataMatrix, type is int
staticFalse
+

C++ defination code:

+ +
int w()
+
+

h

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget h of DataMatrix
returnreturn h of the DataMatrix, type is int
staticFalse
+

C++ defination code:

+ +
int h()
+
+

payload

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget payload of DataMatrix
returnreturn payload of the DataMatrix, type is std::string
staticFalse
+

C++ defination code:

+ +
std::string payload()
+
+

rotation

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rotation of DataMatrix
returnreturn rotation of the DataMatrix, type is float
staticFalse
+

C++ defination code:

+ +
float rotation()
+
+

rows

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rows of DataMatrix
returnreturn rows of the DataMatrix, type is int
staticFalse
+

C++ defination code:

+ +
int rows()
+
+

columns

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget columns of DataMatrix
returnreturn columns of the DataMatrix, type is int
staticFalse
+

C++ defination code:

+ +
int columns()
+
+

capacity

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget capacity of DataMatrix
returnreturns how many characters could fit in this data matrix, type is int
staticFalse
+

C++ defination code:

+ +
int capacity()
+
+

padding

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget padding of DataMatrix
returnreturns how many unused characters are in this data matrix, type is int
staticFalse
+

C++ defination code:

+ +
int padding()
+
+

BarCode

+ + + + + + + + + + + + + +
itemdoc
briefBarCode class
+

C++ defination code:

+ +
class BarCode
+
+

__init__

+ +
def __init__(self, rect: list[int], corners: list[list[int]], payload: str, type: int, rotation: float, quality: int) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefBarCode constructor
paramrect: Inlucdes the top-left corner and the width and height of the rectangle. format is {x, y, w, h}, type is std::vector
corners: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector<std::vector>
payload: The payload of the BarCode
type: The type of the BarCode
rotation: The rotation of the BarCode
quality: The quality of the BarCode
staticFalse
+

C++ defination code:

+ +
BarCode(std::vector<int> &rect, std::vector<std::vector<int>> &corners, std::string &payload, int type, float rotation, int quality)
+
+

__getitem__

+ +
def __getitem__(self, index: int) -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
param**index
+

[0]: get x of BarCode
[1] get y of BarCode
[2] get w of BarCode
[3] get h of BarCode
[4] Not support this index, try to use payload() method
[5] get type of BarCode
[6] Not support this index, try to use rotation() method
[7] get quality of BarCode
|
+| return** | int& |
+| static | False |

+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

corners

+ +
def corners(self) -> list[list[int]]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget coordinate of BarCode
returnreturn the coordinate of the BarCode.
staticFalse
+

C++ defination code:

+ +
std::vector<std::vector<int>> corners()
+
+

rect

+ +
def rect(self) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rectangle of BarCode
returnreturn the rectangle of the BarCode. format is {x, y, w, h}, type is std::vector
staticFalse
+

C++ defination code:

+ +
std::vector<int> rect()
+
+

x

+ +
def x(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x of BarCode
returnreturn x of the BarCode, type is int
staticFalse
+

C++ defination code:

+ +
int x()
+
+

y

+ +
def y(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y of BarCode
returnreturn y of the BarCode, type is int
staticFalse
+

C++ defination code:

+ +
int y()
+
+

w

+ +
def w(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget w of BarCode
returnreturn w of the BarCode, type is int
staticFalse
+

C++ defination code:

+ +
int w()
+
+

h

+ +
def h(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget h of BarCode
returnreturn h of the BarCode, type is int
staticFalse
+

C++ defination code:

+ +
int h()
+
+

payload

+ +
def payload(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget payload of BarCode
returnreturn payload of the BarCode, type is std::string
staticFalse
+

C++ defination code:

+ +
std::string payload()
+
+

type

+ +
def type(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget type of BarCode
returnreturn type of the BarCode, type is int
staticFalse
+

C++ defination code:

+ +
int type()
+
+

rotation

+ +
def rotation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rotation of BarCode
returnreturn rotation of the BarCode, type is float. FIXME: always return 0.0
staticFalse
+

C++ defination code:

+ +
float rotation()
+
+

quality

+ +
def quality(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget quality of BarCode
returnreturn quality of the BarCode, type is int
staticFalse
+

C++ defination code:

+ +
int quality()
+
+

Statistics

+ + + + + + + + + + + + + +
itemdoc
briefStatistics class
+

C++ defination code:

+ +
class Statistics
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefStatistics constructor
paramformat: The statistics source image format
l_statistics: The statistics of the L channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector
a_statistics: The statistics of the A channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector
b_statistics: The statistics of the B channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector
staticFalse
+

C++ defination code:

+ +
Statistics(image::Format format, std::vector<int> &l_statistics, std::vector<int> &a_statistics, std::vector<int> &b_statistics)
+
+

__getitem__

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
paramindex: array index
returnint&
staticFalse
+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

format

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget format of Statistics source image
returnreturn format of the Statistics source image, type is image::Format
staticFalse
+

C++ defination code:

+ +
image::Format format()
+
+

l_mean

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget L channel mean
returnreturn L channel mean, type is int
staticFalse
+

C++ defination code:

+ +
int l_mean()
+
+

l_median

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget L channel median
returnreturn L channel median, type is int
staticFalse
+

C++ defination code:

+ +
int l_median()
+
+

l_mode

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget L channel mode
returnreturn L channel mode, type is int
staticFalse
+

C++ defination code:

+ +
int l_mode()
+
+

l_std_dev

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget L channel std_dev
returnreturn L channel std_dev, type is int
staticFalse
+

C++ defination code:

+ +
int l_std_dev()
+
+

l_min

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget L channel min
returnreturn L channel min, type is int
staticFalse
+

C++ defination code:

+ +
int l_min()
+
+

l_max

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget L channel max
returnreturn L channel max, type is int
staticFalse
+

C++ defination code:

+ +
int l_max()
+
+

l_lq

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget L channel lq
returnreturn L channel lq, type is int
staticFalse
+

C++ defination code:

+ +
int l_lq()
+
+

l_uq

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget L channel uq
returnreturn L channel uq, type is int
staticFalse
+

C++ defination code:

+ +
int l_uq()
+
+

a_mean

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget A channel mean
returnreturn A channel mean, type is int
staticFalse
+

C++ defination code:

+ +
int a_mean()
+
+

a_median

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget A channea median
returnreturn A channel median, type is int
staticFalse
+

C++ defination code:

+ +
int a_median()
+
+

a_mode

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget A channel mode
returnreturn A channel mode, type is int
staticFalse
+

C++ defination code:

+ +
int a_mode()
+
+

a_std_dev

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget A channel std_dev
returnreturn A channel std_dev, type is int
staticFalse
+

C++ defination code:

+ +
int a_std_dev()
+
+

a_min

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget A channel min
returnreturn A channel min, type is int
staticFalse
+

C++ defination code:

+ +
int a_min()
+
+

a_max

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget A channel max
returnreturn A channel max, type is int
staticFalse
+

C++ defination code:

+ +
int a_max()
+
+

a_lq

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget A channel lq
returnreturn A channel lq, type is int
staticFalse
+

C++ defination code:

+ +
int a_lq()
+
+

a_uq

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget A channel uq
returnreturn A channel uq, type is int
staticFalse
+

C++ defination code:

+ +
int a_uq()
+
+

b_mean

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget B channel mean
returnreturn B channel mean, type is int
staticFalse
+

C++ defination code:

+ +
int b_mean()
+
+

b_median

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget B channea median
returnreturn B channel median, type is int
staticFalse
+

C++ defination code:

+ +
int b_median()
+
+

b_mode

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget B channel mode
returnreturn B channel mode, type is int
staticFalse
+

C++ defination code:

+ +
int b_mode()
+
+

b_std_dev

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget B channel std_dev
returnreturn B channel std_dev, type is int
staticFalse
+

C++ defination code:

+ +
int b_std_dev()
+
+

b_min

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget B channel min
returnreturn B channel min, type is int
staticFalse
+

C++ defination code:

+ +
int b_min()
+
+

b_max

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget B channel max
returnreturn B channel max, type is int
staticFalse
+

C++ defination code:

+ +
int b_max()
+
+

b_lq

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget B channel lq
returnreturn B channel lq, type is int
staticFalse
+

C++ defination code:

+ +
int b_lq()
+
+

b_uq

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget B channel uq
returnreturn B channel uq, type is int
staticFalse
+

C++ defination code:

+ +
int b_uq()
+
+

Displacement

+ + + + + + + + + + + + + +
itemdoc
briefDisplacement class
+

C++ defination code:

+ +
class Displacement
+
+

__init__

+ +
def __init__(self, x_translation: float, y_translation: float, rotation: float, scale: float, response: float) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDisplacement constructor
paramx_translation: The x_translation of the Displacement
y_translation: The y_translation of the Displacement
rotation: The rotation of the Displacement
scale: The scale of the Displacement
response: The response of the Displacement
staticFalse
+

C++ defination code:

+ +
Displacement(float x_translation, float y_translation, float rotation, float scale, float response)
+
+

__getitem__

+ +
def __getitem__(self, index: int) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubscript operator
paramindex: array index
returnint&
staticFalse
+

C++ defination code:

+ +
int &__getitem__(int index)
+
+

x_translation

+ +
def x_translation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget x_translation of Displacement
returnreturn x_translation of the Displacement, type is float
staticFalse
+

C++ defination code:

+ +
float x_translation()
+
+

y_translation

+ +
def y_translation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget y_translation of Displacement
returnreturn y_translation of the Displacement, type is float
staticFalse
+

C++ defination code:

+ +
float y_translation()
+
+

rotation

+ +
def rotation(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget rotation of Displacement
returnreturn rotation of the Displacement, type is float
staticFalse
+

C++ defination code:

+ +
float rotation()
+
+

scale

+ +
def scale(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget scale of Displacement
returnreturn scale of the Displacement, type is float
staticFalse
+

C++ defination code:

+ +
float scale()
+
+

response

+ +
def response(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget response of Displacement
returnreturn response of the Displacement, type is float
staticFalse
+

C++ defination code:

+ +
float response()
+
+

LBPKeyPoint

+ + + + + + + + + + + + + +
itemdoc
briefLBPKeyPoint class
+

C++ defination code:

+ +
class LBPKeyPoint
+
+

__init__

+ +
def __init__(self, data: list[int]) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLBPKeyPoint constructor
paramdata: The data of the LBPKeyPoint
staticFalse
+

C++ defination code:

+ +
LBPKeyPoint(std::valarray<uint8_t> &data)
+
+

KeyPoint

+ + + + + + + + + + + + + +
itemdoc
briefKeyPoint class
+

C++ defination code:

+ +
class KeyPoint
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefKeyPoint constructor
paramx: The x of the KeyPoint
y: The y of the KeyPoint
score: The score of the KeyPoint
octave: The octave of the KeyPoint
angle: The angle of the KeyPoint
matched: The matched of the KeyPoint
desc: The desc of the KeyPoint
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + +
itemdoc
briefKPTMatch class
+

C++ defination code:

+ +
class KPTMatch
+
+

__init__

+ +
def __init__(self, cx: int, cy: int, x: int, y: int, w: int, h: int, score: int, theta: int, match: int) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefKPTMatch constructor
paramcx: The cx of the KPTMatch
cy: The cy of the KPTMatch
x: The x of the KPTMatch
y: The y of the KPTMatch
w: The w of the KPTMatch
h: The h of the KPTMatch
score: The score of the KPTMatch
theta: The theta of the KPTMatch
match: The match of the KPTMatch
staticFalse
+

C++ defination code:

+ +
KPTMatch(int cx, int cy, int x, int y, int w, int h, int score, int theta, int match)
+
+

ORBKeyPoint

+ + + + + + + + + + + + + +
itemdoc
briefORBKeyPoint class
+

C++ defination code:

+ +
class ORBKeyPoint
+
+

__init__

+ +
def __init__(self, data: list[KeyPoint], threshold: int, normalized: bool) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefORBKeyPoint constructor
paramdata: The data of the ORBKeyPoint
threshold: The threshold of the ORBKeyPoint
normalized: The normalized of the ORBKeyPoint
staticFalse
+

C++ defination code:

+ +
ORBKeyPoint(std::vector<image::KeyPoint> &data, int threshold, bool normalized)
+
+

get_data

+ +
def get_data(self) -> list[KeyPoint]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget data of ORBKeyPoint
returnreturn data of the ORBKeyPoint, type is std::vector
staticFalse
+

C++ defination code:

+ +
std::vector<image::KeyPoint> get_data()
+
+

HaarCascade

+ + + + + + + + + + + + + +
itemdoc
briefHaarCascade class
+

C++ defination code:

+ +
class HaarCascade
+
+

__init__

+ +
def __init__(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefHaarCascade constructor
paramdata: The data of the HaarCascade
threshold: The threshold of the HaarCascade
normalized: The normalized of the HaarCascade
staticFalse
+

C++ defination code:

+ +
HaarCascade()
+
+

Color

+ + + + + + + + + + + + + +
itemdoc
briefColor class
+

C++ defination code:

+ +
class Color
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefColor constructor
paramalpha: alpha channel, value range: 0 ~ 1
staticFalse
+

C++ defination code:

+ +
Color(uint8_t ch1, uint8_t ch2 = 0, uint8_t ch3 = 0, float alpha = 0, image::Format format = image::FMT_GRAYSCALE)
+
+

r

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefColor red channel
staticFalse
readonlyFalse
+

C++ defination code:

+ +
uint8_t r
+
+

g

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefColor green channel
staticFalse
readonlyFalse
+

C++ defination code:

+ +
uint8_t g
+
+

b

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefColor blue channel
staticFalse
readonlyFalse
+

C++ defination code:

+ +
uint8_t b
+
+

alpha

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefColor alpha channel, value from 0.0 to 1.0, float value
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float alpha
+
+

gray

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefColor gray channel
staticFalse
readonlyFalse
+

C++ defination code:

+ +
uint8_t gray
+
+

format

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefColor format
staticFalse
readonlyFalse
+

C++ defination code:

+ +
image::Format format
+
+

hex

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet color's hex value
staticFalse
+

C++ defination code:

+ +
uint32_t hex()
+
+

from_rgb

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCreate Color object from RGB channels
staticTrue
+

C++ defination code:

+ +
static image::Color from_rgb(uint8_t r, uint8_t g, uint8_t b)
+
+

from_bgr

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCreate Color object from BGR channels
staticTrue
+

C++ defination code:

+ +
static image::Color from_bgr(uint8_t b, uint8_t g, uint8_t r)
+
+

from_gray

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCreate Color object from gray channel
staticTrue
+

C++ defination code:

+ +
static image::Color from_gray(uint8_t gray)
+
+

from_rgba

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCreate Color object from RGBA channels
paramalpha: alpha channel, float value, value range: 0 ~ 1
staticTrue
+

C++ defination code:

+ +
static image::Color from_rgba(uint8_t r, uint8_t g, uint8_t b, float alpha)
+
+

from_bgra

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCreate Color object from BGRA channels
paramalpha: alpha channel, float value, value range: 0 ~ 1
staticTrue
+

C++ defination code:

+ +
static image::Color from_bgra(uint8_t b, uint8_t g, uint8_t r, float alpha)
+
+

from_hex

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCreate Color object from hex value
paramhex: hex value, e.g. 0x0000FF00, lower address if first channel
format: color format, @see image::Format
staticTrue
+

C++ defination code:

+ +
static image::Color from_hex(uint32_t hex, image::Format &format)
+
+

to_format

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConvert Color format
paramformat: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE.
staticFalse
+

C++ defination code:

+ +
void to_format(const image::Format &format)
+
+

to_format2

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConvert color format and return a new Color object
paramformat: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE.
returnnew Color object, you need to delete it manually in C++.
staticFalse
+

C++ defination code:

+ +
image::Color *to_format2(const image::Format &format)
+
+

Image

+ + + + + + + + + + + + + +
itemdoc
briefImage class
+

C++ defination code:

+ +
class Image
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefImage constructor
paramwidth: image width, should > 0
height: image height, should > 0
format: image format @see image::Format
staticFalse
+

C++ defination code:

+ +
Image(int width, int height, image::Format format = image::Format::FMT_RGB888)
+
+

format

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet image's format
seeimage.Format
staticFalse
+

C++ defination code:

+ +
image::Format format()
+
+

size

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet image's size, [width, height]
staticFalse
+

C++ defination code:

+ +
image::Size size()
+
+

data_size

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet image's data size
staticFalse
+

C++ defination code:

+ +
int data_size()
+
+

width

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet image's width
staticFalse
+

C++ defination code:

+ +
int width()
+
+

height

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet image's height
staticFalse
+

C++ defination code:

+ +
int height()
+
+

data

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet image's data pointer.\nIn MaixPy is capsule object.
staticFalse
+

C++ defination code:

+ +
void *data()
+
+

__str__

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTo string method
staticFalse
+

C++ defination code:

+ +
std::string __str__()
+
+

to_str

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTo string method
staticFalse
+

C++ defination code:

+ +
std::string to_str()
+
+

get_pixel

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet pixel of image
paramx: pixel's coordinate x. x must less than image's width
y: pixel's coordinate y. y must less than image's height
rgbtuple: switch return value method. rgbtuple decides whether to split the return or not. default is false.
returnpixel value,
According to image format and rgbtuple, return different value:
format is FMT_RGB888, rgbtuple is true, return [R, G, B]; rgbtuple is false, return [RGB]
foramt is FMT_BGR888, rgbtuple is true, return [B, G, R]; rgbtuple is false, return [BGR]
format is FMT_GRAYSCALE, return [GRAY];
staticFalse
+

C++ defination code:

+ +
std::vector<int> get_pixel(int x, int y, bool rgbtuple = false)
+
+

set_pixel

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet pixel of image
paramx: pixel's coordinate x. x must less than image's width
y: pixel's coordinate y. y must less than image's height
pixel: pixel value, according to image format and size of pixel, has different operation:
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
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
format is FMT_GRAYSCALE, pixel size must be 1, will use pixel directly
returnerror code, Err::ERR_NONE is ok, other is error
staticFalse
+

C++ defination code:

+ +
err::Err set_pixel(int x, int y, std::vector<int> pixel)
+
+

to_tensor

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConvert Image object to tensor::Tensor object
paramchw: if true, the shape of tensor is [C, H, W], else [H, W, C]
copy: if true, will alloc memory for tensor data, else will use the memory of Image object
returntensor::Tensor object pointer, an allocated tensor object
staticFalse
+

C++ defination code:

+ +
tensor::Tensor *to_tensor(bool chw = false, bool copy = true)
+
+

to_bytes

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet image's data and convert to array bytes
paramcopy: if true, will alloc memory and copy data to new buffer,
else will use the memory of Image object, delete bytes object will not affect Image object，
but delete Image object will make bytes object invalid, it may cause program crash !!!!
So use this param carefully.
returnimage's data bytes, need be delete by caller in C++.
staticFalse
+

C++ defination code:

+ +
Bytes *to_bytes(bool copy = true)
+
+

to_format

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConvert image to specific format
paramformat: format want to convert to, @see image::Format, only support RGB888, BGR888, RGBA8888, BGRA8888, GRAYSCALE, JPEG.
returnnew image object. Need be delete by caller in C++.
throwerr.Exception, if two images' format not support, or already the format, will raise exception
staticFalse
+

C++ defination code:

+ +
image::Image *to_format(const image::Format &format)
+
+

to_jpeg

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConvert image to jpeg
paramquality: the quality of jpg, default is 95. range is (50, 100].
returnnew image object. Need be delete by caller in C++.
throwerr.Exception, if two images' format not support, or already the format, will raise exception
staticFalse
+

C++ defination code:

+ +
image::Image *to_jpeg(int quality = 95)
+
+

draw_image

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDraw image on this image
paramx: left top corner of image point's coordinate x
y: left top corner of image point's coordinate y
img: image object to draw, the caller's channel must <= the args' channel,
e.g. caller is RGB888, args is RGBA8888, will throw exception, but caller is RGBA8888, args is RGB888 or RGBA8888 is ok
returnthis image object self
staticFalse
+

C++ defination code:

+ +
image::Image *draw_image(int x, int y, image::Image &img)
+
+

draw_rect

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFill rectangle color to image
paramx: left top corner of rectangle point's coordinate x
y: left top corner of rectangle point's coordinate y
w: rectangle width
h: rectangle height
color: rectangle color
thickness: rectangle thickness(line width), by default(value is 1), -1 means fill rectangle
returnthis image object self
staticFalse
+

C++ defination code:

+ +
image::Image *draw_rect(int x, int y, int w, int h, const image::Color &color, int thickness = 1)
+
+

draw_line

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDraw line on image
paramx1: start point's coordinate x
y1: start point's coordinate y
x2: end point's coordinate x
y2: end point's coordinate y
color: line color @see image::Color
thickness: line thickness(line width), by default(value is 1)
returnthis image object self
staticFalse
+

C++ defination code:

+ +
image::Image *draw_line(int x1, int y1, int x2, int y2, const image::Color &color, int thickness = 1)
+
+

draw_circle

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDraw circle on image
paramx: circle center point's coordinate x
y: circle center point's coordinate y
radius: circle radius
color: circle color @see image::Color
thickness: circle thickness(line width), by default(value is 1), -1 means fill circle
returnthis image object self
staticFalse
+

C++ defination code:

+ +
image::Image *draw_circle(int x, int y, int radius, const image::Color &color, int thickness = 1)
+
+

draw_ellipse

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDraw ellipse on image
paramx: ellipse center point's coordinate x
y: ellipse center point's coordinate y
a: ellipse major axis length
b: ellipse minor axis length
angle: ellipse rotation angle
start_angle: ellipse start angle
end_angle: ellipse end angle
color: ellipse color @see image::Color
thickness: ellipse thickness(line width), by default(value is 1), -1 means fill ellipse
returnthis image object self
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDraw text on image
paramx: text left top point's coordinate x
y: text left top point's coordinate y
string: text content
color: text color @see image::Color, default is white
scale: font scale, by default(value is 1)
thickness: text thickness(line width), if negative, the glyph is filled, by default(value is -1)
wrap: if true, will auto wrap text to next line if text width > image width, by default(value is true)
returnthis image object self
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDraw cross on image
paramx: cross center point's coordinate x
y: cross center point's coordinate y
color: cross color @see image::Color
size: how long the lines of the cross extend, by default(value is 5). So the line length is 2 * size + thickness
thickness: cross thickness(line width), by default(value is 1)
staticFalse
+

C++ defination code:

+ +
image::Image *draw_cross(int x, int y, const image::Color &color, int size = 5, int thickness = 1)
+
+

draw_arrow

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDraw arrow on image
paramx0: start coordinate of the arrow x0
y0: start coordinate of the arrow y0
x1: end coordinate of the arrow x1
y1: end coordinate of the arrow y1
color: cross color @see image::Color
thickness: cross thickness(line width), by default(value is 1)
returnthis image object self
staticFalse
+

C++ defination code:

+ +
image::Image *draw_arrow(int x0, int y0, int x1, int y1, const image::Color &color, int thickness = 1)
+
+

draw_edges

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDraw edges on image
paramcorners: edges, [[x0, y0], [x1, y1], [x2, y2], [x3, y3]]
color: edges color @see image::Color
size: the circle of radius size. TODO: support in the feature
thickness: edges thickness(line width), by default(value is 1)
fill: if true, will fill edges, by default(value is false)
returnthis image object self
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDraw keypoints on image
paramkeypoints: 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 means fill circle)
returnthis image object self
staticFalse
+

C++ defination code:

+ +
image::Image *draw_keypoints(std::vector<int> keypoints, const image::Color &color, int size = 10, int thickness = -1)
+
+

resize

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefResize image, will create a new resized image object
paramwidth: new width, if value is -1, will use height to calculate aspect ratio
height: new height, if value is -1, will use width to calculate aspect ratio
object_fit: fill, contain, cover, by default is fill
method: resize method, by default is bilinear
returnAlways 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.
And it's better to judge whether the size has changed before calling this function to make the program more efficient.
e.g.
if img->width() != width		img->height() != height:
img = img->resize(width, height);
staticFalse
+

C++ defination code:

+ +
image::Image *resize(int width, int height, image::Fit object_fit = image::Fit::FIT_FILL, image::ResizeMethod method = image::ResizeMethod::NEAREST)
+
+

affine

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAffine transform image, will create a new transformed image object
paramsrc_points: three source points, [x1, y1, x2, y2, x3, y3]
dst_points: three destination points, [x1, y1, x2, y2, x3, y3]
width: new width, if value is -1, will use height to calculate aspect ratio
height: new height, if value is -1, will use width to calculate aspect ratio
method: resize method, by default is bilinear
returnnew transformed image object
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCopy image, will create a new copied image object
returnnew copied image object
staticFalse
+

C++ defination code:

+ +
image::Image *copy()
+
+

crop

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCrop image, will create a new cropped image object
paramx: left top corner of crop rectangle point's coordinate x
y: left top corner of crop rectangle point's coordinate y
w: crop rectangle width
h: crop rectangle height
returnnew cropped image object
staticFalse
+

C++ defination code:

+ +
image::Image *crop(int x, int y, int w, int h)
+
+

rotate

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRotate image, will create a new rotated image object
paramangle: 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
width: new width, if value is -1, will use height to calculate aspect ratio
height: new height, if value is -1, will use width to calculate aspect ratio
method: resize method, by default is bilinear
returnnew rotated image object
staticFalse
+

C++ defination code:

+ +
image::Image *rotate(float angle, int width = -1, int height = -1, image::ResizeMethod method = image::ResizeMethod::BILINEAR)
+
+

mean_pool

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFinds the mean of x_div * y_div squares in the image and returns the modified image composed of the mean of each square.
paramx_div: The width of the squares.
y_div: The height of the squares.
copy: Select whether to return a new image or modify the original image. default is false.
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.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *mean_pool(int x_div, int y_div, bool copy = false)
+
+

midpoint_pool

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFinds the midpoint of x_div * y_div squares in the image and returns the modified image composed of the mean of each square.
paramx_div: The width of the squares.
y_div: The height of the squares.
bias: The bias of the midpoint. default is 0.5.
midpoint value is equal to (max * bias + min * (1 - bias))
copy: Select whether to return a new image or modify the original image. default is false.
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.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *midpoint_pool(int x_div, int y_div, double bias = 0.5, bool copy = false)
+
+

compress

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefJPEG compresses the image in place, the same as to_jpeg functioin, it's recommend to use to_jpeg instead.
paramquality: The quality of the compressed image. default is 95.
returnReturns the compressed JPEG image
staticFalse
+

C++ defination code:

+ +
image::Image *compress(int quality = 95)
+
+

clear

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSets all pixels in the image to zero
parammask: 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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *clear(image::Image *mask = nullptr)
+
+

mask_rectange

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefZeros a rectangular part of the image. If no arguments are supplied this method zeros the center of the image.
paramx: The x coordinate of the top left corner of the rectangle.
y: The y coordinate of the top left corner of the rectangle.
w: The width of the rectangle.
h: The height of the rectangle.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *mask_rectange(int x = -1, int y = -1, int w = -1, int h = -1)
+
+

mask_circle

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefZeros a circular part of the image. If no arguments are supplied this method zeros the center of the image.
paramx: The x coordinate of the center of the circle.
y: The y coordinate of the center of the circle.
radius: The radius of the circle.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *mask_circle(int x = -1, int y = -1, int radius = -1)
+
+

mask_ellipse

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefZeros a ellipse part of the image. If no arguments are supplied this method zeros the center of the image.
paramx: The x coordinate of the center of the ellipse.
y: The y coordinate of the center of the ellipse.
radius_x: The radius of the ellipse in the x direction.
radius_y: The radius of the ellipse in the y direction.
rotation_angle_in_degrees: The rotation angle of the ellipse in degrees.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSets 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.
paramthresholds: You can define multiple thresholds.
For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
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.
invert: If true, the thresholds will be inverted before the operation. default is false.
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.
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.
Only pixels set in the mask are modified. default is None.
to_bitmap: If true, the image will be converted to a bitmap image before thresholding. default is false. TODO: support in the feature
copy: Select whether to return a new image or modify the original image. default is false.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefInverts the image in place.
returnReturns the image after the operation is completed
staticFalse
+

C++ defination code:

+ +
image::Image *invert()
+
+

b_and

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPerforms a bitwise and operation between the image and the other image.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *b_and(image::Image *other, image::Image *mask = nullptr)
+
+

b_nand

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPerforms a bitwise nand operation between the image and the other image.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *b_nand(image::Image *other, image::Image *mask = nullptr)
+
+

b_or

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPerforms a bitwise or operation between the image and the other image.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *b_or(image::Image *other, image::Image *mask = nullptr)
+
+

b_nor

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPerforms a bitwise nor operation between the image and the other image.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *b_nor(image::Image *other, image::Image *mask = nullptr)
+
+

b_xor

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPerforms a bitwise xor operation between the image and the other image.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *b_xor(image::Image *other, image::Image *mask = nullptr)
+
+

b_xnor

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPerforms a bitwise xnor operation between the image and the other image.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *b_xnor(image::Image *other, image::Image *mask = nullptr)
+
+

awb

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPerforms an auto white balance operation on the image. TODO: support in the feature
parammax: if True uses the white-patch algorithm instead. default is false.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *awb(bool max = false)
+
+

ccm

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefMultiples the passed (3x3) or (4x3) floating-point color-correction-matrix with the image.\nnote: Grayscale format is not support.
parammatrix: The color correction matrix to use. 3x3 or 4x3 matrix.
Weights may either be positive or negative, and the sum of each column in the 3x3 matrix should generally be 1.
example:
{
1, 0, 0,
0, 1, 0,
0, 0, 1,
}
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
weights sum to less than 1 to account for the offset.
example:
{
1, 0, 0,
0, 1, 0,
0, 0, 1,
0, 0, 0,
}
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *ccm(std::vector<float> &matrix)
+
+

gamma

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefQuickly 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,\npowf is a function used to calculate floating point power.\narray is the array used for mapping.\narray_idx is the index of the array, the maximum value is determined according to the image format, usually 255.\nscale 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.
paramgamma: 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.
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.
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.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *gamma(double gamma = 1.0, double contrast = 1.0, double brightness = 0.0)
+
+

gamma_corr

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAlias for Image.gamma.
paramgamma: 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.
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.
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.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *gamma_corr(double gamma, double contrast = 1.0, double brightness = 0.0)
+
+

negate

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFlips (numerically inverts) all pixels values in an image
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *negate()
+
+

replace

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefReplaces all pixels in the image with the corresponding pixels in the other image.
paramother: The other image should be an image and should be the same size as the image being operated on.
hmirror: If true, the image will be horizontally mirrored before the operation. default is false.
vflip: If true, the image will be vertically flipped before the operation. default is false.
transpose: If true, the image can be used to rotate 90 degrees or 270 degrees.
hmirror = false, vflip = false, transpose = false, the image will not be rotated.
hmirror = false, vflip = true, transpose = true, the image will be rotated 90 degrees.
hmirror = true, vflip = true, transpose = false, the image will be rotated 180 degrees.
hmirror = true, vflip = false, transpose = true, the image will be rotated 270 degrees.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *replace(image::Image *other = nullptr, bool hmirror = false, bool vflip = false, bool transpose = false, image::Image *mask = nullptr)
+
+

set

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAlias for Image::replace.
paramother: The other image should be an image and should be the same size as the image being operated on.
hmirror: If true, the image will be horizontally mirrored before the operation. default is false.
vflip: If true, the image will be vertically flipped before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *set(image::Image *other, bool hmirror = false, bool vflip = false, bool transpose = false, image::Image *mask = nullptr)
+
+

add

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAdds the other image to the image.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *add(image::Image *other, image::Image *mask = nullptr)
+
+

sub

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSubtracts the other image from the image.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
reverse: If true, the image will be reversed before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *sub(image::Image *other, bool reverse = false, image::Image *mask = nullptr)
+
+

mul

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itemdoc
typefunc
briefMultiplies 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.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
invert: If true, the image will be change the multiplication operation from ab to 1/((1/a)(1/b)).
In particular, this lightens the image instead of darkening it (e.g. multiply versus burn operations). default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *mul(image::Image *other, bool invert = false, image::Image *mask = nullptr)
+
+

div

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itemdoc
typefunc
briefDivides 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.
paramother: The other image should be an image and should be the same size as the image being operated on. TODO: support path?
invert: If true, the image will be change the division direction from a/b to b/a. default is false.
mod: If true, the image will be change the division operation to the modulus operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *div(image::Image *other, bool invert = false, bool mod = false, image::Image *mask = nullptr)
+
+

min

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itemdoc
typefunc
briefCaculate the minimum of each pixel in the image and the other image.
paramother: The other image should be an image and should be the same size as the image being operated on.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *min(image::Image *other, image::Image *mask = nullptr)
+
+

max

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itemdoc
typefunc
briefCaculate the maximum of each pixel in the image and the other image.
paramother: The other image should be an image and should be the same size as the image being operated on.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *max(image::Image *other, image::Image *mask = nullptr)
+
+

difference

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itemdoc
typefunc
briefCaculate the absolute value of the difference between each pixel in the image and the other image.
paramother: The other image should be an image and should be the same size as the image being operated on.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *difference(image::Image *other, image::Image *mask = nullptr)
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+

blend

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itemdoc
typefunc
briefBlends the image with the other image.\nres = alpha * this_img / 256 + (256 - alpha) * other_img / 256
paramother: The other image should be an image and should be the same size as the image being operated on.
alpha: The alpha value of the blend, the value range is [0, 256],default is 128.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *blend(image::Image *other, int alpha = 128, image::Image *mask = nullptr)
+
+

histeq

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itemdoc
typefunc
briefRuns the histogram equalization algorithm on the image.
paramadaptive: 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.
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.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *histeq(bool adaptive = false, int clip_limit = -1, image::Image *mask = nullptr)
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+

mean

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itemdoc
typefunc
briefStandard mean blurring filter using a box filter.\nThe parameters offset and invert are valid when threshold is True.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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.
default is false.
offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
invert: If true, the image will be inverted before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *mean(int size, bool threshold = false, int offset = 0, bool invert = false, image::Image *mask = nullptr)
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median

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itemdoc
typefunc
briefRuns the median filter on the image. The median filter is the best filter for smoothing surfaces while preserving edges but it is very slow.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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.
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.
default is false.
offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
invert: If true, the image will be inverted before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *median(int size, double percentile = 0.5, bool threshold = false, int offset = 0, bool invert = false, image::Image *mask = nullptr)
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mode

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itemdoc
typefunc
briefRuns the mode filter on the image by replacing each pixel with the mode of their neighbors.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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.
default is false.
offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
invert: If true, the image will be inverted before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *mode(int size, bool threshold = false, int offset = 0, bool invert = false, image::Image *mask = nullptr)
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midpoint

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itemdoc
typefunc
briefRuns the midpoint filter on the image.This filter finds the midpoint (max * bias + min * (1 - bias)) of each pixel neighborhood in the image.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
bias: The bias of the midpoint. default is 0.5.
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.
default is false.
offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
invert: If true, the image will be inverted before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *midpoint(int size, double bias = 0.5, bool threshold = false, int offset = 0, bool invert = false, image::Image *mask = nullptr)
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+

morph

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itemdoc
typefunc
briefConvolves the image by a filter kernel. This allows you to do general purpose convolutions on an image.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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.
mul: This parameter is used to multiply the convolved pixel results. default is auto.
add: This parameter is the value to be added to each convolution pixel result. default is 0.0.
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.
default is false.
offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
invert: If true, the image will be inverted before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
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)
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+

gaussian

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itemdoc
typefunc
briefConvolves the image by a smoothing guassian kernel.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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.
mul: This parameter is used to multiply the convolved pixel results. default is auto.
add: This parameter is the value to be added to each convolution pixel result. default is 0.0.
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.
default is false.
offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
invert: If true, the image will be inverted before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
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)
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+

laplacian

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itemdoc
typefunc
briefConvolves the image by a edge detecting laplacian kernel.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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.
mul: This parameter is used to multiply the convolved pixel results. default is auto.
add: This parameter is the value to be added to each convolution pixel result. default is 0.0.
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.
default is false.
offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
invert: If true, the image will be inverted before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
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)
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+

bilateral

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itemdoc
typefunc
briefConvolves the image by a bilateral filter.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
color_sigma: Controls how closely colors are matched using the bilateral filter. default is 0.1.
space_sigma: Controls how closely pixels space-wise are blurred with each other. default is 1.
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.
default is false.
offset: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
invert: If true, the image will be inverted before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
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

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itemdoc
typefunc
briefRe-project’s and image from cartessian coordinates to linear polar coordinates.
paramreverse: If true, the image will be reverse polar transformed. default is false.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *linpolar(bool reverse = false)
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+

logpolar

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itemdoc
typefunc
briefRe-project’s and image from cartessian coordinates to log polar coordinates.
paramreverse: If true, the image will be reverse polar transformed. default is false.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *logpolar(bool reverse = false)
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+

lens_corr

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itemdoc
typefunc
briefPerforms a lens correction operation on the image. TODO: support in the feature
paramstrength: The strength of the lens correction. default is 1.8.
zoom: The zoom of the lens correction. default is 1.0.
x_corr: The x correction of the lens correction. default is 0.0.
y_corr: The y correction of the lens correction. default is 0.0.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *lens_corr(double strength = 1.8, double zoom = 1.0, double x_corr = 0.0, double y_corr = 0.0)
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+

rotation_corr

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itemdoc
typefunc
briefPerforms a rotation correction operation on the image. TODO: support in the feature
paramx_rotation: The x rotation of the rotation correction. default is 0.0.
y_rotation: The y rotation of the rotation correction. default is 0.0.
z_rotation: The z rotation of the rotation correction. default is 0.0.
x_translation: The x translation of the rotation correction. default is 0.0.
y_translation: The y translation of the rotation correction. default is 0.0.
zoom: The zoom of the rotation correction. default is 1.0.
fov: The fov of the rotation correction. default is 60.0.
corners: The corners of the rotation correction. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
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>())
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+

get_histogram

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itemdoc
typefunc
briefGets the histogram of the image.
paramthresholds: You can define multiple thresholds.
For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
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.
invert: If true, the thresholds will be inverted before the operation. default is false.
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.
default is None, means whole image.
bins: The number of bins to use for the histogram.
In GRAYSCALE format, setting range is [2, 256], default is 100.
In rgb888 format, setting range is [2, 100], default is 100.
l_bins: The number of bins to use for the l channel of the histogram. Only valid in RGB888 format.
If an invalid value is set, bins will be used instead. The setting range is [2, 100], default is 100.
a_bins: The number of bins to use for the a channel of the histogram.
Only valid in RGB888 format.The setting range is [2, 256], default is 256.
b_bins: The number of bins to use for the b channel of the histogram.
Only valid in RGB888 format. The setting range is [2, 256], default is 256.
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.
default is None.
returnReturns the histogram of the image
staticFalse
+

C++ defination code:

+ +
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

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itemdoc
typefunc
briefGets the statistics of the image. TODO: support in the feature
paramthresholds: You can define multiple thresholds.
For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
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.
invert: If true, the image will be inverted before the operation. default is false.
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.
default is None, means whole image.
bins: The number of bins to use for the statistics. default is -1.
l_bins: The number of bins to use for the l channel of the statistics. default is -1.
a_bins: The number of bins to use for the a channel of the statistics. default is -1.
b_bins: The number of bins to use for the b channel of the statistics. default is -1.
difference: The difference image to use for the statistics. default is None.
returnReturns the statistics of the image
staticFalse
+

C++ defination code:

+ +
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

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itemdoc
typefunc
briefGets the regression of the image.
paramthresholds: You can define multiple thresholds.
For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
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.
invert: If true, the image will be inverted before the operation. default is false.
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.
default is None, means whole image.
x_stride: The x stride to use for the regression. default is 2.
y_stride: The y stride to use for the regression. default is 1.
area_threshold: The area threshold to use for the regression. default is 10.
pixels_threshold: The pixels threshold to use for the regression. default is 10.
robust: If true, the regression will be robust. default is false.
returnReturns the regression of the image
staticFalse
+

C++ defination code:

+ +
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

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itemdoc
typefunc
briefSave image to file
parampath: file path
quality: image quality, by default(value is 95), support jpeg and png format
returnerror code, err::ERR_NONE is ok, other is error
staticFalse
+

C++ defination code:

+ +
err::Err save(const char *path, int quality = 95)
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+

flood_fill

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itemdoc
typefunc
briefFlood fills a region of the image starting from location x, y.
paramx: The x coordinate of the seed point.
y: The y coordinate of the seed point.
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.
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.
color: The color to fill the region with. default is white.
invert: If true, the image will be inverted before the operation. default is false.
clear_background: If true, the background will be cleared before the operation. default is false.
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.
Only pixels set in the mask are modified. default is None. FIXME: the mask image works abnormally
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
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

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itemdoc
typefunc
briefErodes the image in place.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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).
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *erode(int size, int threshold = -1, image::Image *mask = nullptr)
+
+

dilate

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itemdoc
typefunc
briefDilates the image in place.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *dilate(int size, int threshold = 0, image::Image *mask = nullptr)
+
+

open

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPerforms erosion and dilation on an image in order.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *open(int size, int threshold = 0, image::Image *mask = nullptr)
+
+

close

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPerforms dilation and erosion on an image in order.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
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.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *close(int size, int threshold = 0, image::Image *mask = nullptr)
+
+

top_hat

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefReturns the image difference of the image and Image.open()’ed image.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
threshold: As the threshold for open method. default is 0.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *top_hat(int size, int threshold = 0, image::Image *mask = nullptr)
+
+

black_hat

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefReturns the image difference of the image and Image.close()’ed image.
paramsize: Kernel size. The actual kernel size is ((size * 2) + 1) * ((size * 2) + 1). Use 1(3x3 kernel), 2(5x5 kernel).
threshold: As the threshold for close method. default is 0.
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.
Only pixels set in the mask are modified. default is None.
returnReturns the image after the operation is completed.
staticFalse
+

C++ defination code:

+ +
image::Image *black_hat(int size, int threshold = 0, image::Image *mask = nullptr)
+
+

find_blobs

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFinds 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.
paramthresholds: You can define multiple thresholds.
For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
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.
invert: if true, will invert thresholds before find blobs, default is false
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.
default is None, means whole image.
x_stride: x stride is the number of x pixels to skip when doing the hough transform. default is 2
y_stride: y_stride is the number of y pixels to skip when doing the hough transform. default is 1
area_threshold: area threshold, if the blob area is smaller than area_threshold, the blob is not returned, default is 10
pixels_threshold: pixels threshold, if the blob pixels is smaller than area_threshold, the blob is not returned,, default is 10.
when x_stride and y_stride is equal to 1, pixels_threshold is equivalent to area_threshold
merge: if True merges all not filtered out blobs whos bounding rectangles intersect each other. default is false
margin: margin can be used to increase or decrease the size of the bounding rectangles for blobs during the intersection test.
For example, with a margin of 1 blobs whos bounding rectangles are 1 pixel away from each other will be merged. default is 0
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.
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.
returnReturn the blob when found blobs, format is (blob1, blob2, ...), you can use blob class methods to do more operations.
staticFalse
+

C++ defination code:

+ +
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

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itemdoc
typefunc
briefFind lines in image
paramroi: 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.
default is None, means whole image.
x_stride: x stride is the number of x pixels to skip when doing the hough transform. default is 2
y_stride: y_stride is the number of y pixels to skip when doing the hough transform. default is 1
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.
The right value of threshold for your application is image dependent. default is 1000.
theta_margin: theta_margin controls the merging of detected lines. default is 25.
rho_margin: rho_margin controls the merging of detected lines. default is 25.
returnReturn the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations
staticFalse
+

C++ defination code:

+ +
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)
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find_line_segments

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itemdoc
typefunc
briefFinds all line segments in the image.
paramroi: 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.
default is None, means whole image.
merge_distance: The maximum distance between two lines to merge them. default is 0.
max_theta_difference: The maximum difference between two lines to merge them. default is 15.
returnReturn the line when found lines, format is (line1, line2, ...), you can use line class methods to do more operations
staticFalse
+

C++ defination code:

+ +
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

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itemdoc
typefunc
briefFind circles in image
paramroi: 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.
default is None, means whole image.
x_stride: x stride is the number of x pixels to skip when doing the hough transform. default is 2
y_stride: y_stride is the number of y pixels to skip when doing the hough transform. default is 1
threshold: threshold controls what circles are detected from the hough transform. Only circles with a magnitude greater than or equal to threshold are returned.
The right value of threshold for your application is image dependent.
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
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
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
r_min: r_min controls the minimum circle radius detected. Increase this to speed up the algorithm. default is 2
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)
r_step: r_step controls how to step the radius detection by. default is 2.
returnReturn the circle when found circles, format is (circle1, circle2, ...), you can use circle class methods to do more operations
staticFalse
+

C++ defination code:

+ +
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)
+
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find_rects

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itemdoc
typefunc
briefFinds all rects in the image.
paramroi: 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.
default is None, means whole image.
threshold: The threshold to use for the rects. default is 10000.
returnReturns the rects of the image
staticFalse
+

C++ defination code:

+ +
std::vector<image::Rect> find_rects(std::vector<int> roi = std::vector<int>(), int threshold = 10000)
+
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find_qrcodes

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itemdoc
typefunc
briefFinds all qrcodes in the image.
paramroi: 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.
default is None, means whole image.
returnReturns the qrcodes of the image
staticFalse
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C++ defination code:

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std::vector<image::QRCode> find_qrcodes(std::vector<int> roi = std::vector<int>())
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find_apriltags

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itemdoc
typefunc
briefFinds all apriltags in the image.
paramroi: 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.
default is None, means whole image.
families: The families to use for the apriltags. default is TAG36H11.
fx: The camera X focal length in pixels, default is -1.
fy: The camera Y focal length in pixels, default is -1.
cx: The camera X center in pixels, default is image.width / 2.
cy: The camera Y center in pixels, default is image.height / 2.
returnReturns the apriltags of the image
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFinds all datamatrices in the image.
paramroi: 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.
default is None, means whole image.
effort: Controls how much time to spend trying to find data matrix matches. default is 200.
returnReturns the datamatrices of the image
staticFalse
+

C++ defination code:

+ +
std::vector<image::DataMatrix> find_datamatrices(std::vector<int> roi = std::vector<int>(), int effort = 200)
+
+

find_barcodes

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itemdoc
typefunc
briefFinds all barcodes in the image.
paramroi: 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.
default is None, means whole image.
returnReturns the barcodes of the image
staticFalse
+

C++ defination code:

+ +
std::vector<image::BarCode> find_barcodes(std::vector<int> roi = std::vector<int>())
+
+

find_displacement

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itemdoc
typefunc
briefFinds 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
paramtemplate_image: The template image.
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.
default is None, means whole image.
template_roi: The region-of-interest rectangle (x, y, w, h) to work in. If not specified, it is equal to the image rectangle.
logpolar: If true, it will instead find rotation and scale changes between the two images. default is false.
returnReturns the displacement of the image
staticFalse
+

C++ defination code:

+ +
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)
+
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find_template

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itemdoc
typefunc
briefFinds the template in the image.
paramtemplate_image: The template image.
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.
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.
default is None, means whole image. Only valid in SEARCH_EX mode.
step: The step size to use for the template. default is 2. Only valid in SEARCH_EX mode
search: The search method to use for the template. default is SEARCH_EX.
returnReturns a bounding box tuple (x, y, w, h) for the matching location otherwise None.
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFinds the features in the image. TODO: support in the feature
paramcascade: The cascade to use for the features. default is CASCADE_FRONTALFACE_ALT.
threshold: The threshold to use for the features. default is 0.5.
scale: The scale to use for the features. default is 1.5.
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.
default is None, means whole image.
returnReturns the features of the image
staticFalse
+

C++ defination code:

+ +
std::vector<int> find_features(int cascade, float threshold = 0.5, float scale = 1.5, std::vector<int> roi = std::vector<int>())
+
+

find_lbp

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itemdoc
typefunc
briefFinds the lbp in the image. TODO: support in the feature.
paramroi: 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.
default is None, means whole image.
returnReturns the lbp of the image
staticFalse
+

C++ defination code:

+ +
image::LBPKeyPoint find_lbp(std::vector<int> roi = std::vector<int>())
+
+

find_keypoints

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFinds the keypoints in the image. TODO: support in the feature.
paramroi: 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.
default is None, means whole image.
threshold: The threshold to use for the keypoints. default is 20.
normalized: If true, the image will be normalized before the operation. default is false.
scale_factor: The scale factor to use for the keypoints. default is 1.5.
max_keypoints: The maximum number of keypoints to use for the keypoints. default is 100.
corner_detector: The corner detector to use for the keypoints. default is CORNER_AGAST.
returnReturns the keypoints of the image
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFinds the edges in the image.
paramedge_type: The edge type to use for the edges. default is EDGE_CANNY.
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.
default is None, means whole image.
threshold: The threshold to use for the edges. default is 20.
returnReturns the edges of the image
staticFalse
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFinds the hog in the image. TODO: support in the feature
paramroi: 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.
default is None, means whole image.
size: The size to use for the hog. default is 8.
returnReturns the hog of the image
staticFalse
+

C++ defination code:

+ +
image::Image* find_hog(std::vector<int> roi = std::vector<int>(), int size = 8)
+
+

match_lbp_descriptor

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itemdoc
typefunc
briefMatches the lbp descriptor of the image. TODO: support in the feature
paramdesc1: The descriptor to use for the match.
desc2: The descriptor to use for the match.
returnReturns the match of the image
staticFalse
+

C++ defination code:

+ +
int match_lbp_descriptor(image::LBPKeyPoint &desc1, image::LBPKeyPoint &desc2)
+
+

match_orb_descriptor

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefMatches the orb descriptor of the image. TODO: support in the feature
paramdesc1: The descriptor to use for the match.
desc2: The descriptor to use for the match.
threshold: The threshold to use for the match. default is 95.
filter_outliers: If true, the image will be filter_outliers before the operation. default is false.
returnReturns the match of the image
staticFalse
+

C++ defination code:

+ +
image::KPTMatch match_orb_descriptor(image::ORBKeyPoint &desc1, image::ORBKeyPoint &desc2, int threshold = 95, bool filter_outliers = false)
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/network.html b/maixpy/api/maix/network.html new file mode 100644 index 0000000..fc09bc8 --- /dev/null +++ b/maixpy/api/maix/network.html @@ -0,0 +1,344 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.network - MaixPy + + + + + + + + + + +
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maix.network

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+ +

maix.network module

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+

You can use maix.network to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+ + + + + + + + + + + + + +
modulebrief
wifimaix.network.wifi module
+

Enum

+

Variable

+

Function

+

have_network

+ +
def have_network() -> bool
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itemdoc
briefReturn if device have network(WiFi/Eth etc.)
returnTrue if have network, else False.
+

C++ defination code:

+ +
bool have_network()
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Class

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/network/wifi.html b/maixpy/api/maix/network/wifi.html new file mode 100644 index 0000000..f67c4d4 --- /dev/null +++ b/maixpy/api/maix/network/wifi.html @@ -0,0 +1,930 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.network.wifi - MaixPy + + + + + + + + + + +
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maix.network.wifi

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    + +
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maix.network.wifi module

+
+

You can use maix.network.wifi to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

list_devices

+ +
def list_devices() -> list[str]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefList WiFi interfaces
returnWiFi interface list, string type
+

C++ defination code:

+ +
std::vector<std::string> list_devices()
+
+

Class

+

AP_Info

+ + + + + + + + + + + + + +
itemdoc
briefWiFi AP info
+

C++ defination code:

+ +
class AP_Info
+
+

ssid

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefWiFi AP info SSID
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<uint8_t> ssid
+
+

bssid

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefWiFi AP info BSSID
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::string bssid
+
+

security

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefWiFi AP info security
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::string security
+
+

channel

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefWiFi AP info channel
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int channel
+
+

frequency

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itemdoc
typevar
briefWiFi AP info frequency
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int frequency
+
+

rssi

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefWiFi AP info rssi
staticFalse
readonlyFalse
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C++ defination code:

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int rssi
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ssid_str

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def ssid_str(self) -> str
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itemdoc
typefunc
briefWiFi AP info ssid_str
staticFalse
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C++ defination code:

+ +
std::string ssid_str()
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Wifi

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itemdoc
briefWifi class
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C++ defination code:

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class Wifi
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__init__

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itemdoc
typefunc
briefWifi class
paramiface: wifi interface name, default is wlan0
staticFalse
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C++ defination code:

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Wifi(std::string iface = "wlan0")
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get_ip

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itemdoc
typefunc
briefGet current WiFi ip
returnip, string type, if network not connected, will return empty string.
staticFalse
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C++ defination code:

+ +
std::string get_ip()
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get_mac

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itemdoc
typefunc
briefGet current WiFi MAC address
returnip, string type.
staticFalse
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C++ defination code:

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std::string get_mac()
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get_ssid

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itemdoc
typefunc
briefGet current WiFi SSID
paramfrom_cache: if true, will not read config from file, direct use ssid in cache.
attention, first time call this method will auto matically read config from file, and if call connect method will set cache.
returnSSID, string type.
staticFalse
+

C++ defination code:

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std::string get_ssid(bool from_cache = true)
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get_gateway

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itemdoc
typefunc
briefGet current WiFi ip
returnip, string type, if network not connected, will return empty string.
staticFalse
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C++ defination code:

+ +
std::string get_gateway()
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start_scan

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itemdoc
typefunc
briefWiFi start scan AP info around in background.
returnIf success, return err.Err.ERR_NONE, else means failed.
staticFalse
+

C++ defination code:

+ +
err::Err start_scan()
+
+

get_scan_result

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itemdoc
typefunc
briefGet WiFi scan AP info.
returnwifi.AP_Info list.
staticFalse
+

C++ defination code:

+ +
std::vector<network::wifi::AP_Info> get_scan_result()
+
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stop_scan

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itemdoc
typefunc
briefStop WiFi scan AP info.
staticFalse
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C++ defination code:

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void stop_scan()
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connect

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itemdoc
typefunc
briefConnect to WiFi AP.
paramssid: SSID of AP
password: password of AP, if no password, leave it empty.
wait: wait for got IP or failed or timeout.
timeout: connect timeout internal, unit second.
returnIf success, return err.Err.ERR_NONE, else means failed.
staticFalse
+

C++ defination code:

+ +
err::Err connect(const std::string &ssid, const std::string &password, bool wait = true, int timeout = 60)
+
+

disconnect

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDisconnect from WiFi AP.
returnIf success, return err.Err.ERR_NONE, else means failed.
staticFalse
+

C++ defination code:

+ +
err::Err disconnect()
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+

is_connected

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSee if WiFi is connected to AP.
returnIf connected return true, else false.
staticFalse
+

C++ defination code:

+ +
bool is_connected()
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+ +
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+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/nn.html b/maixpy/api/maix/nn.html new file mode 100644 index 0000000..e6da010 --- /dev/null +++ b/maixpy/api/maix/nn.html @@ -0,0 +1,5302 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.nn - MaixPy + + + + + + + + + + +
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maix.nn

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maix.nn module

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+

You can use maix.nn to access this module with MaixPy
+This module is generated from MaixCDK

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+

Module

+ + + + + + + + + + + + + +
modulebrief
Fmaix.nn.F module
+

Enum

+

Variable

+

Function

+

Class

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YOLOv8

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itemdoc
briefYOLOv8 class
+

C++ defination code:

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class YOLOv8
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+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor of YOLOv8 class
parammodel: model path, default empty, you can load model later by load function.
throwIf model arg is not empty and load failed, will throw err::Exception.
staticFalse
+

C++ defination code:

+ +
YOLOv8(const string &model = "")
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+

load

+ +
def load(self, model: str) -> maix.err.Err
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad model from file
parammodel: Model path want to load
returnerr::Err
staticFalse
+

C++ defination code:

+ +
err::Err load(const string &model)
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+

detect

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def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ..., keypoint_th: float = 0.5) -> list[...]
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itemdoc
typefunc
briefDetect objects from image
paramimg: 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.
keypoint_th: keypoint threshold, default 0.5, only for yolov8-pose model.
throwIf image format not match model input format, will throw err::Exception.
returnObject list. In C++, you should delete it after use.
If model is yolov8-pose, object's points have value, and if points' value < 0 means that point is invalid(conf < keypoint_th).
staticFalse
+

C++ defination code:

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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, float keypoint_th = 0.5)
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input_size

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def input_size(self) -> maix.image.Size
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itemdoc
typefunc
briefGet model input size
returnmodel input size
staticFalse
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C++ defination code:

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image::Size input_size()
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input_width

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def input_width(self) -> int
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itemdoc
typefunc
briefGet model input width
returnmodel input size of width
staticFalse
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C++ defination code:

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int input_width()
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input_height

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def input_height(self) -> int
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itemdoc
typefunc
briefGet model input height
returnmodel input size of height
staticFalse
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C++ defination code:

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int input_height()
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input_format

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def input_format(self) -> maix.image.Format
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itemdoc
typefunc
briefGet input image format
returninput image format, image::Format type.
staticFalse
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C++ defination code:

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image::Format input_format()
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draw_pose

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def draw_pose(self, img: maix.image.Image, points: list[int], radius: int = 4, color: maix.image.Color = ..., body: bool = True) -> None
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itemdoc
typefunc
briefDraw pose keypoints on image
paramimg: image object, maix.image.Image type.
points: keypoits, int list type, [x, y, x, y ...]
radius: radius of points.
color: color of points.
body: true, if points' length is 17*2 and body is ture, will draw lines as human body, if set to false won't draw lines, default true.
staticFalse
+

C++ defination code:

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void draw_pose(image::Image &img, std::vector<int> points, int radius = 4, image::Color color = image::COLOR_RED, bool body=true)
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+

labels

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itemdoc
typevar
briefLabels list
staticFalse
readonlyFalse
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C++ defination code:

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std::vector<string> labels
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label_path

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itemdoc
typevar
briefLabel file path
staticFalse
readonlyFalse
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C++ defination code:

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std::string label_path
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mean

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itemdoc
typevar
briefGet mean value, list type
staticFalse
readonlyFalse
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C++ defination code:

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std::vector<float> mean
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scale

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itemdoc
typevar
briefGet scale value, list type
staticFalse
readonlyFalse
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C++ defination code:

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std::vector<float> scale
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MUD

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itemdoc
briefMUD(model universal describe file) class
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C++ defination code:

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class MUD
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__init__

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itemdoc
typefunc
briefMUD constructor
parammodel_path: direction [in], model file path, model format can be MUD(model universal describe file) file.
If model_path set, will load model from file, load failed will raise err.Exception.
If model_path not set, you can load model later by load function.
staticFalse
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C++ defination code:

+ +
MUD(const char *model_path = nullptr)
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load

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def load(self, model: str) -> maix.err.Err
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad model from file
parammodel_path: direction [in], model file path, model format can be MUD(model universal describe file) file.
returnerror code, if load success, return err::ERR_NONE
staticFalse
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C++ defination code:

+ +
err::Err load(const std::string &model_path)
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+

type

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itemdoc
typevar
briefModel type, string type
staticFalse
readonlyFalse
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C++ defination code:

+ +
std::string type
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items

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefModel config items, different model type has different config items
staticFalse
readonlyFalse
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C++ defination code:

+ +
std::map<std::string, std::map<std::string, std::string>> items
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+

LayerInfo

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itemdoc
briefNN model layer info
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C++ defination code:

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class LayerInfo
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__init__

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def __init__(self, name: str = '', dtype: maix.tensor.DType = ..., shape: list[int] = []) -> None
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itemdoc
typefunc
briefLayerInfo constructor
paramname: direction [in], layer name
dtype: direction [in], layer data type
shape: direction [in], layer shape
staticFalse
+

C++ defination code:

+ +
LayerInfo(const std::string &name =  "", tensor::DType dtype = tensor::DType::FLOAT32, std::vector<int> shape = std::vector<int>())
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name

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itemdoc
typevar
briefLayer name
staticFalse
readonlyFalse
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C++ defination code:

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std::string   name
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dtype

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itemdoc
typevar
briefLayer data type
attentionIf model is quantized, this is the real quantized data type like int8 float16,
in most scene, inputs and outputs we actually use float32 in API like forward.
staticFalse
readonlyFalse
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C++ defination code:

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tensor::DType dtype
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shape

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itemdoc
typevar
briefLayer shape
staticFalse
readonlyFalse
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C++ defination code:

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std::vector<int> shape
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shape_int

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def shape_int(self) -> int
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itemdoc
typefunc
briefShape as one int type, multiply all dims of shape
staticFalse
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C++ defination code:

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int shape_int()
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to_str

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def to_str(self) -> str
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itemdoc
typefunc
briefTo string
staticFalse
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C++ defination code:

+ +
std::string to_str()
+
+

__str__

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def __str__(self) -> str
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+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTo string
staticFalse
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C++ defination code:

+ +
std::string __str__()
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+

NN

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itemdoc
briefNeural network class
+

C++ defination code:

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class NN
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__init__

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def __init__(self, model: str = '') -> None
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itemdoc
typefunc
briefNeural network constructor
parammodel: direction [in], model file path, model format can be MUD(model universal describe file) file.
If model_path set, will load model from file, load failed will raise err.Exception.
If model_path not set, you can load model later by load function.
staticFalse
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C++ defination code:

+ +
NN(const std::string &model = "")
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load

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def load(self, model: str) -> maix.err.Err
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad model from file
parammodel: direction [in], model file path, model format can be MUD(model universal describe file) file.
returnerror code, if load success, return err::ERR_NONE
staticFalse
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C++ defination code:

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err::Err load(const std::string &model)
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loaded

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def loaded(self) -> bool
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itemdoc
typefunc
briefIs model loaded
returntrue if model loaded, else false
staticFalse
+

C++ defination code:

+ +
bool loaded()
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+

inputs_info

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def inputs_info(self) -> list[LayerInfo]
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itemdoc
typefunc
briefGet model input layer info
returninput layer info
staticFalse
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C++ defination code:

+ +
std::vector<nn::LayerInfo> inputs_info()
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+

outputs_info

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def outputs_info(self) -> list[LayerInfo]
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itemdoc
typefunc
briefGet model output layer info
returnoutput layer info
staticFalse
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C++ defination code:

+ +
std::vector<nn::LayerInfo> outputs_info()
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+

extra_info

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def extra_info(self) -> dict[str, str]
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itemdoc
typefunc
briefGet model extra info define in MUD file
returnextra info, dict type, key-value object, attention: key and value are all string type.
staticFalse
+

C++ defination code:

+ +
std::map<std::string, std::string> extra_info()
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forward

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def forward(self, inputs: maix.tensor.Tensors) -> maix.tensor.Tensors
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itemdoc
typefunc
briefforward run model, get output of model,\nthis is specially for MaixPy, not efficient, but easy to use in MaixPy
paraminput: direction [in], input tensor
returnoutput tensor. In C++, you should manually delete tensors in return value and return value.
staticFalse
+

C++ defination code:

+ +
tensor::Tensors *forward(tensor::Tensors &inputs)
+
+

forward_image

+ +
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
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itemdoc
typefunc
briefforward model, param is image
paramimg: input image
mean: mean value, a list type, e.g. [0.485, 0.456, 0.406], default is empty list means not normalize.
scale: scale value, a list type, e.g. [1/0.229, 1/0.224, 1/0.225], default is empty list means not normalize.
fit: fit mode, if the image size of input not equal to model's input, it will auto resize use this fit method,
default is image.Fit.FIT_FILL for easy coordinate calculation, but for more accurate result, use image.Fit.FIT_CONTAIN is better.
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.
Default true to avoid problems, you can set it to false manually to make speed faster.
returnoutput tensor. In C++, you should manually delete tensors in return value and return value.
staticFalse
+

C++ defination code:

+ +
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)
+
+

FaceObject

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itemdoc
briefFace object
+

C++ defination code:

+ +
class FaceObject
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor
staticFalse
+

C++ defination code:

+ +
FaceObject(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>(), std::vector<float> feature = std::vector<float>(), image::Image face = image::Image())
+
+

__str__

+ +
def to_str(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFaceObject info to string
returnFaceObject info string
staticFalse
+

C++ defination code:

+ +
std::string to_str()
+
+

x

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefFaceObject left top coordinate x
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int x
+
+

y

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itemdoc
typevar
briefFaceObject left top coordinate y
staticFalse
readonlyFalse
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C++ defination code:

+ +
int y
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+

w

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itemdoc
typevar
briefFaceObject width
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int w
+
+

h

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itemdoc
typevar
briefFaceObject height
staticFalse
readonlyFalse
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C++ defination code:

+ +
int h
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+

class_id

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itemdoc
typevar
briefFaceObject class id
staticFalse
readonlyFalse
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C++ defination code:

+ +
int class_id
+
+

score

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itemdoc
typevar
briefFaceObject score
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float score
+
+

points

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itemdoc
typevar
briefkeypoints
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<int> points
+
+

feature

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itemdoc
typevar
brieffeature, float list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> feature
+
+

face

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefface image
staticFalse
readonlyFalse
+

C++ defination code:

+ +
image::Image face
+
+

FaceRecognizer

+ + + + + + + + + + + + + +
itemdoc
briefFaceRecognizer class
+

C++ defination code:

+ +
class FaceRecognizer
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor of FaceRecognizer class
paramdetect_model: face detect model path, default empty, you can load model later by load function.
feature_model: feature extract model
throwIf model arg is not empty and load failed, will throw err::Exception.
staticFalse
+

C++ defination code:

+ +
FaceRecognizer(const string &detect_model = "", const string &feature_model = "")
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+

load

+ +
def load(self, model: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad model from file
paramdetect_model: face detect model path, default empty, you can load model later by load function.
feature_model: feature extract model
returnerr::Err
staticFalse
+

C++ defination code:

+ +
err::Err load(const string &detect_model, const string &feature_model)
+
+

recognize

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itemdoc
typefunc
briefDetect objects from image
paramimg: Image want to detect, if image's size not match model input's, will auto resize with fit method.
conf_th: Detect confidence threshold, default 0.5.
iou_th: Detect IoU threshold, default 0.45.
compare_th: Compare two face score threshold, default 0.8, if two faces' score < this value, will see this face fas unknown.
get_feature: return feature or not, if true will copy features to result, if false will not copy feature to result to save time and memory.
get_face: return face image or not, if true result object's face attribute will valid, or face sttribute is empty. Get face image will alloc memory and copy image, so will lead to slower speed.
fit: Resize method, default image.Fit.FIT_CONTAIN.
throwIf image format not match model input format, will throw err::Exception.
returnFaceObject list. In C++, you should delete it after use.
staticFalse
+

C++ defination code:

+ +
std::vector<nn::FaceObject> *recognize(image::Image &img, float conf_th = 0.5, float iou_th = 0.45, float compare_th = 0.8, bool get_feature = false, bool get_face = false, maix::image::Fit fit = maix::image::FIT_CONTAIN)
+
+

add_face

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAdd face to lib
paramface: face object, find by recognize
label: face label(name)
staticFalse
+

C++ defination code:

+ +
err::Err add_face(nn::FaceObject *face, const std::string &label)
+
+

remove_face

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefremove face from lib
paramidx: index of face in lib, default -1 means use label, idx and label must have one, idx have high priotiry.
label: which face to remove, default to empty string mean use idx, idx and label must have one, idx have high priotiry.
staticFalse
+

C++ defination code:

+ +
err::Err remove_face(int idx = -1, const std::string &label = "")
+
+

save_faces

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSave faces info to a file
parampath: where to save, string type.
returnerr.Err type
staticFalse
+

C++ defination code:

+ +
err::Err save_faces(const std::string &path)
+
+

load_faces

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad faces info from a file
parampath: from where to load, string type.
returnerr::Err type
staticFalse
+

C++ defination code:

+ +
err::Err load_faces(const std::string &path)
+
+

input_size

+ +
def input_size(self) -> maix.image.Size
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input size
returnmodel input size
staticFalse
+

C++ defination code:

+ +
image::Size input_size()
+
+

input_width

+ +
def input_width(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input width
returnmodel input size of width
staticFalse
+

C++ defination code:

+ +
int input_width()
+
+

input_height

+ +
def input_height(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input height
returnmodel input size of height
staticFalse
+

C++ defination code:

+ +
int input_height()
+
+

input_format

+ +
def input_format(self) -> maix.image.Format
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet input image format
returninput image format, image::Format type.
staticFalse
+

C++ defination code:

+ +
image::Format input_format()
+
+

mean_detector

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet mean value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> mean_detector
+
+

scale_detector

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet scale value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> scale_detector
+
+

mean_feature

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet mean value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> mean_feature
+
+

scale_feature

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet scale value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> scale_feature
+
+

labels

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
brieflabels, list type, first is "unknown"
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<std::string> labels
+
+

features

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
brieffeatures
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<std::vector<float>> features
+
+

Object

+ + + + + + + + + + + + + +
itemdoc
briefObject for detect result
+

C++ defination code:

+ +
class Object
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor of Object for detect result
paramx: left top x
y: left top y
w: width
h: height
class_id: class id
score: score
staticFalse
+

C++ defination code:

+ +
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__

+ +
def to_str(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefObject info to string
returnObject info string
staticFalse
+

C++ defination code:

+ +
std::string to_str()
+
+

x

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject left top coordinate x
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int x
+
+

y

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject left top coordinate y
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int y
+
+

w

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject width
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int w
+
+

h

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject height
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int h
+
+

class_id

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject class id
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int class_id
+
+

score

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject score
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float score
+
+

points

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefkeypoints
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<int> points
+
+

ObjectFloat

+ + + + + + + + + + + + + +
itemdoc
briefObject for detect result
+

C++ defination code:

+ +
class ObjectFloat
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor of Object for detect result
paramx: left top x
y: left top y
w: width
h: height
class_id: class id
score: score
staticFalse
+

C++ defination code:

+ +
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__

+ +
def to_str(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefObject info to string
returnObject info string
staticFalse
+

C++ defination code:

+ +
std::string to_str()
+
+

x

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject left top coordinate x
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float x
+
+

y

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject left top coordinate y
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float y
+
+

w

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject width
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float w
+
+

h

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject height
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float h
+
+

class_id

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject class id
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float class_id
+
+

score

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefObject score
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float score
+
+

points

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefkeypoints
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> points
+
+

YOLOv5

+ + + + + + + + + + + + + +
itemdoc
briefYOLOv5 class
+

C++ defination code:

+ +
class YOLOv5
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor of YOLOv5 class
parammodel: model path, default empty, you can load model later by load function.
throwIf model arg is not empty and load failed, will throw err::Exception.
staticFalse
+

C++ defination code:

+ +
YOLOv5(const string &model = "")
+
+

load

+ +
def load(self, model: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad model from file
parammodel: Model path want to load
returnerr::Err
staticFalse
+

C++ defination code:

+ +
err::Err load(const string &model)
+
+

detect

+ +
def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ..., keypoint_th: float = 0.5) -> list[...]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDetect objects from image
paramimg: 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.
throwIf image format not match model input format, will throw err::Exception.
returnObject list. In C++, you should delete it after use.
staticFalse
+

C++ defination code:

+ +
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

+ +
def input_size(self) -> maix.image.Size
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input size
returnmodel input size
staticFalse
+

C++ defination code:

+ +
image::Size input_size()
+
+

input_width

+ +
def input_width(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input width
returnmodel input size of width
staticFalse
+

C++ defination code:

+ +
int input_width()
+
+

input_height

+ +
def input_height(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input height
returnmodel input size of height
staticFalse
+

C++ defination code:

+ +
int input_height()
+
+

input_format

+ +
def input_format(self) -> maix.image.Format
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet input image format
returninput image format, image::Format type.
staticFalse
+

C++ defination code:

+ +
image::Format input_format()
+
+

labels

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefLabels list
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<string> labels
+
+

label_path

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefLabel file path
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::string label_path
+
+

mean

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet mean value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> mean
+
+

scale

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet scale value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> scale
+
+

anchors

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet anchors
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> anchors
+
+

SelfLearnClassifier

+ + + + + + + + + + + + + +
itemdoc
briefSelfLearnClassifier
+

C++ defination code:

+ +
class SelfLearnClassifier
+
+

__init__

+ +
def __init__(self, model: str = '') -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new SelfLearnClassifier object
parammodel: MUD model path, if empty, will not load model, you can call load_model() later.
if not empty, will load model and will raise err::Exception if load failed.
staticFalse
+

C++ defination code:

+ +
SelfLearnClassifier(const std::string &model = "")
+
+

load_model

+ +
def load_model(self, model: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad model from file, model format is .mud,\nMUD file should contain [extra] section, have key-values:\n- model_type: classifier_no_top\n- input_type: rgb or bgr\n- mean: 123.675, 116.28, 103.53\n- scale: 0.017124753831663668, 0.01750700280112045, 0.017429193899782137
parammodel: MUD model path
returnerror code, if load failed, return error code
staticFalse
+

C++ defination code:

+ +
err::Err load_model(const string &model)
+
+

classify

+ +
def classify(self, img: maix.image.Image, softmax: bool = True, fit: maix.image.Fit = ...) -> list[tuple[int, float]]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefClassify image
paramimg: image, format should match model input_type， or will raise err.Exception
fit: image resize fit mode, default Fit.FIT_COVER, see image.Fit.
throwIf error occurred, will raise err::Exception, you can find reason in log, mostly caused by args error or hardware error.
returnresult, a list of (idx, distance), smaller distance means more similar. In C++, you need to delete it after use.
staticFalse
+

C++ defination code:

+ +
std::vector<std::pair<int, float>> *classify(image::Image &img, image::Fit fit = image::FIT_COVER)
+
+

add_class

+ +
def add_class(self, img: maix.image.Image, fit: maix.image.Fit = ...) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAdd a class to recognize
paramimg: Add a image as a new class
fit: image resize fit mode, default Fit.FIT_COVER, see image.Fit.
staticFalse
+

C++ defination code:

+ +
void add_class(image::Image &img, image::Fit fit = image::FIT_COVER)
+
+

class_num

+ +
def class_num(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet class number
staticFalse
+

C++ defination code:

+ +
int class_num()
+
+

rm_class

+ +
def rm_class(self, idx: int) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRemove a class
paramidx: index, value from 0 to class_num();
staticFalse
+

C++ defination code:

+ +
err::Err rm_class(int idx)
+
+

add_sample

+ +
def add_sample(self, img: maix.image.Image, fit: maix.image.Fit = ...) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAdd sample, you should call learn method after add some samples to learn classes.\nSample image can be any of classes we already added.
paramimg: Add a image as a new sample.
staticFalse
+

C++ defination code:

+ +
void add_sample(image::Image &img, image::Fit fit = image::FIT_COVER)
+
+

rm_sample

+ +
def rm_sample(self, idx: int) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRemove a sample
paramidx: index, value from 0 to sample_num();
staticFalse
+

C++ defination code:

+ +
err::Err rm_sample(int idx)
+
+

sample_num

+ +
def sample_num(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet sample number
staticFalse
+

C++ defination code:

+ +
int sample_num()
+
+

learn

+ +
def learn(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefStart auto learn class features from classes image and samples.\nYou should call this method after you add some samples.
returnlearn epoch(times), 0 means learn nothing.
staticFalse
+

C++ defination code:

+ +
int learn()
+
+

clear

+ +
def clear(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefClear all class and samples
staticFalse
+

C++ defination code:

+ +
void clear()
+
+

input_size

+ +
def input_size(self) -> maix.image.Size
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input size, only for image input
returnmodel input size
staticFalse
+

C++ defination code:

+ +
image::Size input_size()
+
+

input_width

+ +
def input_width(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input width, only for image input
returnmodel input size of width
staticFalse
+

C++ defination code:

+ +
int input_width()
+
+

input_height

+ +
def input_height(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input height, only for image input
returnmodel input size of height
staticFalse
+

C++ defination code:

+ +
int input_height()
+
+

input_format

+ +
def input_format(self) -> maix.image.Format
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet input image format, only for image input
returninput image format, image::Format type.
staticFalse
+

C++ defination code:

+ +
image::Format input_format()
+
+

input_shape

+ +
def input_shape(self) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet input shape, if have multiple input, only return first input shape
returninput shape, list type
staticFalse
+

C++ defination code:

+ +
std::vector<int> input_shape()
+
+

save

+ +
def save(self, path: str, labels: list[str] = []) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSave features and labels to a binary file
parampath: file path to save, e.g. /root/my_classes.bin
labels: class labels, can be None, or length must equal to class num, or will return err::Err
returnmaix.err.Err if labels exists but length not equal to class num, or save file failed, or class num is 0.
staticFalse
+

C++ defination code:

+ +
err::Err save(const std::string &path, const std::vector<std::string> &labels = std::vector<std::string>())
+
+

load

+ +
def load(self, model: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad features info from binary file
parampath: feature info binary file path, e.g. /root/my_classes.bin
staticFalse
+

C++ defination code:

+ +
std::vector<std::string> load(const std::string &path)
+
+

labels

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefLabels list
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<string> labels
+
+

label_path

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefLabel file path
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::string label_path
+
+

mean

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet mean value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> mean
+
+

scale

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet scale value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> scale
+
+

FaceDetector

+ + + + + + + + + + + + + +
itemdoc
briefFaceDetector class
+

C++ defination code:

+ +
class FaceDetector
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor of FaceDetector class
parammodel: model path, default empty, you can load model later by load function.
throwIf model arg is not empty and load failed, will throw err::Exception.
staticFalse
+

C++ defination code:

+ +
FaceDetector(const string &model = "")
+
+

load

+ +
def load(self, model: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad model from file
parammodel: Model path want to load
returnerr::Err
staticFalse
+

C++ defination code:

+ +
err::Err load(const string &model)
+
+

detect

+ +
def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ..., keypoint_th: float = 0.5) -> list[...]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDetect objects from image
paramimg: 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.
throwIf image format not match model input format, will throw err::Exception.
returnObject list. In C++, you should delete it after use.
staticFalse
+

C++ defination code:

+ +
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

+ +
def input_size(self) -> maix.image.Size
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input size
returnmodel input size
staticFalse
+

C++ defination code:

+ +
image::Size input_size()
+
+

input_width

+ +
def input_width(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input width
returnmodel input size of width
staticFalse
+

C++ defination code:

+ +
int input_width()
+
+

input_height

+ +
def input_height(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input height
returnmodel input size of height
staticFalse
+

C++ defination code:

+ +
int input_height()
+
+

input_format

+ +
def input_format(self) -> maix.image.Format
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet input image format
returninput image format, image::Format type.
staticFalse
+

C++ defination code:

+ +
image::Format input_format()
+
+

mean

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet mean value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> mean
+
+

scale

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet scale value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> scale
+
+

Classifier

+ + + + + + + + + + + + + +
itemdoc
briefClassifier
+

C++ defination code:

+ +
class Classifier
+
+

__init__

+ +
def __init__(self, model: str = '') -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Classifier object
parammodel: MUD model path, if empty, will not load model, you can call load() later.
if not empty, will load model and will raise err::Exception if load failed.
staticFalse
+

C++ defination code:

+ +
Classifier(const string &model = "")
+
+

load

+ +
def load(self, model: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad 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
parammodel: MUD model path
returnerror code, if load failed, return error code
staticFalse
+

C++ defination code:

+ +
err::Err load(const string &model)
+
+

classify

+ +
def classify(self, img: maix.image.Image, softmax: bool = True, fit: maix.image.Fit = ...) -> list[tuple[int, float]]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefForward image to model, get result. Only for image input, use classify_raw for tensor input.
paramimg: image, format should match model input_type， or will raise err.Exception
softmax: if true, will do softmax to result, or will return raw value
fit: image resize fit mode, default Fit.FIT_COVER, see image.Fit.
throwIf error occurred, will raise err::Exception, you can find reason in log, mostly caused by args error or hardware error.
returnresult, a list of (label, score). In C++, you need to delete it after use.
staticFalse
+

C++ defination code:

+ +
std::vector<std::pair<int, float>> *classify(image::Image &img, bool softmax = true, image::Fit fit = image::FIT_COVER)
+
+

classify_raw

+ +
def classify_raw(self, data: maix.tensor.Tensor, softmax: bool = True) -> list[tuple[int, float]]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefForward tensor data to model, get result
paramdata: tensor data, format should match model input_type， or will raise err.Excetion
softmax: if true, will do softmax to result, or will return raw value
throwIf error occurred, will raise err::Exception, you can find reason in log, mostly caused by args error or hardware error.
returnresult, a list of (label, score). In C++, you need to delete it after use.
staticFalse
+

C++ defination code:

+ +
std::vector<std::pair<int, float>> *classify_raw(tensor::Tensor &data, bool softmax = true)
+
+

input_size

+ +
def input_size(self) -> maix.image.Size
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input size, only for image input
returnmodel input size
staticFalse
+

C++ defination code:

+ +
image::Size input_size()
+
+

input_width

+ +
def input_width(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input width, only for image input
returnmodel input size of width
staticFalse
+

C++ defination code:

+ +
int input_width()
+
+

input_height

+ +
def input_height(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input height, only for image input
returnmodel input size of height
staticFalse
+

C++ defination code:

+ +
int input_height()
+
+

input_format

+ +
def input_format(self) -> maix.image.Format
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet input image format, only for image input
returninput image format, image::Format type.
staticFalse
+

C++ defination code:

+ +
image::Format input_format()
+
+

input_shape

+ +
def input_shape(self) -> list[int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet input shape, if have multiple input, only return first input shape
returninput shape, list type
staticFalse
+

C++ defination code:

+ +
std::vector<int> input_shape()
+
+

labels

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefLabels list
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<string> labels
+
+

label_path

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefLabel file path
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::string label_path
+
+

mean

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet mean value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> mean
+
+

scale

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet scale value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> scale
+
+

Retinaface

+ + + + + + + + + + + + + +
itemdoc
briefRetinaface class
+

C++ defination code:

+ +
class Retinaface
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor of Retinaface class
parammodel: model path, default empty, you can load model later by load function.
throwIf model arg is not empty and load failed, will throw err::Exception.
staticFalse
+

C++ defination code:

+ +
Retinaface(const string &model = "")
+
+

load

+ +
def load(self, model: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefLoad model from file
parammodel: Model path want to load
returnerr::Err
staticFalse
+

C++ defination code:

+ +
err::Err load(const string &model)
+
+

detect

+ +
def detect(self, img: maix.image.Image, conf_th: float = 0.5, iou_th: float = 0.45, fit: maix.image.Fit = ..., keypoint_th: float = 0.5) -> list[...]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDetect objects from image
paramimg: 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.
throwIf image format not match model input format, will throw err::Exception.
returnObject list. In C++, you should delete it after use.
staticFalse
+

C++ defination code:

+ +
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

+ +
def input_size(self) -> maix.image.Size
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input size
returnmodel input size
staticFalse
+

C++ defination code:

+ +
image::Size input_size()
+
+

input_width

+ +
def input_width(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input width
returnmodel input size of width
staticFalse
+

C++ defination code:

+ +
int input_width()
+
+

input_height

+ +
def input_height(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet model input height
returnmodel input size of height
staticFalse
+

C++ defination code:

+ +
int input_height()
+
+

input_format

+ +
def input_format(self) -> maix.image.Format
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet input image format
returninput image format, image::Format type.
staticFalse
+

C++ defination code:

+ +
image::Format input_format()
+
+

mean

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet mean value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> mean
+
+

scale

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefGet scale value, list type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::vector<float> scale
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/nn/F.html b/maixpy/api/maix/nn/F.html new file mode 100644 index 0000000..2a627fd --- /dev/null +++ b/maixpy/api/maix/nn/F.html @@ -0,0 +1,339 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.nn.F - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

softmax

+ +
def softmax(tensor: maix.tensor.Tensor, replace: bool) -> maix.tensor.Tensor
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefSoftmax, only support 1D tensor, multi-dimension tensor will be treated as 1D tensor
paramtensor: input tensor
replace: change input tensor data directly, if not, will create a new tensor
throwIf arg error, will raise err.Exception error
returnoutput tensor, if arg replace is true, return the arg tensor's address.
If not replace, return a new object, so In C++, you should delete it manually in this case!
+

C++ defination code:

+ +
tensor::Tensor *softmax(tensor::Tensor *tensor, bool replace)
+
+

Class

+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral.html b/maixpy/api/maix/peripheral.html new file mode 100644 index 0000000..c85dd6b --- /dev/null +++ b/maixpy/api/maix/peripheral.html @@ -0,0 +1,354 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.peripheral

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

Chip's peripheral driver

+
+

You can use maix.peripheral to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
modulebrief
wdtmaix.peripheral.wdt module
timermaix.peripheral.timer module
spimaix.peripheral.spi module
gpiomaix.peripheral.gpio module
uartmaix uart peripheral driver
i2cmaix.peripheral.i2c module
adcmaix.peripheral.adc module
pinmapmaix.peripheral.pinmap module
pwmmaix.peripheral.pwm module
keymaix.peripheral.key module
+

Enum

+

Variable

+

Function

+

Class

+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/adc.html b/maixpy/api/maix/peripheral/adc.html new file mode 100644 index 0000000..68de7de --- /dev/null +++ b/maixpy/api/maix/peripheral/adc.html @@ -0,0 +1,534 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.adc - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Variable

+

RES_BIT_8

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
brief8-bit resolution, supported by the actual hardware
value8
readonlyTrue
+

C++ defination code:

+ +
const int RES_BIT_8 = 8
+
+

RES_BIT_10

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
brief10-bit resolution, supported by the actual hardware
value10
readonlyTrue
+

C++ defination code:

+ +
const int RES_BIT_10 = 10
+
+

RES_BIT_12

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
brief12-bit resolution, supported by the actual hardware
value12
readonlyTrue
+

C++ defination code:

+ +
const int RES_BIT_12 = 12
+
+

RES_BIT_16

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
brief16-bit resolution, supported by the actual hardware
value16
readonlyTrue
+

C++ defination code:

+ +
const int RES_BIT_16 = 16
+
+

Function

+

Class

+

ADC

+ + + + + + + + + + + + + +
itemdoc
briefPeripheral adc class
+

C++ defination code:

+ +
class ADC
+
+

__init__

+ +
def __init__(self, pin: int, resolution: int, vref: float = -1) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefADC constructor
parampin: direction [in], adc pin, int type
resolution: direction [in], adc resolution. default is -1, means use default resolution
option:
resolution = adc.RES_BIT_8, means 8-bit resolution
resolution = adc.RES_BIT_10, means 10-bit resolution
resolution = adc.RES_BIT_12, means 12-bit resolution
resolution = adc.RES_BIT_16, means 16-bit resolution
the default resolution is determined by actual hardware.
vref: direction [in], adc refer voltage. default is -1, means use default refer voltage.
the default vref is determined by actual hardware. range: [0.0, 10.0]
staticFalse
+

C++ defination code:

+ +
ADC(int pin, int resolution, float vref = -1)
+
+

read

+ +
def read(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefread adc value
returnadc data, int type
if resolution is 8-bit, return value range is [0, 255]
if resolution is 10-bit, return value range is [0, 1023]
if resolution is 12-bit, return value range is [0, 4095]
if resolution is 16-bit, return value range is [0, 65535]
staticFalse
+

C++ defination code:

+ +
int read()
+
+

read_vol

+ +
def read_vol(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefread adc voltage
returnadc voltage, float type。the range is [0.0, vref]
staticFalse
+

C++ defination code:

+ +
float read_vol()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/gpio.html b/maixpy/api/maix/peripheral/gpio.html new file mode 100644 index 0000000..bcdfdc4 --- /dev/null +++ b/maixpy/api/maix/peripheral/gpio.html @@ -0,0 +1,650 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.gpio - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Mode

+ + + + + + + + + + + + + + + + + +
itemdoc
briefGPIO mode
valuesIN: input mode
OUT: output mode
OUT_OD: output open drain mode
MODE_MAX:
+

C++ defination code:

+ +
enum Mode
+    {
+        IN     = 0x01,     // input mode
+        OUT    = 0x02,     // output mode
+        OUT_OD = 0x03,     // output open drain mode
+        MODE_MAX
+    }
+
+

Pull

+ + + + + + + + + + + + + + + + + +
itemdoc
briefGPIO pull mode
valuesPULL_NONE: pull none mode
PULL_UP: pull up mode
PULL_DOWN: pull down mode
PULL_MAX:
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + +
itemdoc
briefPeripheral gpio class
+

C++ defination code:

+ +
class GPIO
+
+

__init__

+ +
def __init__(self, pin: str, mode: Mode = ..., pull: Pull = ...) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGPIO constructor
parampin: 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.
mode: direction [in], gpio mode. gpio.Mode type, default is gpio.Mode.IN (input) mode.
pull: direction [in], gpio pull. gpio.Pull type, default is gpio.Pull.PULL_NONE (pull none) mode.
For input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.
For output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0.
throwerr::Exception if open gpio device failed.
staticFalse
+

C++ defination code:

+ +
GPIO(std::string pin, gpio::Mode mode = gpio::Mode::IN, gpio::Pull pull = gpio::Pull::PULL_NONE)
+
+

value

+ +
def value(self, value: int = -1) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefset and get gpio value
paramvalue: direction [in], gpio value. int type.
0, means write gpio to low level
1, means write gpio to high level
-1, means read gpio value, not set
returnint type, return gpio value, can be 0 or 1
staticFalse
+

C++ defination code:

+ +
int value(int value = -1)
+
+

high

+ +
def high(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefset gpio high (value to 1)
staticFalse
+

C++ defination code:

+ +
void high()
+
+

low

+ +
def low(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefset gpio low (value to 0)
staticFalse
+

C++ defination code:

+ +
void low()
+
+

toggle

+ +
def toggle(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefgpio toggle
staticFalse
+

C++ defination code:

+ +
void toggle()
+
+

get_mode

+ +
def get_mode(self) -> Mode
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefgpio get mode
staticFalse
+

C++ defination code:

+ +
gpio::Mode get_mode()
+
+

get_pull

+ +
def get_pull(self) -> Pull
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget gpio pull
returngpio::Pull type
staticFalse
+

C++ defination code:

+ +
gpio::Pull get_pull()
+
+

reset

+ +
def reset(self, mode: Mode, pull: Pull) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefreset gpio
parammode: direction [in], gpio mode. gpio.Mode type
pull: direction [in], gpio pull. gpio.Pull type
For input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.
For output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0.
returnerr::Err type
staticFalse
+

C++ defination code:

+ +
err::Err reset(gpio::Mode mode, gpio::Pull pull)
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/i2c.html b/maixpy/api/maix/peripheral/i2c.html new file mode 100644 index 0000000..450ea8a --- /dev/null +++ b/maixpy/api/maix/peripheral/i2c.html @@ -0,0 +1,611 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.i2c - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

AddrSize

+ + + + + + + + + + + + + + + + + +
itemdoc
briefAddress size enum
valuesSEVEN_BIT: 7-bit address mode
TEN_BIT: 10-bit address mode
+

C++ defination code:

+ +
enum AddrSize
+    {
+        SEVEN_BIT = 7,   // 7-bit address mode
+        TEN_BIT   = 10   // 10-bit address mode
+    }
+
+

Mode

+ + + + + + + + + + + + + + + + + +
itemdoc
briefI2C mode enum
valuesMASTER: master mode
SLAVE: slave mode
+

C++ defination code:

+ +
enum Mode
+    {
+        MASTER = 0x00, // master mode
+        SLAVE = 0x01   // slave mode
+    }
+
+

Variable

+

Function

+

list_devices

+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet supported i2c bus devices.
returni2c bus devices list, int type, is the i2c bus id.
+

C++ defination code:

+ +
std::vector<int> list_devices()
+
+

Class

+

I2C

+ + + + + + + + + + + + + +
itemdoc
briefPeripheral i2c class
+

C++ defination code:

+ +
class I2C
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefI2C Device constructor\nthis constructor will be export to MaixPy as _maix.example.Example.init
paramid: direction [in], i2c bus id, int type, e.g. 0, 1, 2
freq: direction [in], i2c clock, int type, default is 100000(100kbit/s), will auto set fast mode if freq > 100000.
mode: direction [in], mode of i2c, i2c.Mode.SLAVE or i2c.Mode.MASTER.
addr_size: direction [in], address length of i2c, i2c.AddrSize.SEVEN_BIT or i2c.AddrSize.TEN_BIT.
throwerr::Exception if open i2c device failed.
staticFalse
+

C++ defination code:

+ +
I2C(int id, i2c::Mode mode, int freq = 100000, i2c::AddrSize addr_size = i2c::AddrSize::SEVEN_BIT)
+
+

scan

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefscan all i2c salve address on the bus
paramaddr: If -1, only scan this addr, or scan from 0x08~0x77, default -1.
returnthe list of i2c slave address, int list type.
staticFalse
+

C++ defination code:

+ +
std::vector<int> scan(int addr = -1)
+
+

writeto

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefwrite data to i2c slave
paramaddr: direction [in], i2c slave address, int type
data: direction [in], data to write, bytes type.
Note: The range of value should be in [0,255].
returnif success, return the length of written data, error occurred will return -err::Err.
staticFalse
+

C++ defination code:

+ +
int writeto(int addr, const Bytes &data)
+
+

readfrom

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefread data from i2c slave
paramaddr: direction [in], i2c slave address, int type
len: direction [in], data length to read, int type
returnthe list of data read from i2c slave, bytes type, you should delete it after use in C++.
If read failed, return nullptr in C++, None in MaixPy.
staticFalse
+

C++ defination code:

+ +
Bytes* readfrom(int addr, int len)
+
+

writeto_mem

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefwrite data to i2c slave's memory address
paramaddr: direction [in], i2c slave address, int type
mem_addr: direction [in], memory address want to write, int type.
data: direction [in], data to write, bytes type.
mem_addr_size: direction [in], memory address size, default is 8.
mem_addr_le: direction [in], memory address little endian, default is false, that is send high byte first.
returndata length written if success, error occurred will return -err::Err.
staticFalse
+

C++ defination code:

+ +
int writeto_mem(int addr, int mem_addr, const Bytes &data, int mem_addr_size = 8, bool mem_addr_le = false)
+
+

readfrom_mem

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefread data from i2c slave
paramaddr: direction [in], i2c slave address, int type
mem_addr: direction [in], memory address want to read, int type.
len: direction [in], data length to read, int type
mem_addr_size: direction [in], memory address size, default is 8.
mem_addr_le: direction [in], memory address little endian, default is false, that is send high byte first.
returnthe list of data read from i2c slave, bytes type, you should delete it after use in C++.
If read failed, return nullptr in C++, None in MaixPy.
staticFalse
+

C++ defination code:

+ +
Bytes* readfrom_mem(int addr, int mem_addr, int len, int mem_addr_size = 8, bool mem_addr_le = false)
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/key.html b/maixpy/api/maix/peripheral/key.html new file mode 100644 index 0000000..388dd15 --- /dev/null +++ b/maixpy/api/maix/peripheral/key.html @@ -0,0 +1,587 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.key - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Keys

+ + + + + + + + + + + + + + + + + +
itemdoc
briefKeys enum, id the same as linux input.h(input-event-codes.h)
valuesKEY_NONE:
KEY_ESC:
KEY_OK:
KEY_OPTION:
KEY_NEXT:
KEY_PREV:
+

C++ defination code:

+ +
enum Keys{
+        KEY_NONE   = 0x000,
+        KEY_ESC    = 0x001,
+        KEY_OK     = 0x160,
+        KEY_OPTION = 0x165,
+        KEY_NEXT   = 0x197,
+        KEY_PREV   = 0x19c
+    }
+
+

State

+ + + + + + + + + + + + + + + + + +
itemdoc
briefKey state enum
valuesKEY_RELEASED:
KEY_PRESSED:
+

C++ defination code:

+ +
enum State{
+        KEY_RELEASED  = 0,
+        KEY_PRESSED   = 1,
+    }
+
+

Variable

+

Function

+

add_default_listener

+ + + + + + + + + + + + + +
itemdoc
briefAdd 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:

+ +
void add_default_listener()
+
+

rm_default_listener

+ + + + + + + + + + + + + +
itemdoc
briefRemove default listener, if you want to cancel the default ok button function(exit app), you can just call this function.
+

C++ defination code:

+ +
void rm_default_listener()
+
+

Class

+

Key

+ + + + + + + + + + + + + +
itemdoc
briefKey input class
+

C++ defination code:

+ +
class Key
+
+

__init__

+ +
def __init__(self, callback: typing.Callable[[int, int], None] = None, open: bool = True) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefKey Device constructor
paramcallback: When key triggered and callback is not empty(empty In MaixPy is None, in C++ is nullptr),
callback will be called with args key(key.Keys) and value(key.State).
If set to null, you can get key value by read() function.
This callback called in a standalone thread, so you can block a while in callback, and you should be carefully when operate shared data.
open: auto open device in constructor, if false, you need call open() to open device
staticFalse
+

C++ defination code:

+ +
Key(std::function<void(int, int)> callback = nullptr, bool open = true)
+
+

open

+ +
def open(self) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefOpen(Initialize) key device, if already opened, will close first and then open.
returnerr::Err type, err.Err.ERR_NONE means success
staticFalse
+

C++ defination code:

+ +
err::Err open()
+
+

close

+ +
def close(self) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefClose key device
returnerr::Err type, err.Err.ERR_NONE means success
staticFalse
+

C++ defination code:

+ +
err::Err close()
+
+

is_opened

+ +
def is_opened(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck key device is opened
returnbool type, true means opened, false means closed
staticFalse
+

C++ defination code:

+ +
bool is_opened()
+
+

read

+ +
def read(self) -> tuple[int, int]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRead key input, and return key and value, if callback is set, DO NOT call this function manually.
returnlist type, first is key(maix.key.Keys), second is value(maix.key.State), if no key input, return [0, 0]
throwIf read failed, will throw maix.err.Exception.
staticFalse
+

C++ defination code:

+ +
std::pair<int, int> read()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/pinmap.html b/maixpy/api/maix/peripheral/pinmap.html new file mode 100644 index 0000000..4e11991 --- /dev/null +++ b/maixpy/api/maix/peripheral/pinmap.html @@ -0,0 +1,395 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.pinmap - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

get_pins

+ +
def get_pins() -> list[str]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet all pins of devices
returnpin name list, string type.
+

C++ defination code:

+ +
std::vector<std::string> get_pins()
+
+

get_pin_functions

+ +
def get_pin_functions(pin: str) -> list[str]
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet all function of a pin
parampin: pin name, string type.
returnfunction list, function name is string type.
throwIf pin name error will throwout err.Err.ERR_ARGS error.
+

C++ defination code:

+ +
std::vector<std::string> get_pin_functions(const std::string &pin)
+
+

set_pin_function

+ +
def set_pin_function(pin: str, func: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefSet function of a pin
parampin: pin name, string type.
func: which function should this pin use.
returnif set ok, will return err.Err.ERR_NONE, else error occurs.
+

C++ defination code:

+ +
err::Err set_pin_function(const std::string &pin, const std::string &func)
+
+

Class

+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/pwm.html b/maixpy/api/maix/peripheral/pwm.html new file mode 100644 index 0000000..364ab93 --- /dev/null +++ b/maixpy/api/maix/peripheral/pwm.html @@ -0,0 +1,557 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.pwm - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

Class

+

PWM

+ + + + + + + + + + + + + +
itemdoc
briefPeripheral pwm class
+

C++ defination code:

+ +
class PWM
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPWM constructor
parampin: direction [in], pwm id, int type, like 0, 1, 2 etc.
freq: direction [in], pwm frequency, unit: Hz. int type. default is 1000
duty: direction [in], pwm duty. double type. range is [0, 100], default is 0.
enable: direction [in], enable pwm output right now. bool type. default is true, if false, you need to call enable() to enable pwm output.
duty_val: direction [in], pwm duty value, int type. default -1 means not set and auto calculate by freq and duty.
This arg directly set pwm duty value, if set, will ignore duty arg.
duty_val = duty / 100 * T_ns, T_ns = 1 / freq * 1000000000.
throwIf args error or init pwm failed, will throw err::Exception
staticFalse
+

C++ defination code:

+ +
PWM(int id, int freq = 1000, double duty = 0, bool enable = true, int duty_val = -1)
+
+

duty

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget or set pwm duty
paramduty: direction [in], pwm duty, double type, value in [0, 100], default -1 means only read.
returncurrent duty, float type, if set and set failed will return -err::Err
staticFalse
+

C++ defination code:

+ +
double duty(double duty = -1)
+
+

duty_val

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefset pwm duty value
paramduty_val: direction [in], pwm duty value. int type. default is -1
duty_val > 0 means set duty_val
duty_val == -1 or not set, return current duty_val
returnint type
when get duty_val, return current duty_val, else return -err::Err code.
staticFalse
+

C++ defination code:

+ +
int duty_val(int duty_val = -1)
+
+

freq

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget or set pwm frequency
paramfreq: direction [in], pwm frequency. int type. default is -1
freq >= 0, set freq
freq == -1 or not set, return current freq
returnint type, current freq, if set and set failed will return -err::Err
staticFalse
+

C++ defination code:

+ +
int freq(int freq = -1)
+
+

enable

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefset pwm enable
returnerr::Err type, err.Err.ERR_NONE means success
staticFalse
+

C++ defination code:

+ +
err::Err enable()
+
+

disable

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefset pwm disable
returnerr::Err type, err.Err.ERR_NONE means success
staticFalse
+

C++ defination code:

+ +
err::Err disable()
+
+

is_enabled

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget pwm enable status
returnbool type, true means enable, false means disable
staticFalse
+

C++ defination code:

+ +
bool is_enabled()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/spi.html b/maixpy/api/maix/peripheral/spi.html new file mode 100644 index 0000000..774b890 --- /dev/null +++ b/maixpy/api/maix/peripheral/spi.html @@ -0,0 +1,519 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.spi - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Mode

+ + + + + + + + + + + + + + + + + +
itemdoc
briefSPI mode enum
valuesMASTER: spi master mode
SLAVE: spi slave mode
+

C++ defination code:

+ +
enum Mode
+    {
+        MASTER = 0x0, // spi master mode
+        SLAVE = 0x1,  // spi slave mode
+    }
+
+

Variable

+

Function

+

Class

+

SPI

+ + + + + + + + + + + + + +
itemdoc
briefPeripheral spi class
+

C++ defination code:

+ +
class SPI
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSPI constructor
paramid: direction [in], spi bus id, int type
mode: direction [in], mode of spi, spi.Mode type, spi.Mode.MASTER or spi.Mode.SLAVE.
freq: direction [in], freq of spi, int type
polarity: direction [in], polarity of spi, 0 means idle level of clock is low, 1 means high, int type, default is 0.
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.
bits: direction [in], bits of spi, int type, default is 8.
cs_enable: direction [in], cs pin active level, default is 0(low)
soft_cs: direction [in], not use hardware cs, bool type, if set true, you can operate cs pin use gpio manually.
cs: direction [in], soft cs pin number, std::string type, default is "GPIOA19", if SPI support multi hardware cs, you can set it to other value.
staticFalse
+

C++ defination code:

+ +
SPI(int id, spi::Mode mode, int freq, int polarity = 0, int phase = 0,
+            int bits = 8, unsigned char cs_enable=0, bool soft_cs = false, std::string cs = "GPIOA19")
+
+

read

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefread data from spi
paramlength: direction [in], read length, int type
returnbytes data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++.
staticFalse
+

C++ defination code:

+ +
Bytes *read(int length)
+
+

write

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefwrite data to spi
paramdata: direction [in], data to write, Bytes type in C++, bytes type in MaixPy
returnwrite length, int type, if write failed, return -err::Err code.
staticFalse
+

C++ defination code:

+ +
int write(Bytes *data)
+
+

write_read

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefwrite data to spi and read data from spi at the same time.
paramdata: direction [in], data to write, Bytes type in C++, bytes type in MaixPy
read_len: direction [in], read length, int type, should > 0.
returnread data, Bytes type in C++, bytes type in MaixPy. You need to delete it manually after use in C++.
staticFalse
+

C++ defination code:

+ +
Bytes *write_read(Bytes *data, int read_len)
+
+

is_busy

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget busy status of spi
returnbusy status, bool type
staticFalse
+

C++ defination code:

+ +
bool is_busy()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/timer.html b/maixpy/api/maix/peripheral/timer.html new file mode 100644 index 0000000..c2b62e9 --- /dev/null +++ b/maixpy/api/maix/peripheral/timer.html @@ -0,0 +1,351 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.timer - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

Class

+

TIMER

+ + + + + + + + + + + + + +
itemdoc
briefPeripheral timer class
+

C++ defination code:

+ +
class TIMER
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTIMER constructor
staticFalse
+

C++ defination code:

+ +
TIMER()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/uart.html b/maixpy/api/maix/peripheral/uart.html new file mode 100644 index 0000000..237eb24 --- /dev/null +++ b/maixpy/api/maix/peripheral/uart.html @@ -0,0 +1,939 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.uart - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

PARITY

+ + + + + + + + + + + + + + + + + +
itemdoc
briefuart parity enum
valuesPARITY_NONE: no parity
PARITY_ODD: odd parity
PARITY_EVEN: even parity
PARITY_MAX:
+

C++ defination code:

+ +
enum PARITY
+    {
+        PARITY_NONE = 0x00,  // no parity
+        PARITY_ODD  = 0x01,  // odd parity
+        PARITY_EVEN = 0x02,  // even parity
+        PARITY_MAX
+    }
+
+

STOP

+ + + + + + + + + + + + + + + + + +
itemdoc
briefuart stop bits
valuesSTOP_1: 1 stop bit
STOP_2: 2 stop bits
STOP_1_5: 1.5 stop bits
STOP_MAX:
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + +
itemdoc
briefuart stop bits
valuesBITS_5: 5 data bits
BITS_6: 6 data bits
BITS_7: 7 data bits
BITS_8: 8 data bits
BITS_MAX:
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + +
itemdoc
briefuart flow control
valuesFLOW_CTRL_NONE: no flow control
FLOW_CTRL_HW: hardware flow control
FLOW_CTRL_MAX:
+

C++ defination code:

+ +
enum FLOW_CTRL
+    {
+        FLOW_CTRL_NONE = 0,  // no flow control
+        FLOW_CTRL_HW   = 1,  // hardware flow control
+        FLOW_CTRL_MAX
+    }
+
+

Variable

+

Function

+

list_devices

+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet supported uart ports.
returnuart ports list, string type.
+

C++ defination code:

+ +
std::vector<std::string> list_devices()
+
+

Class

+

UART

+ + + + + + + + + + + + + +
itemdoc
briefmaix uart peripheral driver
+

C++ defination code:

+ +
class UART : public comm::CommBase
+
+

__init__

+ +
def __init__(self, port: str = '', baudrate: int = 115200, databits: BITS = ..., parity: PARITY = ..., stopbits: STOP = ..., flow_ctrl: FLOW_CTRL = ...) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefUART constructor. You need to call open() to open the device.
paramport: uart port. string type, can get it by uart.list_devices().
If empty, will not open device in constructor, default empty.
if not empty, will auto open device in constructor, open fail will throw err.Exception.
baudrate: baudrate of uart. int type, default 115200.
databits: databits, values @see uart.DATA_BITS
parity: parity, values @see uart.PARITY
stopbits: stopbits, values @see uart.STOP_BITS
flow_control: flow_control, values @see uart.FLOW_CTRL
staticFalse
+

C++ defination code:

+ +
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

+ +
def set_port(self, port: str) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet port
paramport: uart port. string type, can get it by uart.list_devices().
returnset port error code, err.Err type.
staticFalse
+

C++ defination code:

+ +
err::Err set_port(const std::string &port)
+
+

get_port

+ +
def get_port(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet port
returnuart port, string type.
staticFalse
+

C++ defination code:

+ +
std::string get_port()
+
+

set_baudrate

+ +
def set_baudrate(self, baudrate: int) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet baud rate
parambaudrate: baudrate of uart. int type, default 115200.
returnset baud rate error code, err.Err type.
staticFalse
+

C++ defination code:

+ +
err::Err set_baudrate(int baudrate)
+
+

get_baudrate

+ +
def get_baudrate(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet baud rate
returnbaud rate, int type.
staticFalse
+

C++ defination code:

+ +
int get_baudrate()
+
+

open

+ +
def open(self) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefOpen uart device, before open, port must be set in constructor or by set_port().\nIf already opened, do nothing and return err.ERR_NONE.
returnopen device error code, err.Err type.
staticFalse
+

C++ defination code:

+ +
err::Err open()
+
+

is_open

+ +
def is_open(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck if device is opened.
returntrue if opened, false if not opened.
staticFalse
+

C++ defination code:

+ +
bool is_open()
+
+

close

+ +
def close(self) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefClose uart device, if already closed, do nothing and return err.ERR_NONE.
returnclose device error code, err.Err type.
staticFalse
+

C++ defination code:

+ +
err::Err close()
+
+

write_str

+ +
def write_str(self, str: str) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSend string data
paramstr: string data
returnsent data length, < 0 means error, value is -err.Err.
staticFalse
+

C++ defination code:

+ +
int write_str(const std::string &str)
+
+

write

+ +
def write(self, data: maix.Bytes(bytes)) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSend data to uart
paramdata: direction [in], data to send, bytes type. If you want to send str type, use str.encode() to convert.
returnsent length, int type, if < 0 means error, value is -err.Err.
staticFalse
+

C++ defination code:

+ +
int write(Bytes &data)
+
+

available

+ +
def available(self, timeout: int = 0) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck if data available or wait data available.
paramtimeout: unit ms, timeout to wait data, default 0.
0 means check data available and return immediately,
> 0 means wait until data available or timeout.
- 1 means wait until data available.
returnavailable 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.
throwerr.Exception if fatal error.
staticFalse
+

C++ defination code:

+ +
int available(int timeout = 0)
+
+

read

+ +
def read(*args, **kwargs)
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRecv data from uart
paramlen: max data length want to receive, default -1.
-1 means read data in uart receive buffer.
>0 means read len data want to receive.
other values is invalid.
timeout: unit ms, timeout to receive data, default 0.
0 means read data in uart receive buffer and return immediately,
-1 means block until read len data,
>0 means block until read len data or timeout.
returnreceived data, bytes type.
Attention, you need to delete the returned object yourself in C++.
staticFalse
+

C++ defination code:

+ +
Bytes *read(int len = -1, int timeout = 0)
+
+

readline

+ +
def readline(*args, **kwargs)
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRead line from uart, that is read until '\n' or '\r\n'.
paramtimeout: unit ms, timeout to receive data, default -1 means block until read '\n' or '\r\n'.
> 0 means block until read '\n' or '\r\n' or timeout.
returnreceived data, bytes type. If timeout will return the current received data despite not read '\n' or '\r\n'.
e.g. If we want to read b'123\n', but when we only read b'12', timeout, then return b'12'.
staticFalse
+

C++ defination code:

+ +
Bytes *readline(int timeout = -1)
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/peripheral/wdt.html b/maixpy/api/maix/peripheral/wdt.html new file mode 100644 index 0000000..466aeb4 --- /dev/null +++ b/maixpy/api/maix/peripheral/wdt.html @@ -0,0 +1,440 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.peripheral.wdt - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

Class

+

WDT

+ + + + + + + + + + + + + +
itemdoc
briefPeripheral wdt class
+

C++ defination code:

+ +
class WDT
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefWDT constructor, after construct, the wdt will auto start.
paramid: direction [in], id of wdt, int type
feed_ms: direction [in], feed interval, int type, unit is ms, you must feed wdt in this interval, or system will restart.
staticFalse
+

C++ defination code:

+ +
WDT(int id, int feed_ms)
+
+

feed

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
brieffeed wdt
returnerror code, if feed success, return err::ERR_NONE
staticFalse
+

C++ defination code:

+ +
int feed()
+
+

stop

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefstop wdt
staticFalse
+

C++ defination code:

+ +
int stop()
+
+

restart

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefrestart wdt, stop and start watchdog timer.
staticFalse
+

C++ defination code:

+ +
int restart()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/protocol.html b/maixpy/api/maix/protocol.html new file mode 100644 index 0000000..cad9031 --- /dev/null +++ b/maixpy/api/maix/protocol.html @@ -0,0 +1,1077 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.protocol - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.protocol

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.protocol module

+
+

You can use maix.protocol to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

CMD

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefprotocol cmd, more doc see MaixCDK document's convention doc
notemax app custom CMD value should < CMD_APP_MAX
valuesCMD_APP_MAX: 200, max app custom CMD value should < CMD_APP_MAX
CMD_SET_REPORT: set auto upload data mode
CMD_APP_LIST:
CMD_START_APP:
CMD_EXIT_APP:
CMD_CUR_APP_INFO:
CMD_APP_INFO:
CMD_KEY:
CMD_TOUCH:
+

C++ defination code:

+ +
enum CMD
+        {
+            CMD_APP_MAX = 0xC8,     //  200, max app custom CMD value should < CMD_APP_MAX
+
+            CMD_SET_REPORT   = 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

+ + + + + + + + + + + + + + + + + +
itemdoc
briefprotocol flags, more doc see MaixCDK document's convention doc
valuesFLAG_REQ:
FLAG_RESP:
FLAG_IS_RESP_MASK:
FLAG_RESP_OK:
FLAG_RESP_ERR:
FLAG_RESP_OK_MASK:
FLAG_REPORT:
FLAG_REPORT_MASK:
FLAG_VERSION_MASK:
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefprotocol version
value1
readonlyTrue
+

C++ defination code:

+ +
const uint8_t VERSION = 1
+
+ + + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefprotocol header
value0xBBACCAAA
readonlyTrue
+

C++ defination code:

+ +
const uint32_t HEADER = 0xBBACCAAA
+
+

Function

+

crc16_IBM

+ +
def crc16_IBM(data: maix.Bytes(bytes)) -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCRC16-IBM
paramdata: data, bytes type.
returnCRC16-IBM value, uint16_t type.
+

C++ defination code:

+ +
uint16_t crc16_IBM(const Bytes *data)
+
+

Class

+

MSG

+ + + + + + + + + + + + + +
itemdoc
briefprotocol msg
+

C++ defination code:

+ +
class MSG
+
+

version

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefprotocol version
staticFalse
readonlyFalse
+

C++ defination code:

+ +
uint8_t version
+
+

resp_ok

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefIs success response or not, (only for response msg)
staticFalse
readonlyFalse
+

C++ defination code:

+ +
uint8_t resp_ok
+
+

cmd

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefCMD value
staticFalse
readonlyFalse
+

C++ defination code:

+ +
uint8_t cmd
+
+

is_resp

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefmessage is response or not, contrast with is_req
staticFalse
readonlyFalse
+

C++ defination code:

+ +
bool is_resp
+
+

body_len

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefMessage body length, read only, use set_body() to update
attentionDO NOT manually change this value
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int body_len
+
+

encode_resp_ok

+ +
def encode_resp_ok(*args, **kwargs)
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode response ok(success) message
parambody: response body, can be null
returnencoded data, if nullptr, means error, and the error code is -err.Err
staticFalse
+

C++ defination code:

+ +
Bytes *encode_resp_ok(Bytes *body = nullptr)
+
+

encode_report

+ +
def encode_report(*args, **kwargs)
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode proactively report message
parambody: report body, can be null
returnencoded data, if nullptr, means error, and the error code is -err.Err
staticFalse
+

C++ defination code:

+ +
Bytes *encode_report(Bytes *body = nullptr)
+
+

encode_resp_err

+ +
def encode_resp_err(*args, **kwargs)
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode response error message
paramcode: error code
msg: error message
returnencoded data, if nullptr, means error, and the error code is -err.Err
staticFalse
+

C++ defination code:

+ +
Bytes *encode_resp_err(err::Err code, const std::string &msg)
+
+

set_body

+ +
def set_body(self, body_new: maix.Bytes(bytes)) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefUpdate message body
parambody_new: new body data
staticFalse
+

C++ defination code:

+ +
void set_body(Bytes *body_new)
+
+

get_body

+ +
def get_body(*args, **kwargs)
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet message body
returnmessage body, bytes type
staticFalse
+

C++ defination code:

+ +
Bytes *get_body()
+
+

Protocol

+ + + + + + + + + + + + + +
itemdoc
briefCommunicate protocol
+

C++ defination code:

+ +
class Protocol
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Protocol object
parambuff_size: Data queue buffer size
staticFalse
+

C++ defination code:

+ +
Protocol(int buff_size = 1024)
+
+

buff_size

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefData queue buffer size
staticFalse
+

C++ defination code:

+ +
int buff_size()
+
+

push_data

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAdd data to data queue
paramnew_data: new data
returnerror code, maybe err.Err.ERR_BUFF_FULL
staticFalse
+

C++ defination code:

+ +
err::Err push_data(const Bytes *new_data)
+
+

decode

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDecode data in data queue and return a message
paramnew_data: new data add to data queue, if null, only decode.
returndecoded message, if nullptr, means no message decoded.
staticFalse
+

C++ defination code:

+ +
protocol::MSG *decode(const Bytes *new_data = nullptr)
+
+

encode_resp_ok

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode response ok(success) message to buffer
paramcmd: CMD value
body: response body, can be null
returnencoded data, if nullptr, means error, and the error code is -err.Err
staticFalse
+

C++ defination code:

+ +
Bytes *encode_resp_ok(uint8_t cmd, Bytes *body = nullptr)
+
+

encode_report

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode proactively report message to buffer
paramcmd: CMD value
body: report body, can be null
returnencoded data, if nullptr, means error, and the error code is -err.Err
staticFalse
+

C++ defination code:

+ +
Bytes *encode_report(uint8_t cmd, Bytes *body = nullptr)
+
+

encode_resp_err

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode response error message to buffer
paramcmd: CMD value
code: error code
msg: error message
returnencoded data, if nullptr, means error, and the error code is -err.Err
staticFalse
+

C++ defination code:

+ +
Bytes *encode_resp_err(uint8_t cmd, err::Err code, const std::string &msg)
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/rtmp.html b/maixpy/api/maix/rtmp.html new file mode 100644 index 0000000..32bce66 --- /dev/null +++ b/maixpy/api/maix/rtmp.html @@ -0,0 +1,642 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.rtmp - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.rtmp

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.rtmp module

+
+

You can use maix.rtmp to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

TagType

+ + + + + + + + + + + + + + + + + +
itemdoc
briefVideo type
valuesTAG_NONE:
TAG_VIDEO:
TAG_AUDIO:
TAG_SCRIPT:
+

C++ defination code:

+ +
enum TagType
+    {
+        TAG_NONE,
+        TAG_VIDEO,
+        TAG_AUDIO,
+        TAG_SCRIPT,
+    }
+
+

Variable

+

Function

+

Class

+

Rtmp

+ + + + + + + + + + + + + +
itemdoc
briefRtmp class
+

C++ defination code:

+ +
class Rtmp
+
+

__init__

+ +
def __init__(self, host: str = 'localhost', port: int = 1935, app: str = '', stream: str = '', bitrate: int = 1000000) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Video object
noteRtmp url : rtmp://host:prot/app/stream
example:
r = Rtmp("localhost", 1935, "live", "stream")
means rtmp url is rtmp://localhost:1935/live/stream
paramhost: rtmp ip
port: rtmp port, default is 1935.
app: rtmp app name
stream: rtmp stream name
bitrate: rtmp bitrate, default is 1000 * 1000
staticFalse
+

C++ defination code:

+ +
Rtmp(std::string host = "localhost", int port = 1935, std::string app = std::string(), std::string stream = std::string(), int bitrate = 1000 * 1000)
+
+

push_video

+ +
def push_video(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet bitrate
returnbitrate
staticFalse
+

C++ defination code:

+ +
int bitrate()
+
+

bind_camera

+ +
def bind_camera(self, cam: maix.camera.Camera) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefBind camera
noteIf the cam object is bound, the cam object cannot be used elsewhere.
paramcam: camera object
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err bind_camera(camera::Camera *cam)
+
+

get_camera

+ +
def get_camera(self) -> maix.camera.Camera
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefIf you bind a camera, return the camera object.
returnCamera object
staticFalse
+

C++ defination code:

+ +
camera::Camera *get_camera()
+
+

start

+ +
def start(self, path: str = '') -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefStart push stream
noteonly support flv file now
parampath: File path, if you passed file path, cyclic push the file, else if you bound camera, push the camera image.
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err start(std::string path = std::string())
+
+

stop

+ +
def stop(self) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefStop push stream
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err stop()
+
+

get_path

+ +
def get_path(self) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet the file path of the push stream
returnfile path
staticFalse
+

C++ defination code:

+ +
std::string get_path()
+
+

get_path (overload 1)

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck whether push streaming has started
returnIf rtmp thread is running, returns true
staticFalse
+

C++ defination code:

+ +
bool is_started()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/rtsp.html b/maixpy/api/maix/rtsp.html new file mode 100644 index 0000000..8f5d455 --- /dev/null +++ b/maixpy/api/maix/rtsp.html @@ -0,0 +1,825 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.rtsp - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.rtsp

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.rtsp module

+
+

You can use maix.rtsp to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

RtspStreamType

+ + + + + + + + + + + + + + + + + +
itemdoc
briefThe stream type of rtsp
valuesRTSP_STREAM_NONE: format invalid
RTSP_STREAM_H265:
+

C++ defination code:

+ +
enum RtspStreamType
+    {
+        RTSP_STREAM_NONE = 0,  // format invalid
+        RTSP_STREAM_H265,
+    }
+
+

Variable

+

Function

+

Class

+

Region

+ + + + + + + + + + + + + +
itemdoc
briefRegion class
+

C++ defination code:

+ +
class Region
+
+

__init__

+ +
def __init__(self, x: int, y: int, width: int, height: int, format: maix.image.Format, camera: maix.camera.Camera) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Region object
paramx: region coordinate x
y: region coordinate y
width: region width
height: region height
format: region format
camera: bind region to camera
staticFalse
+

C++ defination code:

+ +
Region(int x, int y, int width, int height, image::Format format, camera::Camera *camera)
+
+

get_canvas

+ +
def get_canvas(self) -> maix.image.Image
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefReturn an image object from region
returnimage object
staticFalse
+

C++ defination code:

+ +
image::Image *get_canvas()
+
+

update_canvas

+ +
def update_canvas(self) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefUpdate canvas
returnerror code
staticFalse
+

C++ defination code:

+ +
err::Err update_canvas()
+
+

Rtsp

+ + + + + + + + + + + + + +
itemdoc
briefRtsp class
+

C++ defination code:

+ +
class Rtsp
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Video object
paramip: rtsp ip
port: rtsp port
fps: rtsp fps
stream_type: rtsp stream type
staticFalse
+

C++ defination code:

+ +
Rtsp(std::string ip = std::string(), int port = 8554, int fps = 30, rtsp::RtspStreamType stream_type = rtsp::RtspStreamType::RTSP_STREAM_H265)
+
+

start

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefstart rtsp
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err start()
+
+

start (overload 1)

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefstop rtsp
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err stop()
+
+

bind_camera

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefBind camera
paramcamera: camera object
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err bind_camera(camera::Camera *camera)
+
+

write

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefWrite data to rtsp
paramframe: video frame data
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err write(video::Frame &frame)
+
+

get_url

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet url of rtsp
returnurl of rtsp
staticFalse
+

C++ defination code:

+ +
std::string get_url()
+
+

get_urls

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet url list of rtsp
returnurl list of rtsp
staticFalse
+

C++ defination code:

+ +
std::vector<std::string> get_urls()
+
+

to_camera

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet camera object from rtsp
returncamera object
staticFalse
+

C++ defination code:

+ +
camera::Camera *to_camera()
+
+

rtsp_is_start

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefreturn rtsp start status
returntrue means rtsp is start, false means rtsp is stop.
staticFalse
+

C++ defination code:

+ +
bool rtsp_is_start()
+
+

add_region

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefreturn a region object, you can draw image on the region.
paramx: region coordinate x
y: region coordinate y
width: region width
height: region height
format: region format, support Format::FMT_BGRA8888 only
returnthe reigon object
staticFalse
+

C++ defination code:

+ +
rtsp::Region *add_region(int x, int y, int width, int height, image::Format format = image::Format::FMT_BGRA8888)
+
+

update_region

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefupdate and show region
returnerror code
staticFalse
+

C++ defination code:

+ +
err::Err update_region(rtsp::Region &region)
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/sys.html b/maixpy/api/maix/sys.html new file mode 100644 index 0000000..84d2871 --- /dev/null +++ b/maixpy/api/maix/sys.html @@ -0,0 +1,770 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.sys - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.sys

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.sys module

+
+

You can use maix.sys to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

os_version

+ +
def os_version() -> str
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet system version
returnversion string, e.g. "2024.4.1-13af4b"
+

C++ defination code:

+ +
std::string os_version()
+
+

device_name

+ +
def device_name() -> str
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet device name
returndevice name, e.g. "MaixCAM"
+

C++ defination code:

+ +
std::string device_name()
+
+

host_name

+ +
def host_name() -> str
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet host name
returnhost name, e.g. "maixcam-2f9f"
+

C++ defination code:

+ +
std::string host_name()
+
+

host_domain

+ +
def host_domain() -> str
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet host domain
returnhost domain, e.g. "maixcam-2f9f.local"
+

C++ defination code:

+ +
std::string host_domain()
+
+

ip_address

+ +
def ip_address() -> dict[str, str]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet ip address
returnip address, dict type, e.g. {"eth0": "192.168.0.195", "wlan0": "192.168.0.123", "usb0": "10.47.159.1"}
+

C++ defination code:

+ +
std::map<std::string, std::string> ip_address()
+
+

mac_address

+ +
def mac_address() -> dict[str, str]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet mac address
returnmac 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:

+ +
std::map<std::string, std::string> mac_address()
+
+

device_key

+ +
def device_key() -> str
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet device key, can be unique id of device
returndevice key, 32 bytes hex string, e.g. "1234567890abcdef1234567890abcdef"
+

C++ defination code:

+ +
std::string device_key()
+
+

memory_info

+ +
def memory_info() -> dict[str, int]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet memory info
returnmemory info, dict type, e.g. {"total": 1024, "used": 512, "hw_total": 25610241024}
total: total memory size in Byte.
used: used memory size in Byte.
hw_total: total memory size in Byte of hardware, the total <= hw_total，
OS kernel may reserve some memory for some hardware like camera, npu, display etc.
+

C++ defination code:

+ +
std::map<std::string, int> memory_info()
+
+

bytes_to_human

+ +
def bytes_to_human(bytes: int, precision: int = 2, base: int = 1024, unit: str = 'B', sep: str = ' ') -> str
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefBytes to human readable string
parambytes:: bytes size，e.g. 1234B = 1234/1024 = 1.205 KB
precision:: decimal precision, default 2
base:: base number, default 1024
unit:: unit string, e.g. "B"
sep:: separator string, e.g. " "
returnhuman readable string, e.g. "1.21 KB"
+

C++ defination code:

+ +
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

+ +
def cpu_freq() -> dict[str, int]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet CPU frequency
returnCPU frequency, dict type, e.g. {"cpu0": 1000000000, "cpu1": 1000000000}
+

C++ defination code:

+ +
std::map<std::string, unsigned long> cpu_freq()
+
+

cpu_temp

+ +
def cpu_temp() -> dict[str, float]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet CPU temperature
returnCPU temperature, unit dgree, dict type, e.g. {"cpu": 50.0, "cpu0": 50, "cpu1": 50}
+

C++ defination code:

+ +
std::map<std::string, float> cpu_temp()
+
+

cpu_usage

+ +
def cpu_usage() -> dict[str, float]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet CPU usage
returnCPU usage, dict type, e.g. {"cpu": 50.0, "cpu0": 50, "cpu1": 50}
+

C++ defination code:

+ +
std::map<std::string, float> cpu_usage()
+
+

npu_freq

+ +
def npu_freq() -> dict[str, int]
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet NPU frequency
returnNPU frequency, dict type, e.g. {"npu0": 500000000}
+

C++ defination code:

+ +
std::map<std::string, unsigned long> npu_freq()
+
+

disk_usage

+ +
def disk_usage(path: str = '/') -> dict[str, int]
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet disk usage
parampath:: disk path, default "/"
returndisk usage, dict type, e.g. {"total": 1024, "used": 512}
+

C++ defination code:

+ +
std::map<std::string, unsigned long long> disk_usage(const std::string &path = "/")
+
+

disk_partitions

+ +
def disk_partitions(only_disk: bool = True) -> list[dict[str, str]]
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet disk partition and mount point info
paramonly_disk: only return real disk, tempfs sysfs etc. not return, default true.
returndisk partition and mount point info, list type, e.g. [{"device": "/dev/mmcblk0p1", "mountpoint": "/mnt/sdcard", "fstype": "vfat"}]
+

C++ defination code:

+ +
std::vector<std::map<std::string, std::string>> disk_partitions(bool only_disk = true)
+
+

register_default_signal_handle

+ + + + + + + + + + + + + +
itemdoc
briefregister default signal handle
+

C++ defination code:

+ +
void register_default_signal_handle()
+
+

poweroff

+ +
def poweroff() -> None
+
+ + + + + + + + + + + + + +
itemdoc
briefPower off device
+

C++ defination code:

+ +
void poweroff()
+
+

reboot

+ +
def reboot() -> None
+
+ + + + + + + + + + + + + +
itemdoc
briefPower off device and power on
+

C++ defination code:

+ +
void reboot()
+
+

Class

+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/tensor.html b/maixpy/api/maix/tensor.html new file mode 100644 index 0000000..9c6e2a2 --- /dev/null +++ b/maixpy/api/maix/tensor.html @@ -0,0 +1,1041 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.tensor - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.tensor

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.tensor module

+
+

You can use maix.tensor to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

DType

+ + + + + + + + + + + + + + + + + +
itemdoc
briefTensor data types
valuesUINT8:
INT8:
UINT16:
INT16:
UINT32:
INT32:
FLOAT16:
FLOAT32:
FLOAT64:
BOOL:
DTYPE_MAX:
+

C++ defination code:

+ +
enum DType
+        {
+            UINT8 = 0,
+            INT8,
+            UINT16,
+            INT16,
+            UINT32,
+            INT32,
+            FLOAT16,
+            FLOAT32,
+            FLOAT64,
+            BOOL,
+            // STRING,
+            // OBJECT,
+            DTYPE_MAX
+        }
+
+

Variable

+

dtype_size

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefTensor data type size in bytes
attentionIt's a copy of this variable in MaixPy,
so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.
So we add const for this var to avoid this mistake.
value{
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
}
readonlyTrue
+

C++ defination code:

+ +
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

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefTensor data type name
value{
"uint8",
"int8",
"uint16",
"int16",
"uint32",
"int32",
"float16",
"float32",
"float64",
"bool",
// "string",
// "object",
"invalid"
}
readonlyTrue
+

C++ defination code:

+ +
const std::vector<std::string> dtype_name = {
+            "uint8",
+            "int8",
+            "uint16",
+            "int16",
+            "uint32",
+            "int32",
+            "float16",
+            "float32",
+            "float64",
+            "bool",
+            // "string",
+            // "object",
+            "invalid"
+        }
+
+

Function

+

Class

+

Tensor

+ + + + + + + + + + + + + +
itemdoc
briefTensor class
+

C++ defination code:

+ +
class Tensor
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTensor constructor
paramshape: tensor shape, a int list
dtype: tensor element data type, see DType of this module
data: pointer to data content, can be nullptr, it will automatically alloc memory
and detroy it when this object is destroyed
staticFalse
+

C++ defination code:

+ +
Tensor(std::vector<int> shape, tensor::DType dtype, void *data = nullptr)
+
+

to_str

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTo string
staticFalse
+

C++ defination code:

+ +
std::string to_str()
+
+

__str__

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefTo string
staticFalse
+

C++ defination code:

+ +
std::string __str__()
+
+

shape

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget tensor shape
returntensor shape, a int list
staticFalse
+

C++ defination code:

+ +
std::vector<int> shape()
+
+

expand_dims

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefexpand tensor shape
paramaxis: axis to expand
staticFalse
+

C++ defination code:

+ +
void expand_dims(int axis)
+
+

reshape

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefreshape tensor shape, if size not match, it will throw an err::Exception
paramshape: new shape
staticFalse
+

C++ defination code:

+ +
void reshape(std::vector<int> shape)
+
+

flatten

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefFlatten tensor shape to 1D
staticFalse
+

C++ defination code:

+ +
void flatten()
+
+

dtype

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget tensor data type
returntensor data type, see DType of this module
staticFalse
+

C++ defination code:

+ +
tensor::DType  dtype()
+
+

to_float_list

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefget tensor data and return a list
returnlist type data
staticFalse
+

C++ defination code:

+ +
std::valarray<float>* to_float_list()
+
+

argmax

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefargmax of tensor
paramaxis: By default, the index is into the flattened array, otherwise along the specified axis., wrong axis will throw an err::Exception
returnargmax result, you need to delete it after use in C++.
staticFalse
+

C++ defination code:

+ +
tensor::Tensor *argmax(int axis = 0xffff)
+
+

argmax1

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefargmax1, flattened data max index
returnargmax result, int type
staticFalse
+

C++ defination code:

+ +
int argmax1()
+
+

Tensors

+ + + + + + + + + + + + + +
itemdoc
briefTensors
+

C++ defination code:

+ +
class Tensors
+
+

__init__

+ +
def __init__(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor of Tensors
staticFalse
+

C++ defination code:

+ +
Tensors()
+
+

add_tensor

+ +
def add_tensor(self, key: str, tensor: Tensor, copy: bool, auto_delete: bool) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefAdd tensor
staticFalse
+

C++ defination code:

+ +
void add_tensor(const std::string &key, tensor::Tensor *tensor, bool copy, bool auto_delete)
+
+

rm_tensor

+ +
def rm_tensor(self, key: str) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefRemove tensor
staticFalse
+

C++ defination code:

+ +
void rm_tensor(const std::string &key)
+
+

get_tensor

+ +
def get_tensor(self, key: str) -> Tensor
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet tensor by key
staticFalse
+

C++ defination code:

+ +
tensor::Tensor *get_tensor(const std::string &key)
+
+

__getitem__

+ +
def __getitem__(self, key: str) -> Tensor
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefOperator []
staticFalse
+

C++ defination code:

+ +
tensor::Tensor *operator[](const std::string &key)
+
+

__len__

+ +
def __len__(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSize
staticFalse
+

C++ defination code:

+ +
size_t size()
+
+

get_names

+ +
def get_names(self) -> list[str]
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet names
staticFalse
+

C++ defination code:

+ +
std::vector<std::string> get_names()
+
+

tensors

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefTensors data, dict type
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::map<std::string, tensor::Tensor*> tensors
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/thread.html b/maixpy/api/maix/thread.html new file mode 100644 index 0000000..f7eefd5 --- /dev/null +++ b/maixpy/api/maix/thread.html @@ -0,0 +1,440 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.thread - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.thread

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.thread module

+
+

You can use maix.thread to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

Class

+

Thread

+ + + + + + + + + + + + + +
itemdoc
briefthread class
+

C++ defination code:

+ +
class Thread
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefcreate thread
paramfunc: direction [in], thread function, one args parameter, void* type, no return value
args: direction [in], thread function parameter
staticFalse
+

C++ defination code:

+ +
Thread(std::function<void(void *)> func, void *args = nullptr)
+
+

join

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefwait thread exit
staticFalse
+

C++ defination code:

+ +
void join()
+
+

detach

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefdetach thread
staticFalse
+

C++ defination code:

+ +
void detach()
+
+

joinable

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck if thread is joinable
returntrue if thread is joinable
staticFalse
+

C++ defination code:

+ +
bool joinable()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/time.html b/maixpy/api/maix/time.html new file mode 100644 index 0000000..ee978f7 --- /dev/null +++ b/maixpy/api/maix/time.html @@ -0,0 +1,1207 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.time - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.time

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.time module

+
+

You can use maix.time to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

time

+ +
def time() -> float
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet current time in s
returncurrent time in s, double type
attentionIf board have no RTC battery, when bootup and connect to network,
system will automatically sync time by NTP, will cause time() have big change,
e.g. before NTP: 10(s), after: 1718590639.5149617(s).
If you want to calculate time interval, please use ticks_s().
+

C++ defination code:

+ +
double time()
+
+

time_ms

+ +
def time_ms() -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet current time in ms
returncurrent time in ms, uint64_t type
attentionIf board have no RTC battery, when bootup and connect to network,
system will automatically sync time by NTP, will cause time() have big change,
e.g. before NTP: 10000(ms), after: 1718590639000(ms)
If you want to calculate time interval, please use ticks_ms().
+

C++ defination code:

+ +
uint64_t time_ms()
+
+

time_s

+ +
def time_s() -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet current time in s
returncurrent time in s, uint64_t type
attentionIf board have no RTC battery, when bootup and connect to network,
system will automatically sync time by NTP, will cause time() have big change,
e.g. before NTP: 10(s), after: 1718590639(s)
+

C++ defination code:

+ +
uint64_t time_s()
+
+

time_us

+ +
def time_us() -> int
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefGet current time in us
returncurrent time in us, uint64_t type
attentionIf board have no RTC battery, when bootup and connect to network,
system will automatically sync time by NTP, will cause time() have big change,
e.g. before NTP: 10000000(us), after: 1718590639000000(s)
If you want to calculate time interval, please use ticks_us().
+

C++ defination code:

+ +
uint64_t time_us()
+
+

time_diff

+ +
def time_diff(last: float, now: float = -1) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCalculate time difference in s.
paramlast: last time
now: current time, can be -1 if use current time
returntime difference
attentionIf board have no RTC battery, when bootup and connect to network,
system will automatically sync time by NTP, will cause time() have big change, and lead to big value.
e.g. before NTP: 1(s), after: 1718590500(s)
If you want to calculate time interval, please use ticks_diff().
+

C++ defination code:

+ +
double time_diff(double last, double now = -1)
+
+

ticks_s

+ +
def ticks_s() -> float
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet current time in s since bootup
returncurrent time in s, double type
+

C++ defination code:

+ +
double ticks_s()
+
+

ticks_ms

+ +
def ticks_ms() -> int
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet current time in ms since bootup
returncurrent time in ms, uint64_t type
+

C++ defination code:

+ +
uint64_t ticks_ms()
+
+

ticks_us

+ +
def ticks_us() -> int
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet current time in us since bootup
returncurrent time in us, uint64_t type
+

C++ defination code:

+ +
uint64_t ticks_us()
+
+

ticks_diff

+ +
def ticks_diff(last: float, now: float = -1) -> float
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefCalculate time difference in s.
paramlast: last time
now: current time, can be -1 if use current time
returntime difference
+

C++ defination code:

+ +
double ticks_diff(double last, double now = -1)
+
+

sleep

+ + + + + + + + + + + + + + + + + +
itemdoc
briefSleep seconds
params: seconds, double type
+

C++ defination code:

+ +
void sleep(double s)
+
+

sleep_ms

+ + + + + + + + + + + + + + + + + +
itemdoc
briefSleep milliseconds
paramms: milliseconds, uint64_t type
+

C++ defination code:

+ +
void sleep_ms(uint64_t ms)
+
+

sleep_us

+ + + + + + + + + + + + + + + + + +
itemdoc
briefSleep microseconds
paramus: microseconds, uint64_t type
+

C++ defination code:

+ +
void sleep_us(uint64_t us)
+
+

now

+ +
def now() -> DateTime
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet current UTC date and time
returncurrent date and time, DateTime type
+

C++ defination code:

+ +
time::DateTime *now()
+
+

localtime

+ +
def localtime() -> DateTime
+
+ + + + + + + + + + + + + + + + + +
itemdoc
briefGet local time
returnlocal time, DateTime type
+

C++ defination code:

+ +
time::DateTime *localtime()
+
+

strptime

+ +
def strptime(str: str, format: str) -> DateTime
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
briefDateTime from string
paramstr: date time string
format: date time format
returnDateTime
+

C++ defination code:

+ +
time::DateTime *strptime(const std::string &str, const std::string &format)
+
+

gmtime

+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
brieftimestamp to DateTime(time zone is UTC (value 0))
paramtimestamp: double timestamp
returnDateTime
+

C++ defination code:

+ +
time::DateTime *gmtime(double timestamp)
+
+

Class

+

DateTime

+ + + + + + + + + + + + + +
itemdoc
briefDate and time class
+

C++ defination code:

+ +
class DateTime
+
+

year

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefYear
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int year
+
+

month

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefMonth, 1~12
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int month
+
+

day

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefDay
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int day
+
+

hour

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefHour
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int hour
+
+

minute

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefMinute
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int minute
+
+

second

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefSecond
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int second
+
+

microsecond

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefMicrosecond
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int microsecond
+
+

yearday

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefYear day
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int yearday
+
+

weekday

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefWeekday, 0 is Monday, 6 is Sunday
staticFalse
readonlyFalse
+

C++ defination code:

+ +
int weekday
+
+

zone

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefTime zone
staticFalse
readonlyFalse
+

C++ defination code:

+ +
float zone
+
+

zone_name

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typevar
briefTime zone name
staticFalse
readonlyFalse
+

C++ defination code:

+ +
std::string zone_name
+
+

__init__

+ +
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
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstructor
paramyear: year
month: month
day: day
hour: hour
minute: minute
second: second
microsecond: microsecond
yearday: year day
weekday: weekday
zone: time zone
staticFalse
+

C++ defination code:

+ +
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

+ +
def strftime(self, format: str) -> str
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConvert to string
returndate time string
staticFalse
+

C++ defination code:

+ +
std::string strftime(const std::string &format)
+
+

timestamp

+ +
def timestamp(self) -> float
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConvert to float timestamp
returnfloat timestamp
staticFalse
+

C++ defination code:

+ +
double timestamp()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/touchscreen.html b/maixpy/api/maix/touchscreen.html new file mode 100644 index 0000000..49e5ba9 --- /dev/null +++ b/maixpy/api/maix/touchscreen.html @@ -0,0 +1,553 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.touchscreen - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.touchscreen

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.touchscreen module

+
+

You can use maix.touchscreen to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

Class

+

TouchScreen

+ + + + + + + + + + + + + +
itemdoc
briefTouchScreen class
+

C++ defination code:

+ +
class TouchScreen
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new TouchScreen object
paramdevice: touchscreen device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device
open: If true, touchscreen will automatically call open() after creation. default is true.
staticFalse
+

C++ defination code:

+ +
TouchScreen(const std::string &device = "", bool open = true)
+
+

open

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefopen touchscreen device
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err open()
+
+

close

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefclose touchscreen device
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err close()
+
+

read

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefread touchscreen device
attentionThis method will discard same event in buffer, that is:
if too many move event in buffer when call this method, it will only return the last one,
and if read pressed or released event, it will return immediately.
returnReturns a list include x, y, pressed state
staticFalse
+

C++ defination code:

+ +
std::vector<int> read()
+
+

read (overload 1)

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefread touchscreen device
attentionThis method will return immediately if have event, so it's better to use available() to check if have more event in buffer,
or too much event in buffer when your program call this read() interval is too long will make your program slow.
returnReturns a list include x, y, pressed state
staticFalse
+

C++ defination code:

+ +
std::vector<int> read0()
+
+

available

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefIf we need to read from touchscreen, for event driven touchscreen means have event or not
paramtimeout: -1 means block, 0 means no block, >0 means timeout, default is 0, unit is ms.
returntrue if need to read(have event), false if not
staticFalse
+

C++ defination code:

+ +
bool available(int timeout = 0)
+
+

is_opened

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck if touchscreen is opened
returntrue if touchscreen is opened, false if not
staticFalse
+

C++ defination code:

+ +
bool is_opened()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/util.html b/maixpy/api/maix/util.html new file mode 100644 index 0000000..36123c6 --- /dev/null +++ b/maixpy/api/maix/util.html @@ -0,0 +1,349 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.util - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.util

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.util module

+
+

You can use maix.util to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

Variable

+

Function

+

do_exit_function

+ +
def do_exit_function() -> None
+
+ + + + + + + + + + + + + +
itemdoc
briefexec all of exit function
+

C++ defination code:

+ +
void do_exit_function()
+
+

register_atexit

+ +
def register_atexit() -> None
+
+ + + + + + + + + + + + + +
itemdoc
briefRegistering default processes that need to be executed on exit
+

C++ defination code:

+ +
void register_atexit()
+
+

Class

+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/maix/video.html b/maixpy/api/maix/video.html new file mode 100644 index 0000000..ba3394a --- /dev/null +++ b/maixpy/api/maix/video.html @@ -0,0 +1,2033 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + maix.video - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

maix.video

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

maix.video module

+
+

You can use maix.video to access this module with MaixPy
+This module is generated from MaixCDK

+
+

Module

+

No module

+

Enum

+

VideoType

+ + + + + + + + + + + + + + + + + +
itemdoc
briefVideo type
valuesVIDEO_NONE: format invalid
VIDEO_ENC_H265_CBR:
VIDEO_ENC_MP4_CBR:
VIDEO_DEC_H265_CBR:
VIDEO_DEC_MP4_CBR:
VIDEO_H264_CBR:
VIDEO_H265_CBR:
VIDEO_H264_CBR_MP4:
VIDEO_H265_CBR_MP4:
+

C++ defination code:

+ +
enum VideoType
+    {
+        VIDEO_NONE = 0,  // format invalid
+        VIDEO_ENC_H265_CBR,
+        VIDEO_ENC_MP4_CBR,
+        VIDEO_DEC_H265_CBR,
+        VIDEO_DEC_MP4_CBR,
+        VIDEO_H264_CBR,
+        VIDEO_H265_CBR,
+        VIDEO_H264_CBR_MP4,
+        VIDEO_H265_CBR_MP4,
+    }
+
+

Variable

+

Function

+

Class

+

Frame

+ + + + + + + + + + + + + +
itemdoc
briefFrame class
+

C++ defination code:

+ +
class Frame
+
+

to_bytes

+ +
def to_bytes(*args, **kwargs)
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet raw data of packet
paramcopy: if true, will alloc memory and copy data to new buffer
returnraw data
staticFalse
+

C++ defination code:

+ +
Bytes *to_bytes(bool copy = false)
+
+

size

+ +
def size(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet raw data size of packet
returnsize of raw data
staticFalse
+

C++ defination code:

+ +
size_t size()
+
+

is_valid

+ +
def is_valid(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck packet is valid
returntrue, packet is valid; false, packet is invalid
staticFalse
+

C++ defination code:

+ +
bool is_valid()
+
+

set_pts

+ +
def set_pts(self, pts: int) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet pts
parampts: presentation time stamp. unit: time_base
staticFalse
+

C++ defination code:

+ +
void set_pts(uint64_t pts)
+
+

set_dts

+ +
def set_dts(self, dts: int) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet dts
paramdts: decoding time stamp. unit: time_base
staticFalse
+

C++ defination code:

+ +
void set_dts(uint64_t dts)
+
+

set_duration

+ +
def set_duration(self, duration: int) -> None
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet duration
paramduration: packet display time. unit: time_base
staticFalse
+

C++ defination code:

+ +
void set_duration(uint64_t duration)
+
+

get_pts

+ +
def get_pts(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet pts
parampts: presentation time stamp. unit: time_base
returnpts value
staticFalse
+

C++ defination code:

+ +
uint64_t get_pts()
+
+

get_dts

+ +
def get_dts(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet dts
paramdts: decoding time stamp. unit: time_base
returndts value
staticFalse
+

C++ defination code:

+ +
uint64_t get_dts()
+
+

get_duration

+ +
def get_duration(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet duration
returnduration value
staticFalse
+

C++ defination code:

+ +
uint64_t get_duration()
+
+

type

+ +
def type(self) -> VideoType
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet frame type
returnvideo type. @see video::VideoType
staticFalse
+

C++ defination code:

+ +
video::VideoType type()
+
+

Packet

+ + + + + + + + + + + + + +
itemdoc
briefPacket class
+

C++ defination code:

+ +
class Packet
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPacket number (pair of numerator and denominator).
paramdata: src data pointer, use pointers directly without copying.
Note: this object will try to free this memory
len: data len
pts: presentation time stamp. unit: time_base
dts: decoding time stamp. unit: time_base
duration: packet display time. unit: time_base
staticFalse
+

C++ defination code:

+ +
Packet(uint8_t *data, int len, uint64_t pts = -1, uint64_t dts = -1, int64_t duration = 0)
+
+

get

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet raw data of packet
returnraw data
staticFalse
+

C++ defination code:

+ +
std::vector<uint8_t> get()
+
+

data

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet raw data of packet
returnraw data
staticFalse
+

C++ defination code:

+ +
uint8_t *data()
+
+

data_size

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet raw data size of packet
returnsize of raw data
staticFalse
+

C++ defination code:

+ +
size_t data_size()
+
+

is_valid

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck packet is valid
returntrue, packet is valid; false, packet is invalid
staticFalse
+

C++ defination code:

+ +
bool is_valid()
+
+

set_pts

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet pts
parampts: presentation time stamp. unit: time_base
returntrue, packet is valid; false, packet is invalid
staticFalse
+

C++ defination code:

+ +
void set_pts(uint64_t pts)
+
+

set_dts

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet dts
paramdts: decoding time stamp. unit: time_base
returntrue, packet is valid; false, packet is invalid
staticFalse
+

C++ defination code:

+ +
void set_dts(uint64_t dts)
+
+

set_duration

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefSet duration
paramduration: packet display time. unit: time_base
returntrue, packet is valid; false, packet is invalid
staticFalse
+

C++ defination code:

+ +
void set_duration(uint64_t duration)
+
+

Encoder

+ + + + + + + + + + + + + +
itemdoc
briefEncode class
+

C++ defination code:

+ +
class Encoder
+
+

__init__

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Video object
paramwidth: picture width. this value may be set automatically. default is 2560.
height: picture height. this value may be set automatically. default is 1440.
format: picture format. default is image::Format::FMT_YVU420SP. @see image::Format
type: video encode/decode type. default is ENC_H265_CBR. @see EncodeType
framerate: frame rate. framerate default is 30, means 30 frames per second
for video. 1/time_base is not the average frame rate if the frame rate is not constant.
gop: for h264/h265 encoding, the interval between two I-frames, default is 50.
bitrate: for h264/h265 encoding, used to limit the bandwidth used by compressed data, default is 3000kbps
time_base: frame time base. time_base default is 1000, means 1/1000 ms (not used)
capture: enable capture, if true, you can use capture() function to get an image object
staticFalse
+

C++ defination code:

+ +
Encoder(int width = 2560, int height = 1440, image::Format format = image::Format::FMT_YVU420SP, video::VideoType type = video::VideoType::VIDEO_H265_CBR, int framerate = 30, int gop = 50, int bitrate = 3000 * 1000, int time_base = 1000, bool capture = false)
+
+

bind_camera

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefBind camera
paramcamera: camera object
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err bind_camera(camera::Camera *camera)
+
+

encode

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode image.
paramimg: the image will be encode.
if the img is NULL, this function will try to get image from camera, you must use bind_camera() function to bind the camera.
returnencode result
staticFalse
+

C++ defination code:

+ +
video::Frame *encode(image::Image *img = maix::video::Encoder::NoneImage)
+
+

capture

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCapture image
attentionEach time encode is called, the last captured image will be released.
returnerror code
staticFalse
+

C++ defination code:

+ +
image::Image *capture()
+
+

width

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet video width
returnvideo width
staticFalse
+

C++ defination code:

+ +
int width()
+
+

height

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet video height
returnvideo height
staticFalse
+

C++ defination code:

+ +
int height()
+
+

type

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet video encode type
returnVideoType
staticFalse
+

C++ defination code:

+ +
video::VideoType type()
+
+

framerate

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet video encode framerate
returnframe rate
staticFalse
+

C++ defination code:

+ +
int framerate()
+
+

gop

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet video encode gop
returngop value
staticFalse
+

C++ defination code:

+ +
int gop()
+
+

bitrate

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet video encode bitrate
returnbitrate value
staticFalse
+

C++ defination code:

+ +
int bitrate()
+
+

time_base

+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet video encode time base
returntime base value
staticFalse
+

C++ defination code:

+ +
int time_base()
+
+

get_pts

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet current pts, unit: time_base\nNote: The current default is to assume that there is no B-frame implementation, so pts and bts are always the same
paramtime_ms: start time from the first frame. unit: ms
returntime base value
staticFalse
+

C++ defination code:

+ +
uint64_t get_pts(uint64_t time_ms)
+
+

get_dts

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet current dts, unit: time_base\nNote: The current default is to assume that there is no B-frame implementation, so pts and bts are always the same
paramtime_ms: start time from the first frame. unit: ms
returntime base value
staticFalse
+

C++ defination code:

+ +
uint64_t get_dts(uint64_t time_ms)
+
+

Decoder

+ + + + + + + + + + + + + +
itemdoc
briefDecoder class
+

C++ defination code:

+ +
class Decoder
+
+

__init__

+ +
def __init__(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Decoder object
staticFalse
+

C++ defination code:

+ +
Decoder()
+
+

prepare

+ +
def prepare(self, data: maix.Bytes(bytes), copy: bool = True) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefPrepare data to decode
paramdata: need decode data
copy: if false, need to ensure that data is not released in decoding.
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err prepare(Bytes *data, bool copy = true)
+
+

decode

+ +
def decode(self, frame: Frame = None) -> maix.image.Image
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDecode
paramframe: the frame will be decode (not used)
returndecode result
staticFalse
+

C++ defination code:

+ +
image::Image *decode(video::Frame *frame = nullptr)
+
+

Video

+ + + + + + + + + + + + + +
itemdoc
briefVideo class
+

C++ defination code:

+ +
class Video
+
+

__init__

+ +
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
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefConstruct a new Video object
parampath: 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.
xxx.h265 means video format is H265, xxx.mp4 means video format is MP4
width: picture width. this value may be set automatically. default is 2560.
height: picture height. this value may be set automatically. default is 1440.
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
for video. 1/time_base is not the average frame rate if the frame rate is not constant.
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.
staticFalse
+

C++ defination code:

+ +
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

+ +
def open(self, path: str = '', fps: float = 30.0) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefOpen video and run
parampath: 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.
xxx.h265 means video format is H265, xxx.mp4 means video format is MP4
fps: video fps
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err open(std::string path = std::string(), double fps = 30.0)
+
+

close

+ +
def close(self) -> None
+
+ + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefClose video
staticFalse
+

C++ defination code:

+ +
void close()
+
+

bind_camera

+ +
def bind_camera(self, camera: maix.camera.Camera) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefBind camera
paramcamera: camera object
returnerror code, err::ERR_NONE means success, others means failed
staticFalse
+

C++ defination code:

+ +
err::Err bind_camera(camera::Camera *camera)
+
+

encode

+ +
def encode(self, img: maix.image.Image = ...) -> Packet
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode image.
paramimg: the image will be encode.
if the img is NULL, this function will try to get image from camera, you must use bind_camera() function to bind the camera.
returnencode result
staticFalse
+

C++ defination code:

+ +
video::Packet *encode(image::Image *img = maix::video::Video::NoneImage)
+
+

decode

+ +
def decode(self, frame: Frame = None) -> maix.image.Image
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefDecode frame
paramframe: the frame will be decode
returndecode result
staticFalse
+

C++ defination code:

+ +
image::Image *decode(video::Frame *frame = nullptr)
+
+

finish

+ +
def finish(self) -> maix.err.Err
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefEncode or decode finish
returnerror code
staticFalse
+

C++ defination code:

+ +
err::Err finish()
+
+

capture

+ +
def capture(self) -> maix.image.Image
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCapture image
attentionEach time encode is called, the last captured image will be released.
returnerror code
staticFalse
+

C++ defination code:

+ +
image::Image *capture()
+
+

is_recording

+ +
def is_recording(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck if video is recording
returntrue if video is recording, false if not
staticFalse
+

C++ defination code:

+ +
bool is_recording()
+
+

is_opened

+ +
def is_opened(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefCheck if video is opened
returntrue if video is opened, false if not
staticFalse
+

C++ defination code:

+ +
bool is_opened()
+
+

is_closed

+ +
def is_closed(self) -> bool
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefcheck video device is closed or not
returnclosed or not, bool type
staticFalse
+

C++ defination code:

+ +
bool is_closed()
+
+

width

+ +
def width(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet video width
returnvideo width
staticFalse
+

C++ defination code:

+ +
int width()
+
+

height

+ +
def height(self) -> int
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
itemdoc
typefunc
briefGet video height
returnvideo height
staticFalse
+

C++ defination code:

+ +
int height()
+
+ + +
+
+
+ + +
+
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/api/sidebar.yaml b/maixpy/api/sidebar.yaml new file mode 100644 index 0000000..30da8d7 --- /dev/null +++ b/maixpy/api/sidebar.yaml @@ -0,0 +1,117 @@ +items: +- file: README.md + label: Brief +- collapsed: false + items: + - collapsed: false + file: maix/err.md + label: err + - collapsed: false + file: maix/tensor.md + label: tensor + - collapsed: false + file: maix/image.md + label: image + - collapsed: false + file: maix/camera.md + label: camera + - collapsed: false + file: maix/display.md + label: display + - collapsed: false + file: maix/nn.md + items: + - collapsed: false + file: maix/nn/F.md + label: F + label: nn + - collapsed: false + file: maix/comm.md + label: comm + - collapsed: false + file: maix/audio.md + label: audio + - collapsed: false + file: maix/example.md + label: example + - collapsed: false + file: maix/fs.md + label: fs + - collapsed: false + file: maix/app.md + label: app + - collapsed: false + file: maix/sys.md + label: sys + - collapsed: false + file: maix/thread.md + label: thread + - collapsed: false + file: maix/util.md + label: util + - collapsed: false + file: maix/i18n.md + label: i18n + - collapsed: false + file: maix/protocol.md + label: protocol + - collapsed: false + file: maix/time.md + label: time + - collapsed: false + file: maix/network.md + items: + - collapsed: false + file: maix/network/wifi.md + label: wifi + label: network + - collapsed: false + file: maix/touchscreen.md + label: touchscreen + - collapsed: false + file: maix/video.md + label: video + - collapsed: false + file: maix/http.md + label: http + - collapsed: false + file: maix/rtmp.md + label: rtmp + - collapsed: false + file: maix/rtsp.md + label: rtsp + - collapsed: false + file: maix/peripheral.md + items: + - collapsed: false + file: maix/peripheral/wdt.md + label: wdt + - collapsed: false + file: maix/peripheral/timer.md + label: timer + - collapsed: false + file: maix/peripheral/spi.md + label: spi + - collapsed: false + file: maix/peripheral/gpio.md + label: gpio + - collapsed: false + file: maix/peripheral/uart.md + label: uart + - collapsed: false + file: maix/peripheral/i2c.md + label: i2c + - collapsed: false + file: maix/peripheral/adc.md + label: adc + - collapsed: false + file: maix/peripheral/pinmap.md + label: pinmap + - collapsed: false + file: maix/peripheral/pwm.md + label: pwm + - collapsed: false + file: maix/peripheral/key.md + label: key + label: peripheral + label: maix diff --git a/maixpy/config.json b/maixpy/config.json new file mode 100644 index 0000000..7689a26 --- /dev/null +++ b/maixpy/config.json @@ -0,0 +1,5 @@ +{ + "import": "config_zh", + "class": "md_page", + "name": "MaixPy 页面" +} diff --git a/maixpy/doc/assets/body_keypoints.jpg b/maixpy/doc/assets/body_keypoints.jpg new file mode 100644 index 0000000..b0fd005 Binary files /dev/null and b/maixpy/doc/assets/body_keypoints.jpg differ diff --git a/maixpy/doc/assets/face_detection.jpg b/maixpy/doc/assets/face_detection.jpg new file mode 100644 index 0000000..5e89913 Binary files /dev/null and b/maixpy/doc/assets/face_detection.jpg differ diff --git a/maixpy/doc/assets/face_recognize.jpg b/maixpy/doc/assets/face_recognize.jpg new file mode 100644 index 0000000..ec5ff7a Binary files /dev/null and b/maixpy/doc/assets/face_recognize.jpg differ diff --git a/maixpy/doc/assets/maixvision_browser.jpg b/maixpy/doc/assets/maixvision_browser.jpg new file mode 100644 index 0000000..3bcda9b 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 0000000..94c2895 Binary files /dev/null and b/maixpy/doc/assets/maixvision_browser2.jpg differ diff --git a/maixpy/doc/assets/self_learn_classifier.jpg b/maixpy/doc/assets/self_learn_classifier.jpg new file mode 100644 index 0000000..a401b9e Binary files /dev/null and b/maixpy/doc/assets/self_learn_classifier.jpg differ diff --git a/maixpy/doc/assets/yolov5s_onnx.jpg b/maixpy/doc/assets/yolov5s_onnx.jpg new file mode 100644 index 0000000..fa6c2d4 Binary files /dev/null and b/maixpy/doc/assets/yolov5s_onnx.jpg differ diff --git a/maixpy/doc/assets/yolov8_out1.jpg b/maixpy/doc/assets/yolov8_out1.jpg new file mode 100644 index 0000000..0d93261 Binary files /dev/null and b/maixpy/doc/assets/yolov8_out1.jpg differ diff --git a/maixpy/doc/assets/yolov8_out2.jpg b/maixpy/doc/assets/yolov8_out2.jpg new file mode 100644 index 0000000..5116fdd Binary files /dev/null and b/maixpy/doc/assets/yolov8_out2.jpg differ diff --git a/maixpy/doc/en/audio/play.html b/maixpy/doc/en/audio/play.html new file mode 100644 index 0000000..cd0a962 --- /dev/null +++ b/maixpy/doc/en/audio/play.html @@ -0,0 +1,442 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Playback Audio - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

MaixPy Playback Audio

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+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-05-201.0.0lxowalle + + Initial document + +
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+
+ +
+
+ +

Introduction

+

This document provides instructions on how to play audio

+

How to use

+

Hardware operation

+

image-20240520134637905

+

The MaixCAM does not have a built-in speaker, so you will need to solder a 1W speaker yourself. The pins for soldering the speaker are shown in the diagram above on the VOP and VON pins corresponding to the Speaker.

+

Note: If the MaixCAM has copper posts attached to these pins, they can be soldered directly to the posts, or on the other side of the board for aesthetic reasons.

+

Code

+

Method of playing a PCM file

+ +
from maix import audio, time, app
+
+p = audio.Player()
+
+with open('/root/output.pcm', 'rb') as f:
+    ctx = f.read()
+
+p.play(bytes(ctx))
+
+while not app.need_exit():
+    time.sleep_ms(10)
+
+print("play finish!")
+
+

Steps：

+
    +

  1. Import the audio, time and app modules:

    + +
    from maix import audio, time, app
+
    +
    2. +

  2. Initialize the player:

    + +
    p = audio.Player()
+
    +
    3. +
+
    +
  • Note that the default sample rate is 48k, the sample format is little-endian format - signed 16-bit, and the sample channel is 1. You can also customise the parameters like this p = audio.Player(sample_rate=48000, format=audio.Format.FMT_S16_LE, channel = 1). So far only tested with sample rate 48000, format FMT_S16_LE, and number of sampling channels 1.
    • +
+
    +
  1. Open and playback a PCM file
    2. +
+ +
with open('/root/output.pcm', 'rb') as f:
+    ctx = f.read()
+
+p.play(bytes(ctx))
+
+while not app.need_exit():
+  time.sleep_ms(10)
+
+
    +
  • with open(‘xxx’,‘rb’) as f: open file xxx and get file object f
    • +
  • ctx = f.read() reads the contents of the file into ctx
    • +
  • p.play(bytes(ctx)) plays the audio, p is the opened player object, ctx is the PCM data converted to type bytes
    • +
  • time.sleep_ms(10) Here there is a loop to wait for the playback to complete, as the playback operation is performed asynchronously, and if the program exits early, then it may result in the audio not being played completely.
    • +
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  1. Done
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/audio/recognize.html b/maixpy/doc/en/audio/recognize.html new file mode 100644 index 0000000..39dc2ae --- /dev/null +++ b/maixpy/doc/en/audio/recognize.html @@ -0,0 +1,349 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/audio/record.html b/maixpy/doc/en/audio/record.html new file mode 100644 index 0000000..e6b7da9 --- /dev/null +++ b/maixpy/doc/en/audio/record.html @@ -0,0 +1,430 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Audio Record - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Audio Record

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    + +
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+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-05-201.0.0lxowalle + + Initial document + +
+
+
+ +
+
+ +

Introduction

+

This document provides methods for recording

+

How to use

+

An example of a recording

+ +
from maix import audio, time, app
+
+r = audio.Recorder()
+r.volume(12)
+print("sample_rate:{} format:{} channel:{}".format(r.sample_rate(), r.format(), r.channel()))
+
+while not app.need_exit():
+    data = r.record()
+    print("data size", len(data))
+
+    time.sleep_ms(10)
+
+print("record finish!")
+
+

Steps：

+
    +

  1. Import the audio, time and app modules:

    + +
    from maix import audio, time, app
+
    +
    2. +

  2. Initialize Recorder

    + +
    r = audio.Recorder()
+r.volume(12)
+
    +
      +

    • Note that the default sample rate is 48k, the sample format is little-endian format - signed 16-bit, and the sample channel is 1. You can also customise the parameters like this r = audio.Recorder(sample_rate=48000, format=audio.Format.FMT_S16_LE, channel = 1). So far only tested with sample rate 48000, format FMT_S16_LE, and number of sampling channels 1.

      +
      • +

    • r.volume(12) is used to set the volume, the volume range is [0,24]

      +
      • +
    +
    3. +

  3. Start recording

    + +
    data = r.record()
+
    +
      +
    • data is bytes type data in PCM format that holds the currently recorded audio. The PCM format is set when initialising the Recorder object, see step 2.
      • +
    +
    4. +

  4. Done, you can do voice processing on the PCM data returned by r.record() when doing your own applications.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/basic/app.html b/maixpy/doc/en/basic/app.html new file mode 100644 index 0000000..b31bc14 --- /dev/null +++ b/maixpy/doc/en/basic/app.html @@ -0,0 +1,375 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + App development and app stores - MaixPy + + + + + + + + + + +
+ +
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+ +

App development and app stores

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Introduction to Application Ecosystem

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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: 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 or 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, 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 (see example). 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.
    • +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/basic/app_usage.html b/maixpy/doc/en/basic/app_usage.html new file mode 100644 index 0000000..a49f390 --- /dev/null +++ b/maixpy/doc/en/basic/app_usage.html @@ -0,0 +1,349 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Application User Guide - MaixPy + + + + + + + + + + +
+ +
+ +
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+
+
+ +

Application User Guide

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After powering on, it will automatically enter the application selection interface, where various built-in applications are available in the MaixHub App Store. 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.

+

Moreover, applications you develop can also be uploaded to the MaixHub App Store 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!

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/basic/auto_start.html b/maixpy/doc/en/basic/auto_start.html new file mode 100644 index 0000000..c907b8e --- /dev/null +++ b/maixpy/doc/en/basic/auto_start.html @@ -0,0 +1,359 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy/MaixCAM Application Auto-Start at Boot - MaixPy + + + + + + + + + + +
+ +
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MaixPy/MaixCAM Application Auto-Start at Boot

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Packaged applications can be set to automatically start when the device boots up, bypassing the application menu and directly launching the specified application.

+

Method One for Setting Application Auto-Start

+

First, package and install the application, then go to Settings -> Auto-Start on your device to select the application you want to auto-start. To cancel auto-start, you can also adjust it here.

+

Method Two for Setting Application Auto-Start

+

You can also modify the /maixapp/auto_start.txt file in your device to set it up. For methods on file transfer, refer to the previous documentation.

+
    +
  • First, determine the id of the application you want to set. This is set when you package the application; if it's not an application you packaged yourself, you can install it on the device and check the folder names under the device's /maixapp/apps/ directory, which are the application names (or you can download and check the device's /maixapp/apps/app.info file, where the application id is indicated inside the [] brackets).
    • +
  • Then write the id into the /maixapp/auto_start.txt file. (You can create the file locally on your computer, and then transfer it to the device using MaixVision.)
    • +
  • To cancel, delete the /maixapp/auto_start.txt file on the device.
    • +
+

Other Methods

+

For MaixCAM, since the underlying system is Linux, if you are familiar with Linux, you can edit the startup scripts in /etc/rc.local or /etc/init.d.

+

However, it is important to note that this method may cause the application to continue running when MaixVision connects, thereby occupying resources (such as the screen and camera) which might prevent MaixVision from running programs normally. The first two methods allow MaixVision to terminate the program upon connection to run its own programs.

+

Thus, this method is more suitable for running background processes that do not occupy screen and camera resources. Generally, if you are not familiar with Linux, it is not recommended to use this method.

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Basic Knowledge of Linux

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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),

+ +
cd /     # Switch to the root directory
+ls       # Display all files in the current directory (root directory)
+
+

This will display similar content as below:

+ +
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.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/basic/maixpy_upgrade.html b/maixpy/doc/en/basic/maixpy_upgrade.html new file mode 100644 index 0000000..eda6591 --- /dev/null +++ b/maixpy/doc/en/basic/maixpy_upgrade.html @@ -0,0 +1,366 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Update MaixPy. - MaixPy + + + + + + + + + + +
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Update MaixPy.

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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(Recommend)

+

Follow the steps in Upgrading and Flashing the System 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. 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.
    • +
+

You can also execute Python code to call system command to install:

+ +
import os
+
+os.system("pip install MaixPy -U")
+
+
+

If you are comfortable using the terminal, you can also update MaixPy by using pip install MaixPy -U in the terminal.

+
+

And you can download wheel file (.whlformat) manually, and send to device(transfer method see MaixVision Usage), then install by pip install *****.whl command.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/basic/maixvision.html b/maixpy/doc/en/basic/maixvision.html new file mode 100644 index 0000000..6697938 --- /dev/null +++ b/maixpy/doc/en/basic/maixvision.html @@ -0,0 +1,428 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixVision -- MaixPy Programming IDE + Graphical Block Programming - MaixPy + + + + + + + + + + +
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MaixVision -- MaixPy Programming IDE + Graphical Block Programming

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Introduction

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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 to download.

+

Using MaixPy Programming and Online Running

+

Follow the steps in Quick Start 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:

+ +
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.
    • +
  • 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

+

maixvision_browser

+
+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 or FileZilla 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:

+ +
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:
    • +
+ +
scp /path/to/your/file.py root@maixcam-xxxx.local:/root
+
+
    +
  • Method 2: Use FileZilla 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.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/basic/os.html b/maixpy/doc/en/basic/os.html new file mode 100644 index 0000000..eacbd2c --- /dev/null +++ b/maixpy/doc/en/basic/os.html @@ -0,0 +1,366 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Upgrade and burn system. - MaixPy + + + + + + + + + + +
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Upgrade and burn system.

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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 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 to find the latest system image file, such as maixcam_os_20240401_maixpy_v4.1.0.xz.

+

Alternate link:

+ +

Burning the System Image to MaixCAM

+

Refer to the MaixCAM System Burning tutorial. Note that if the conditions for USB Burning are met, it is recommended to use the USB Burning method. The USB burning method does not require removing the TF card.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/basic/python.html b/maixpy/doc/en/basic/python.html new file mode 100644 index 0000000..f966809 --- /dev/null +++ b/maixpy/doc/en/basic/python.html @@ -0,0 +1,386 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Basic Knowledge of Python - MaixPy + + + + + + + + + + +
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Basic Knowledge of Python

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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 or the Python Official Tutorial.

+

Alternatively, you can explore individual developers' blogs, such as Wow! It's Python.

+

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 or the Python Official Tutorial 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.

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Add extra Python packages.

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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:

+ +
import os
+os.system("pip install package_name")
+
+

To update a package, you can use:

+ +
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 and use pip install package_name to install the package you need.

+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/basic/view_src_code.html b/maixpy/doc/en/basic/view_src_code.html new file mode 100644 index 0000000..cc5c73e --- /dev/null +++ b/maixpy/doc/en/basic/view_src_code.html @@ -0,0 +1,404 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + How to Find the Source Code Corresponding to MaixPy API - MaixPy + + + + + + + + + + +
+ +
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+ +

How to Find the Source Code Corresponding to MaixPy API

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Introduction

+

MaixPy is implemented based on Python, with some functions written in Python and most of the underlying code written in C/C++. This ensures efficient performance.

+

If you have questions while using a function, you can consult this document and the API documentation. If your doubts are still unresolved, you can find the underlying implementation source code using the method described in this article. You are also welcome to contribute to the documentation or code, and become a MaixPy developer!

+

Check the Documentation First

+

Always check the documentation first: https://wiki.sipeed.com/maixpy/, then check the API documentation: https://wiki.sipeed.com/maixpy/api/index.html.

+

The API documentation is only available in English because it is generated from the comments in the code, which are all in English. If you can't understand English, you can use a translation tool.

+

How to Find the Source Code Corresponding to the API

+

There are two open-source repositories: MaixPy and MaixCDK. MaixPy is the project repository containing part of the MaixPy source code, all documents, and examples; MaixCDK contains most of the underlying C/C++ implementations of MaixPy APIs.

+

You can download these two repositories or view them directly on the web.

+

Don't forget to give them a star so more people can see it!

+

Finding C/C++ Written APIs

+

Assume we want to find the maix.image.Image.find_blobs function as an example. First, let's try to find it manually:

+
    +
  • Since this is a vision-related API, we look in the components/vision/include directory of MaixCDK and see a maix_image.hpp header file, where we might find it.
    • +
  • Searching for find_blobs in maix_image.hpp, we immediately find the function declaration:
    • +
+ +
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);
+
+
    +
  • We also notice that there are comments before the function declaration, from which the API documentation is automatically generated. If you compare the API documentation with this comment, you will find them identical. Modifying this comment and recompiling will generate updated API documentation.
    • +
  • This is just the function declaration. We find that there is no such function in components/vision/src/maix_image.cpp. However, we see components/vision/src/maix_image_find_blobs.cpp, indicating that the function is written in a separate cpp file. Here, we can see the function's source code.
    • +
+

Finding APIs Written with Pybind11

+

If you can't find it in MaixCDK, look in MaixPy/components.

+
+

In the above code, you'll notice that the first parameter we use in find_blobs is of type list, i.e., [[...]], while the C/C++ definition is std::vector<std::vector<int>>. This is because we use pybind11 to automatically convert the std::vector type to list type.

+
+

For some types like numpy's array, which are inconvenient to define in MaixCDK, we use the pybind11 definitions in MaixPy/components. For example, the maix.image.image2cv method uses pybind11 related code here.

+

How to Modify the Code

+

After finding the code, modify it directly and compile the firmware following the build documentation.

+

How to Add Code

+

Copy other APIs, write a function, and add complete comments. Include an extra @maixpy maix.xxx.xxx tag in the comments, where xxx is the module and API name you want to add. Then compile the firmware.

+

Refer to MaixCDK/components/basic/includemaix_api_example.hpp.

+

API parameters and return values automatically convert from basic C++ types to Python types, making it very simple. See the pybind11 automatic type conversion list for details.

+

For example, to add maix.my_module.my_func, create a header file in the appropriate place in MaixCDK (preferably following the current folder classification) and add the code:

+ +
namespace maix::my_module
+{
+    /**
+     * My function, add two integers.
+     * @param a arg a, int type
+     * @param b arg b, int type
+     * @return int type, will return a + b
+     * @maixpy maix.my_module.my_func
+     */
+    int my_func(int a, int b);
+}
+
+

Then add a cpp file:

+ +
int my_func(int a, int b)
+{
+    return a + b;
+}
+
+

Compile MaixPy to generate the whl file and install it on the device to use the maix.my_module.my_func function.

+

How to Contribute Code

+

If you find any unfinished APIs or bugs in MaixPy, feel free to submit a PR (Pull Request) to the MaixPy repository. For detailed submission methods, see Contributing Documentation and Code.

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+ +
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+ +

MaixPy FAQ (Frequently Asked Questions)

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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.

+

If you use MaixCAM, you can also refer to MaixCAM FAQ

+

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 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 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

+

Refer to MaixCAM FAQ

+

What are the differences between Runtime, MaixPy, and system image? Which one should I upgrade?

+
    +

  • Runtime is the runtime environment. Many system functions depend on it, including MaixPy. If you encounter the problem of being unable to run the program, first check and update it online.

    +
    • +

  • The system image includes the basic operating system, hardware drivers, built-in applications, and MaixPy firmware, etc. It is the basic environment. It is best to keep it up to date, especially in the Release page. If the version update mentions that the system has been updated, it is strongly recommended to update the system, because some MaixPy functions may depend on the drivers in the system.

    +
    • +
+
+

Updating the system will format all previous data. Please back up useful data in the device system before updating.

+
+
    +
  • MaixPy is a dependent library for running the MaixPy program. If you do not need to update the system function, and the update log does not mention that the system has important updates such as drivers, you can update MaixPy alone.
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/index.html b/maixpy/doc/en/index.html new file mode 100644 index 0000000..7c9d871 --- /dev/null +++ b/maixpy/doc/en/index.html @@ -0,0 +1,523 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Quick Start - MaixPy + + + + + + + + + + +
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MaixPy Quick Start

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+ The only official website for MaixPy: + + wiki.sipeed.com/maixpy + +
+
+ MaixPy examples and source code: + + github.com/sipeed/MaixPy + +
+ +
+
+
+

For an introduction to MaixPy, please see the MaixPy official website homepage

+
+

Get a MaixCAM Device

+ +

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).

+

It is highly recommended to purchase a package that includes a screen, as it greatly enhances the development experience. If you do not need a screen for actual deployment in a production environment, you can start with a screen-included kit for initial development, and then either remove the screen or purchase a screenless version for mass production later on.

+
    +

  • TF card reader: To flash the system.

    +
    • +

  • USB to serial port module: If you want to debug serial communication, it is recommended to prepare one. You can buy any one from Taobao or buy them together at Sipeed store, such as this dual serial port to USB module.

    +
    • +
+
+

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 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 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

+

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.
    • +
  • If you did not purchase the TF card bundle, you need to follow the instructions in Upgrading and Flashing the System 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.
+If you don't have a router, you can use your phone to open a hotspot.

+

Click Settings on the device and select WiFi. There are two ways to connect to the WiFi hotspot:

+
    +
  • Scan the WiFi sharing code:
      +
    • Use your phone to share the WiFi hotspot QR code, or go to maixhub.com/wifi to generate a QR code.
      • +
    • Click the Scan QR code button, the camera screen will appear, scan the QR code generated previously to connect.
      • +
    +
    • +
  • Search for hotspots:
      +
    • Click the Scan button to start scanning the surrounding WiFi, you can click multiple times to refresh the list.
      • +
    • Find your WiFi hotspot.
      • +
    • Enter the password and click the Connect button to connect.
      • +
    +
    • +
+

Then wait for the IP address to be obtained, which may take 10 to 30 seconds. If the interface does not refresh, you can exit the WiFi function and re-enter to view it, or you can also see the IP information in Settings -> Device Information.

+

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:

+ +

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.

+

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. You can find the corresponding application introduction on the MaixHub APP to view the protocol.
+如果应用没有做串口输出结果，你也可以自己基于对应功能的例程，自行按照串口使用文档添加串口输出结果。
+If APP no serial output, you can also do it by yourself, follow function examples and UART usage doc to add function and serial output.

+
+

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.

+
+
+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
      • +
    +
    • +
  • 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.
    • +
  • 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.

+

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:

+

+

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.
    • +
+ +
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.
    • +
+

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.

+
+

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 (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.

+

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 and receive cash rewards!

+

Share and Discuss

+
    +
  • MaixHub Project and Experience Sharing: 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 (for asking questions and discussion)
    • +
  • Telegram: MaixPy
    • +
  • MaixPy Source Code Issues: MaixPy issue
    • +
  • For business cooperation or bulk purchases, please contact support@sipeed.com.
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Reading Temperature and Humidity Sensors with MaixPy

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Introduction

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By attaching a temperature and humidity sensor module to MaixCAM, you can easily read the environmental temperature and humidity. This example uses the Si7021 sensor, which can be driven via I2C.

+

The complete code is available at MaixPy/examples/sensors/temp_humi_si7021.py.

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Note that the system image needs to be version >= 2024.6.3_maixpy_v4.2.1.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/peripheral/adc.html b/maixpy/doc/en/peripheral/adc.html new file mode 100644 index 0000000..b832cd3 --- /dev/null +++ b/maixpy/doc/en/peripheral/adc.html @@ -0,0 +1,450 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Using ADC in MaixPy - MaixPy + + + + + + + + + + +
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Using ADC in MaixPy

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DateVersionAuthorUpdate content
2024-06-111.0.0iawak9lkm + + Initial document + +
+
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+ +
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+ +

ADC Introduction

+

An ADC, which can also be called an analog-to-digital converter, converts an input voltage signal into an output digital signal. As the ADC converted digital signal itself does not have practical significance, only represents a relative size. Therefore, any ADC needs a reference analog as a conversion standard, the reference standard is generally the largest convertible signal size. The digital output of the ADC indicates the size of the input signal relative to the reference signal.

+

ADC peripherals generally have two main parameters: resolution and reference voltage.

+
    +
  • Resolution: The resolution of an ADC is expressed as the number of bits in a binary (or decimal) number. It describes the ability of the A/D converter to discriminate the input signal. Generally speaking, an A/D converter with n-bit output can distinguish 2^n different levels of input analog voltage, and the minimum value of input voltage that can be distinguished is 1/(2^n) of the full-scale input. For a given maximum input voltage, the more output bits, the higher the resolution.
    • +
  • Reference Voltage: The ADC peripheral reference voltage is the voltage that is compared to a known voltage during AD conversion to find the value of the unknown voltage. The reference voltage can be thought of as the highest upper limit voltage and can be reduced to improve resolution when the signal voltage is low.
    • +
+

With the board's ADC, it is possible to capture external voltages and have the board verify that the voltages are up to snuff or perform specific tasks when specific voltages are detected (e.g., the ADC detects multiple buttons).

+

Using ADC in MaixPy

+

Using ADC with MaixPy is easy:

+ +
from maix.peripheral import adc
+from maix import time
+
+a = adc.ADC(0, adc.RES_BIT_12)
+
+raw_data = a.read()
+print(f"ADC raw data:{raw_data}")
+
+time.sleep_ms(50)
+
+vol = a.read_vol()
+print(f"ADC vol:{vol}")
+
+

Use ADC0 to read the raw conversion data from it, or read the voltage data directly from it.

+

See the ADC API documentation for a detailed description of the ADC API.

+

Some notes on MaixCAM's ADC

+

MaixCAM elicits an IO that connects to the ADC, this IO is GPIO B3.

+

+

This IO is ADC by default and does not require additional configuration.

+

MaixCAM's ADC peripheral has a sampling accuracy of 12 bits, which means that the sampling output range is from 0 to 4095. The sampling accuracy is 1/4096 of the reference voltage.

+

The MaixCAM's ADC peripheral cannot scan at a frequency higher than 320K/s, which is the reason for the additional wait time between ADC samples in the previous example.

+

The MaixCAM's ADC peripheral has an internal reference voltage of 1.5V, which may vary slightly in actual use.Since the typical internal reference voltage is 1.5 V, the ADC range of Soc is 0 to 1.5 V. Since the ADC range of this range is small, MaixCAM has designed a voltage divider circuit for the ADC peripheral to increase the ADC range. The reference voltage Vin_max of this voltage divider circuit is about 4.6~5.0V, due to the error of resistor resistance in the circuit, the impedance of ADC external device, and the deviation of internal reference voltage. A higher precision default value has been chosen in the API, and there is generally no need to pass this parameter.

+

+

If you need high ADC accuracy, you can calculate the reference voltage for this voltage divider circuit by following the steps below:

+
    +

  • You need to first measure to get the actual input voltage of ADC_PIN, which we call Vin.

    +
    • +

  • Then you need to measure to get the actual input voltage at ADC1, which we call Vadc. The location of resistor R10 can be found in this BOM file.

    +
    • +

  • You need to keep the same voltage input to ADC_PIN as in step 1 and then execute these commands in the shell:

    + +
    echo 1 > /sys/class/cvi-saradc/cvi-saradc0/device/cv_saradc
+cat /sys/class/cvi-saradc/cvi-saradc0/device/cv_saradc
+
    +

    This gives you the raw measured value of the ADC, which we call adc_data.

    +
    • +

  • You need to know the resistance values of the resistors R6 and R10 in the picture, record them.Typically, the MaixCAM has a resistance value of 10KΩ (10 000Ω) for R6 and 5.1KΩ (5 100Ω) for R10.

    +
    • +

  • Finally, you need to pass the results from the above steps to these python codes to get the range [0,Vin_max] of the ADC_PIN port.

    + +
    def maixcam_get_vin_max(Vin:float, Vadc:float, adc_data:int, r6:int, r10:int, adc_max:int=4095):
+    Vref = (Vadc/adc_data)*(adc_max+1)
+    r3 = Vadc*r6/(Vin-Vadc)
+    Vin_max = (Vref/r3)*(r6+r3)
+    return Vin_max
+
+Vin = 3.3		# step 1
+Vadc = 1.06		# step 2
+adc_data=2700	# step 3
+r6=10000		# step 4
+r10=5100		# step 4
+
+if __name__ == '__main__':
+    print(maixcam_get_vin_max(Vin, Vadc, adc_data, r6, r10))
+
    +

    Now pass the result to the third parameter of adc.ADC() and you will get a highly accurate ADC.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/peripheral/gpio.html b/maixpy/doc/en/peripheral/gpio.html new file mode 100644 index 0000000..c0f1e58 --- /dev/null +++ b/maixpy/doc/en/peripheral/gpio.html @@ -0,0 +1,385 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Using GPIO - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

MaixPy Using GPIO

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+ + + + + + 2024-06-21 + + +
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+ + +
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+ +
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+ +

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.

+

Note: The pins on the MaixCAM are tolerant to 3.3V. Do not input 5V voltage.

+

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:

+

+

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.

+ +
from maix import gpio, pinmap, time
+
+pinmap.set_pin_function("A14", "GPIOA14")
+led = gpio.GPIO("GPIOA14", 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

+

GPIO in Input Mode

+ +
from maix import gpio, pinmap, time
+
+pinmap.set_pin_function("A19", "GPIOA19")
+led = gpio.GPIO("GPIOA19", gpio.Mode.IN)
+
+while 1:
+    print(led.value())
+    time.sleep_ms(1) # sleep to make cpu free
+
+ + +
+
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+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/peripheral/i2c.html b/maixpy/doc/en/peripheral/i2c.html new file mode 100644 index 0000000..9cc6305 --- /dev/null +++ b/maixpy/doc/en/peripheral/i2c.html @@ -0,0 +1,379 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Using I2C with MaixPy - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

Using I2C with MaixPy

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Note: Requires MaixPy image and firmware >= 4.2.1

+
+

The I2C and corresponding pins of MaixCAM can be seen in the diagram:

+

+

For MaixCAM, due to limited pin resources, the pins for I2C1 and I2C3 overlap with those of the WiFi module (SDIO1). Therefore, you can only use either WiFi or hardware I2C, but not both. Additionally, there is an I2C5, which is simulated by software at the lower driver level. It is recommended to use this one, as the drivers are already set up, and its use is the same as using hardware I2C.

+

By default, the pins for I2C5 are configured as GPIO. Therefore, before using the i2c module, you should first use the pinmap module to set the pin functions to I2C5 as follows:

+ +
from maix import i2c, pinmap
+
+pinmap.set_pin_function("A15", "I2C5_SCL")
+pinmap.set_pin_function("A27", "I2C5_SDA")
+
+bus1 = i2c.I2C(5, i2c.Mode.MASTER)
+slaves = bus1.scan()
+print("find slaves:", slaves)
+
+
+

For more APIs, see i2c API documentation.

+

As mentioned above, for the MaixCAM, you must choose between using hardware I2C and WiFi. If you need to use I2C, you must disable WiFi and use the pinmap module to set the pin functions for I2C, then operate using the maix.i2c module.

+
+

TODO: Provide a method to disable WiFi (requires disabling the WiFi driver in the system, which is more complex).

+
+ +
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)
+
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/peripheral/pinmap.html b/maixpy/doc/en/peripheral/pinmap.html new file mode 100644 index 0000000..ef43700 --- /dev/null +++ b/maixpy/doc/en/peripheral/pinmap.html @@ -0,0 +1,425 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Using PINMAP in MaixPy - MaixPy + + + + + + + + + + +
+ +
+ +
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+
+ +

Using PINMAP in MaixPy

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+ + + + + + 2024-06-11 + + +
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+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-06-111.0.0iawak9lkm + + Initial document + +
+
+
+ +
+
+ +

Pinmap Introduction

+

In System on Chip (SoC) design, a pin usually has more than one function, and this design method is called pin multiplexing. There are several main reasons for this:

+
    +

  • It saves the number of SoC pins.

    +

    SoCs integrate a large number of functional modules, such as CPUs, GPUs, memory controllers, I/O interfaces, communication modules, and so on. Assigning separate pins for each function would result in a very large number of pins being required, increasing the complexity and cost of the package. Through pin multiplexing, one pin can support different functions in different modes, thus significantly reducing the total number of pins.

    +
    • +

  • It reduces the cost of chip packaging and manufacturing.

    +

    Designers can choose smaller package sizes by reducing the number of pins, thus reducing packaging and manufacturing costs. Smaller packages not only reduce material costs, but also reduce the amount of space the chip takes up on the board, facilitating the design of more compact electronic products.

    +
    • +

  • It improves design flexibility.

    +

    Pin-multiplexing provides greater design flexibility. Different combinations of pin functions may be required in different application scenarios, and different pin functions can be enabled according to specific needs through software configuration. For example, the same pin can be used as a UART interface in one practical application and an SPI bus interface in another.

    +
    • +

  • It simplifies the PCB layout.

    +

    Reducing the number of pins simplifies the layout design of a printed circuit board (PCB). Fewer pins mean fewer wiring layers and vias, which simplifies PCB design and reduces manufacturing challenges and costs.

    +
    • +

  • Optimize performance.

    +

    In some cases, signal paths and performance can be optimized by multiplexing pins. For example, by selecting the proper combination of pin functions, interference and noise in the signal transmission path can be reduced, improving the overall performance and reliability of the system.

    +
    • +
+

Pinmap displays and manages the individual pin configurations of the chip, which typically include the name of each pin and its function (usually multiple functions).

+

We use the MaixCAM GPIO A28 as an example.

+
    +
  • A28 is the pin name.
    • +
  • GPIOA28/UART2_TX/JTAG_TDI are the functions supported by this pin as listed in the Soc manual, and the function of this pin at the same time can only be one of these three functions.
    • +
+

With Pinmap, we can set the specified chip pin for the specified function.

+

Using Pinmap in MaixPy

+

The following diagram lists the pin numbers and their functions on the MaixCAM board.

+

+

Or read the SG2002 Chip Manual Pinmux section for the remaining pin numbers and functions.

+

It's actually quite easy to use Pinmap to manage pin functions through MaixPy.

+ +
from maix.peripheral import pinmap
+
+print(pinmap.get_pins())
+
+f = pinmap.get_pin_functions("A28")
+print(f"GPIO A28 pin functions:{f}")
+
+print(f"Set GPIO A28 to {f[0]} function")
+pinmap.set_pin_function("A28", f[0])
+
+

In the example, we start by listing all the pins available for management. Then we query GPIO A28 for all the functions available. Finally the function of the pin is set to the first function listed (GPIO).

+

For a more detailed description of the Pinmap API, see the Pinmap API documentation.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/peripheral/pwm.html b/maixpy/doc/en/peripheral/pwm.html new file mode 100644 index 0000000..d6b4dbf --- /dev/null +++ b/maixpy/doc/en/peripheral/pwm.html @@ -0,0 +1,386 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Using PWM in MaixPy - MaixPy + + + + + + + + + + +
+ +
+ +
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+
+
+ +

Using PWM in MaixPy

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+ + +
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+ +
+
+ +

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:

+

+

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:

+ +
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.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/peripheral/spi.html b/maixpy/doc/en/peripheral/spi.html new file mode 100644 index 0000000..642906f --- /dev/null +++ b/maixpy/doc/en/peripheral/spi.html @@ -0,0 +1,492 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Using SPI in MaixPy - MaixPy + + + + + + + + + + +
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Using SPI in MaixPy

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+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-06-111.0.0iawak9lkm + + Initial document + +
+
+
+ +
+
+ +

SPI Introduction

+

SPI (Serial Peripheral Interface) is a synchronous peripheral interface that enables the SoC to communicate serially with various peripheral devices to exchange information. Common peripherals are Flash RAM, network controllers, LCD display drivers, and A/D converters.

+

SPI uses Master-Slave mode, which supports one or more Slave devices.

+

On a hardware circuit, SPI usually consists of 4 wires which are:

+
    +
  • MISO(Master Output Slave Input): This pin sends data in slave mode or receives data in master mode.
    • +
  • MOSI(Master Input Slave Output): This pin sends data in master mode or receives data in slave mode.
    • +
  • SCK: Serial bus clock, output by the master device and input by the slave device.
    • +
  • NSS/CS: Slave Device Selection. It acts as a chip select pin, allowing the master device to communicate with specific slave devices individually, avoiding conflicts on the bus.
    • +
+

In terms of communication protocols, SPI behavior is generally like this:

+
    +

  • SPI supports one master device and multiple slave devices. When the master device needs to communicate with a specific slave device, it selects the CS pin connected to that slave device to enable this transfer.This means that a slave device has only one CS pin for the master device to select itself, and the number of chip-select pins for the master device depends on how many slave devices are connected to its SPI bus.

    +
    • +

  • SPI has four modes, depending on the configuration of polarity (CPOL) and phase (CPHA).

    +

    Polarity affects the level of the clock signal when the SPI bus is idle.

    +
      +
    1. CPOL = 1, it indicates a high level at idle.
      2. +
    2. CPOL = 0, it indicates a low level at idle.
      3. +
    +

    The phase determines the edge at which the SPI bus acquires data. There are two types of edges, rising edge and falling edge.

    +
      +
    1. CPHA = 0, it indicates that sampling starts from the first edge.
      2. +
    2. CPHA = 1, it indicates that sampling starts from the second edge.
      3. +
    +

    Polarity and phase are combined to form the four modes of SPI:

    +
    • +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ModeCPOLCPHA
000
101
210
311
+
    +

  • SPI typically supports both full-duplex transmission and half-duplex transmission.

    +
    • +

  • SPI does not specify a maximum transmission rate, it does not have an address scheme; SPI does not specify a communication response mechanism, it does not specify flow control rules.

    +
    • +
+

Using SPI in MaixPy

+

This is the pinout of MaixCAM.

+

+

You need to use maix.peripheral.pinmap to complete the pin mapping for SPI before use.

+

Note: The MaixCAM's SPI can only be used as an SPI master device. MaixCAM's SPI does not support modifying the valid level of the hardware CS pins at this time. The active level of all SPI hardware CS is low. If you need to use other CS active levels, configure the software CS pins and their active levels in the SPI API. SPI4 is the software simulated SPI, the measured maximum rate is 1.25MHz, and the usage is the same as hardware SPI.

+

Using SPI with MaixPy is easy:

+ +
from maix import spi, pinmap
+
+pin_function = {
+    "A24": "SPI4_CS",
+    "A23": "SPI4_MISO",
+    "A25": "SPI4_MOSI",
+    "A22": "SPI4_SCK"
+}
+
+for pin, func in pin_function.items():
+    if 0 != pinmap.set_pin_function(pin, func):
+        print(f"Failed: pin{pin}, func{func}")
+        exit(-1)
+
+
+spidev = spi.SPI(4, spi.Mode.MASTER, 1250000)
+
+### Example of full parameter passing.
+# spidev = spi.SPI(id=4,                  # SPI ID
+#                  mode=spi.Mode.MASTER,  # SPI mode
+#                  freq=1250000,          # SPI speed
+#                  polarity=0,            # CPOL 0/1, default is 0
+#                  phase=0,               # CPHA 0/1, default is 0
+#                  bits=8,                # Bits of SPI, default is 8
+#                  cs_enable=True,        # Use soft CS pin? True/False, default is False
+#                  cs='GPIOA19')          # Soft cs pin number, default is 'GPIOA19'
+
+b = bytes(range(0, 8))
+
+res = spidev.write_read(b, len(b))
+if res == b:
+    print("loopback test succeed")
+else:
+    print("loopback test failed")
+    print(f"send:{b}\nread:{res}")
+
+

You need to connect the MOSI and MISO of this SPI first.

+

Configure the required pins with pinmap and then enable full duplex communication, the return value will be equal to the sent value.

+

See the SPI API documentation for a more detailed description of the SPI API.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/peripheral/uart.html b/maixpy/doc/en/peripheral/uart.html new file mode 100644 index 0000000..bf23553 --- /dev/null +++ b/maixpy/doc/en/peripheral/uart.html @@ -0,0 +1,505 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy + + + + + + + + + + +
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Translation to English:

+

title: MaixPy UART Serial Port Usage Introduction

+

Introduction to Serial Ports

+

A serial port is a method of communication that includes definitions of hardware and communication protocols.

+
    +
  • Hardware includes:
      +
    • 3 pins: GND, RX, TX. The communication between two parties involves cross-connecting RX and TX, i.e., one's TX sends to the other's RX, and both parties' GNDs are connected.
      • +
    • Controller, usually internal within the chip, also known as UART peripheral, typically a chip has one or more UART controllers, each with corresponding pins.
      • +
    +
    • +
  • Communication Protocol: To enable smooth communication between both parties, a set of protocols is established, which includes commonly used parameters like baud rate, parity bits, etc. Baud rate is the most frequently used parameter.
    • +
+

Using the board’s serial port, you can communicate data with other microcontrollers or SoCs, such as implementing human detection on MaixCAM and then sending the coordinates through the serial port to an STM32 microcontroller.

+

Using Serial Ports in MaixPy

+

For MaixCAM, a serial port is defaulted from the USB port, which can be used directly by plugging in the accompanying Type-C adapter board. Alternatively, without an adapter board, you can use the A16(TX) and A17(RX) pins on the board directly, which are equivalent to the pins led out from the USB port.

+

Note when using the USB-lead serial port on MaixCAM: the Type-C plug and unplug orientation can switch the RX and TX on the adapter board. So, if you find communication is not happening, it might be due to the RX and TX being reversed; try flipping the Type-C connector to see if communication normalizes. This is considered a design flaw, but generally, as frequent unplugging is not common, this can be adapted to.

+

Once both communicating boards are connected (communication between the two involves cross-connecting RX and TX, and both parties' GNDs are connected), you can use the software.

+

Using a serial port in MaixPy is simple:

+ +
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))
+
+

This lists all serial port devices in the system, then uses the first one, which is the one led out from the Type-C as mentioned above.

+

For more serial port APIs, see UART API Documentation.

+

Notes on using the MaixCAM serial port

+

Some developers may ask: Why does the computer not show a serial port device after plugging in the USB?

+

A: Because the device's USB is a virtual USB network card by default, it has no serial port function. If you want to access the device's terminal, please use ssh to connect.

+

For MaixCAM, the serial port 0 led out from the Type-C adapter board is directly connected to the A16(TX) and A17(RX) pins, which can be directly connected to the serial port pins of other devices such as microcontrollers;

+

If you want to communicate with a computer, you need to use a USB to serial port board (such as this) to connect to the computer.

+

It should be noted that MaixCAM's serial port 0 will print a part of the boot log when it is turned on, and the words serial ready will be printed after the startup is complete. If you need to communicate with the microcontroller, you need to discard this part of the information. If there is a problem with the system startup, you can also diagnose the problem by checking the startup print of serial port 0.

+

Sending and Receiving Data

+

The write_str function is used to send strings. In Python, there are two fundamental data types, str and bytes, where the former is a string, and the latter is raw byte data, for example:

+
    +
  • "A" becomes b"A" using the encode() method, conversely b"A" becomes "A" using the decode() method.
    • +
  • str can't display some invisible characters, like ASCII code value 0, represented as \0 in strings, generally used as an end character, whereas in bytes type, it can be stored as b"\x00".
    • +
  • It's even more useful for non-ASCII encoded strings, e.g., the Chinese character 好 in UTF-8 encoding is represented by three bytes \xe5\xa5\xbd, which can be obtained by "好".encode("utf-8") to produce b"\xe5\xa5\xbd", or converted back to "好" using b'\xe5\xa5\xbd'.decode("utf-8).
    • +
+

Thus, if you need to send byte data, use the write() method.

+

For str type, you can avoid using write_str and instead send using serial.write(str_content.encode()).

+

Also, if you have a list type of data, you can construct a bytes object using the bytes() method, like:

+ +
a = [1, 2, 3]
+serial.write(bytes(a))
+
+

Similarly, the data obtained by the read method is also of bytes type.

+

Other Usage

+ +
from maix import app, uart, time
+import sys
+
+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
+
+

Additionally, a `sleep

+

_ms` is included in the loop as a simple way to release the CPU, aiming to ensure the program does not consume all CPU resources. This is the simplest and most straightforward method.

+

Using Other Serial Ports

+

Each pin may correspond to different peripheral functions, also known as pin multiplexing. As shown in the diagram below, each pin corresponds to different functions, for example, pin A17 (as labeled on the board) corresponds to GPIOA17, UART0_RX, PWM5, by default set to UART0_RX.

+

+

Normally, you can directly use UART0 as mentioned above. For other serial ports, whose pins are not defaulted to serial peripheral functions, you need to first set up the mapping using pinmap.set_pin_function.

+

For example, to use UART1, first set the pin function mapping for serial, then use the device number /dev/ttyS1. Note that uart.list_devices() does not by default return serial ports that require manual mapping, so you can manually pass parameters:

+ +
from maix import app, uart, pinmap, time
+
+pinmap.set_pin_function("A18", "UART1_RX")
+pinmap.set_pin_function("A19", "UART1_TX")
+
+device = "/dev/ttyS1"
+
+serial1 = uart.UART(device, 115200)
+
+

Using Serial Communication Protocols

+

With serial communication, you can choose to transmit information in a way that suits your preferences, either by directly sending string results or by using Python's struct library to encode into a binary protocol.

+

Additionally, MaixPy also has a built-in communication protocol that you can use directly.

+

This communication protocol specifies the format in which both parties transmit content, facilitating the parsing and recognition of information. It is a binary protocol that includes a frame header, data content, checksum, etc. The complete protocol definition can be found at Maix Serial Communication Protocol Standard.
+It might seem difficult if you have never dealt with communication protocols, but you can understand it after going through the example below several times.

+

For instance, if we have an object detection task, and we want to send the detected object information via serial port to other devices (like an STM32 or Arduino microcontroller), telling them what objects were detected and their coordinates.

+

Complete example: MaixPy/examples/protocol/comm_protocol_yolov5.py

+

First, we need to detect the object, refer to the yolov5 object detection example, and here we skip other details to focus on what the detection results look like:

+ +
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)
+
+

As you can see, objs contains multiple detection results, and here we draw boxes on the screen. We can also find a way to send these results via the serial port.
+We do not need to manually initialize the serial port, just use the built-in maix.comm, maix.protocol modules, and calling comm.CommProtocol will automatically initialize the serial port with a default baud rate of 115200. The serial port protocol settings can be found in the device System Settings->Communication Protocol.
+System settings might also include other communication methods like tcp, the default is uart, and you can also use maix.app.get_sys_config_kv("comm", "method") to check if the current setting is uart.

+ +
from maix import comm, protocol, app
+from maix.err import Err
+import struct
+
+def encode_objs(objs):
+    '''
+        Encode object info into a bytes body for protocol
+        2B x(LE) + 2B y(LE) + 2B w(LE) + 2B h(LE) + 2B idx ...
+    '''
+    body = b""
+    for obj in objs:
+        body += struct.pack("<hhHHH", obj.x, obj.y, obj.w, obj.h, obj.class_id)
+    return body
+
+APP_CMD_ECHO = 0x01
+APP_CMD_DETECT_RES = 0x02
+
+p = comm.CommProtocol(buff_size = 1024)
+
+while not app.need_exit():
+    # ...
+    objs = detector.detect(img, conf_th = 0.5, iou_th = 0.45)
+    if len(objs) > 0:
+        body = encode_objs(objs)
+        p.report(APP_CMD_DETECT_RES, body)
+    # ...
+
+

Here, the encode_objs function packages all detected object information into a bytes type of data, and then the p.report function sends the results out.

+

The content of body is simply defined as 2B x(LE) + 2B y(LE) + 2B w(LE) + 2B h(LE) + 2B idx ...,
+meaning:

+
    +
  • Multiple objects detected in this image are arranged in order in body, each target occupies 10 bytes, totaling body_len / 10 objects.
    • +
  • The first and second bytes represent the top-left x coordinate of the detected object, measured in pixels. Since the yolov5 results might have negative coordinates, we use a short type to represent them, encoded in little-endian (LE).
    +Here, little-endian means the lower byte comes first, for example, the coordinate x is 100, hex 0x64, represented by two bytes as short would be 0x0064, and little-endian encoded into bytes would be 0x64 first,resulting in b'\x64\x00'.
    +
    • +
  • Similarly, encode the subsequent data sequentially, with each object resulting in a 10-byte-long bytes type data.
    • +
  • Loop to encode all object information and concatenate into a bytes object.
    • +
+

When calling the report function, the underlying system will automatically concatenate protocol headers, checksums, etc., according to the protocol, resulting in a frame of complete data being received at the other end.

+

After receiving the information at the other end, it must also be decoded according to the protocol. If the receiving end uses MaixPy, you can directly:

+ +
while not app.need_exit():
+    msg = p.get_msg()
+    if msg and msg.is_report and msg.cmd == APP_CMD_DETECT_RES:
+        print("receive objs:", decode_objs(msg.get_body()))
+        p.resp_ok(msg.cmd, b'1')
+
+

For other devices such as STM32 or Arduino, refer to the C language functions in the appendix of Maix Serial Communication Protocol Standard for encoding and decoding.

+ + +
+
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+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/peripheral/wdt.html b/maixpy/doc/en/peripheral/wdt.html new file mode 100644 index 0000000..d7335df --- /dev/null +++ b/maixpy/doc/en/peripheral/wdt.html @@ -0,0 +1,365 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Using Watchdog Timer in MaixPy - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

Using Watchdog Timer in MaixPy

+ +
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+
+ + + + + + 2024-06-21 + + +
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+ + + +
+
+
+
+ + +
+
+ +
+
+ +

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

+ +
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.

+ + +
+
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+ + +
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+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/pro/compile_os.html b/maixpy/doc/en/pro/compile_os.html new file mode 100644 index 0000000..fe7abaa --- /dev/null +++ b/maixpy/doc/en/pro/compile_os.html @@ -0,0 +1,344 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/projects/face_tracking.html b/maixpy/doc/en/projects/face_tracking.html new file mode 100644 index 0000000..273c1ba --- /dev/null +++ b/maixpy/doc/en/projects/face_tracking.html @@ -0,0 +1,452 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Face Tracking 2 axis servo gimbal - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Face Tracking 2 axis servo gimbal

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-06-11 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-06-111.0.0iawak9lkm + + Initial documentation + +
+
+
+ +
+
+ +

Before reading this article, make sure you know how to develop with MaixCAM. For details, please read Quick Start.

+

Description

+

Face recognition and tracking is accomplished using a gimbal consisting of two servos and MaixCAM.

+

+

+

Usage of this example program

+
    +

  • Assemble your Gimbal and MaixCAM.

    +
    • +

  • Modify the parameters in main.py.

    +

    Modify the MaixCAM pins used for each servo. The specified pins must have PWM capability.The servos.Servos constructor then configures the pin for PWM functionality.

    + +
    ROLL_PWM_PIN_NAME = "A17"
+PITCH_PWM_PIN_NAME = "A16"
+
    +

    Modify the initial positions of the two servos.

    + +
    init_pitch = 80         # init position, value: [0, 100], means minimum angle to maxmum angle of servo
+init_roll = 50          # 50 means middle
+
    +

    You need to modify the min-max PWM duty cycle for the active range of each of the two servos. NOTE: Certain Gimbal configurations may have unintended consequences when servos exceed their physically limited maximum range of motion. Ensure that there is no obstruction within the range of motion of the servos corresponding to the following setpoints.

    + +
    PITCH_DUTY_MIN  = 3.5   # The minimum duty cycle corresponding to the range of motion of the y-axis servo.
+PITCH_DUTY_MAX  = 9.5   # Maximum duty cycle corresponding to the y-axis servo motion range.
+ROLL_DUTY_MIN   = 2.5   # Minimum duty cycle for x-axis servos.
+ROLL_DUTY_MAX   = 12.5  # Maxmum duty cycle for x-axis servos.
+
    +

    You need to select the direction of motion of the servos.

    + +
    pitch_reverse = False                   # reverse out value direction
+roll_reverse = True                     # reverse out value direction
+
    +
    • +

  • Just execute the code at the end.

    +
    • +

  • If you want to exit the program, just press the button in the upper left corner.

    +

    +
    • +
+

FAQs

+
    +

  • The face tracking is not ideal.

    +

    Different Gimbal use different PID parameters, you can adjust the PID value to make the effect better.

    + +
    pitch_pid = [0.3, 0.0001, 0.0018, 0]    # [P I D I_max]
+roll_pid  = [0.3, 0.0001, 0.0018, 0]    # [P I D I_max]
+
    +
    • +

  • After completing the tracking, the gimbal jerks small left and right for a period of time against a motionless face.

    +

    You can usually make this effect as small as possible by adjusting the PID; however, there is no way to avoid the jitter caused by the physical structure of the gimbal. You can try to adjust the deadband to minimize the jitter.

    + +
    target_ignore_limit = 0.08
+# when target error < target_err_range*target_ignore_limit , set target error to 0
+
    +
    • +

  • The display shows or the terminal prints PIN: XXX does not exist.

    +

    This is because the pin does not exist in the pinout of the MaixCAM board. Please select a pin with PWM function on MaixCAM.

    +
    • +

  • The display shows or the terminal prints Pin XXX doesn't have PWM function.

    +

    This is because the pin does not have a PWM function, you need to select a pin with a PWM function.

    +
    • +
+

How to track other objects

+
    +

  • In main.py there exists a class Target which is used to customize the target to be tracked.

    +
    • +

  • In __init__, initialize the objects you need to use, such as the camera.

    +
    • +

  • In __get_target(), you need to calculate the center point of the tracked object, and if the tracked object does not exist in the frame, return -1,-1 to make sure that the program does not do anything for a while if the target is not found. You also need to call self.__exit_listener(img) and self.disp.show(img) before returning to the point to make sure that the program can interact with you properly.

    +
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+ + +
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+ +
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+ +
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+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/projects/index.html b/maixpy/doc/en/projects/index.html new file mode 100644 index 0000000..cdd5409 --- /dev/null +++ b/maixpy/doc/en/projects/index.html @@ -0,0 +1,367 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Practical Projects with MaixPy, Introduction and Collection - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

Practical Projects with MaixPy, Introduction and Collection

+ +
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+ + + + +
+
+ + + +
+
+
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+ + +
+
+ +
+
+ +

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 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:

+ +

MaixHub App Sharing

+

In addition to project sharing, you can also find directly runnable applications at the MaixHub App Store, 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:

+ + + +
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+ +
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+
+
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+ +
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+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/projects/line_tracking_robot.html b/maixpy/doc/en/projects/line_tracking_robot.html new file mode 100644 index 0000000..b3aa411 --- /dev/null +++ b/maixpy/doc/en/projects/line_tracking_robot.html @@ -0,0 +1,430 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Line Tracking Robot (/Car) - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Line Tracking Robot (/Car)

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-09 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-05-091.0.0lxowalle + + Initial documentation + +
+
+
+ +
+
+ +

Before reading this article, make sure you know how to develop with MaixCAM. For details, please read Quick Start.

+

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. +
  2. Implementing the line tracking function
    3. +
  3. Implement the trolley control function
    4. +
+

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：

+ +
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

+ + +
+
+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/sidebar.yaml b/maixpy/doc/en/sidebar.yaml new file mode 100644 index 0000000..245a1a3 --- /dev/null +++ b/maixpy/doc/en/sidebar.yaml @@ -0,0 +1,166 @@ +items: +- file: README.md + label: Quick Start +- file: faq.md + label: FAQ + +- label: Base + 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 + - file: basic/auto_start.md + label: Auto start + - file: basic/view_src_code.md + label: View API source code + +- label: Basic images and algorithms + 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/touchscreen.md + label: Touch screen + - 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 + - file: vision/opencv.md + label: Use OpenCV + +- label: AI Vision + items: + - file: vision/ai.md + label: AI vision knowledge + - file: vision/classify.md + label: AI object classify + - file: vision/yolov5.md + label: YOLOv5/v8 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/customize_model_yolov5.md + label: Offline train YOLOv5 model + - file: vision/customize_model_yolov8.md + label: Offline train YOLOv8 model + - file: ai_model_converter/maixcam.md + label: ONNX model to MaixCAM's + + +- label: AI audio + 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 + 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_streaming.md + label: RTSP stream + - file: video/rtmp_streaming.md + label: RTMP stream + +- label: On-chip peripherals + items: + - file: peripheral/pinmap.md + label: PINMAP + - 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 + - file: peripheral/adc.md + label: ADC + +- label: Off-chip modules + items: + - file: modules/temp_humi.md + label: Temperature and humidity + - file: modules/acc.md + label: Accelerometer + - 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 + - file: projects/face_tracking.md + label: Face tracking 2-axis gimbal + +- label: Advanced + 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 new file mode 100644 index 0000000..03a71a1 --- /dev/null +++ b/maixpy/doc/en/source_code/add_c_module.html @@ -0,0 +1,354 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Adding a C/C++ Module to MaixPy - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

Adding a C/C++ Module to MaixPy

+ +
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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

+

Method One: Directly Modify MaixPy Firmware， Refer to Viewing MaixPy API Source Code for guidance.

+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/source_code/build.html b/maixpy/doc/en/source_code/build.html new file mode 100644 index 0000000..cb70f53 --- /dev/null +++ b/maixpy/doc/en/source_code/build.html @@ -0,0 +1,414 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy develop source code guide - MaixPy + + + + + + + + + + +
+ +
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+ +

MaixPy develop source code guide

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+ + + +
+
+
+
+ + +
+
+ +
+
+ +

Get source code

+ +
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).

+ +
cd ~/maix
+git clone https://github.com/sipeed/MaixCDK
+
+

Then, you need to set the environment variable MAIXCDK_PATH to specify the path to MaixCDK, which can be added in ~/.bashrc or ~/.zshrc (depending on your shell):

+ +
export MAIXCDK_PATH=~/maix/MaixCDK
+
+

Only after successfully setting the environment variable can MaixPy locate the MaixCDK source code.

+

Build and pack to wheel

+ +
cd ~/maix/MaixPy
+python setup.py bdist_wheel maixcam
+
+

maixcam Can be replaced with other board config, see 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

+ +
maixcdk build
+
+

Run test after modify source code

+
    +
  • First, build source code by
    • +
+ +
maixcdk build
+
+
    +
  • If build for PC self(platform linux):
    • +
+

Then execute ./run.sh your_test_file_name.py to run python script.

+ +
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 directory, use Markdown format, you can use 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.

+ +
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

+

If you encounter any problems when use source code, please refer to FAQ first.

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/source_code/contribute.html b/maixpy/doc/en/source_code/contribute.html new file mode 100644 index 0000000..ab28069 --- /dev/null +++ b/maixpy/doc/en/source_code/contribute.html @@ -0,0 +1,380 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Contributing to MaixPy Documentation Modification and Code Contribution - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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.
    • +
  • 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.
    • +
+
+

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 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
    • +
  • Before modifying the code, it is best to create an issue 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.
    • +
  • 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, so if you modify the C/C++ source code, you may need to modify this repository first.

+
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/source_code/faq.html b/maixpy/doc/en/source_code/faq.html new file mode 100644 index 0000000..520a0d1 --- /dev/null +++ b/maixpy/doc/en/source_code/faq.html @@ -0,0 +1,362 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Source Code FAQ - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Source Code FAQ

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-06-21 + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

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_lockstd::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).

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/source_code/maixcdk.html b/maixpy/doc/en/source_code/maixcdk.html new file mode 100644 index 0000000..564f6df --- /dev/null +++ b/maixpy/doc/en/source_code/maixcdk.html @@ -0,0 +1,351 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Switching to MaixCDK for C/C++ Application Development - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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.

+

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, where you can find the MaixCDK code and documentation.

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/video/jpeg_streaming.html b/maixpy/doc/en/video/jpeg_streaming.html new file mode 100644 index 0000000..f1bd36a --- /dev/null +++ b/maixpy/doc/en/video/jpeg_streaming.html @@ -0,0 +1,514 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Video Stream JPEG Streaming / Sending Images to Server - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Video Stream JPEG Streaming / Sending Images to Server

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-05-201.0.1lxowalle + + update JPEG-HTTP usage + +
2024-04-031.0.0neucrack + + Initial document + +
+
+
+ +
+
+ +

Introduction

+

Sometimes it is necessary to send images to a server, or to push video from a webcam to a server, so here are two ways to do it.

+
    +

  • One of the simplest methods 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.

    +
    • +

  • Set up an HTTP server, so that the PC side can be accessed directly through the browser.

    +
    • +
+

Methods for pushing streams as a client

+ +
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.

+

Methods for pushing streams as a server

+ +
from maix import camera, time, app, http
+
+html = """<!DOCTYPE html>
+<html>
+<head>
+    <title>JPG Stream</title>
+</head>
+<body>
+    <h1>MaixPy JPG Stream</h1>
+    <img src="/stream" alt="Stream">
+</body>
+</html>"""
+
+cam = camera.Camera(320, 240)
+stream = http.JpegStreamer()
+stream.set_html(html)
+stream.start()
+
+print("http://{}:{}".format(stream.host(), stream.port()))
+while not app.need_exit():
+    t = time.ticks_ms()
+    img = cam.read()
+    jpg = img.to_jpeg()
+    stream.write(jpg)
+    print(f"time: {time.ticks_ms() - t}ms, fps: {1000 / (time.ticks_ms() - t)}")
+
+

Steps:

+
    +

  1. Import the image, camera and http modules:

    + +
    from maix import image, camera, http
+
    +
    2. +

  2. Initialize the camera:

    + +
    cam = camera.Camera(320, 240)
+
    +
    3. +

  3. Initialize Stream Object

    + +
    stream = http.JpegStreamer()
+stream.start()
+
    +
      +
    • http.JpegStreamer() is used to create a JpegStreamer object, which will start an http server that will be used to publish jpeg image streams to clients.
      • +
    • stream.start() is used to start the http server.
      • +
    +
    4. +

  4. Custom html styles (optional)

    + +
    html = """<!DOCTYPE html>
+<html>
+<head>
+    <title>JPG Stream</title>
+</head>
+<body>
+    <h1>MaixPy JPG Stream</h1>
+    <img src="/stream" alt="Stream">
+</body>
+</html>"""
+
+stream.set_html(html)
+
    +
      +
    • html = xxx is the html code that can be used to customise the style of your web page. Note that the core code is <img src=‘/stream’ alt=‘Stream’>, be sure not to miss this line of code.
      • +
    • stream.set_html(html) is used to set the custom html code, this step is optional. The default browsing address is http://device_ip:8000.
      • +
    +
    5. +

  5. Getting images from the camera and pushing streams

    + +
    while 1:
+    img = cam.read()
+    jpg = img.to_jpeg()
+    stream.write(jpg)
+
    +
      +
    • img = cam.read() gets an image from the camera, when initialised as cam = camera.Camera(320, 240) the img object is an RGB image with a resolution of 320x240.
      • +
    • jpg = img.to_jpeg() converts the image to jpeg format
      • +
    • stream.write(jpg) writes the image format to the server and the http server will send this image to the http client.
      • +
    +
    6. +
    6. +
    1. Done, after running the code above, you can see the video stream directly through your browser, the default address is http://device_ip:8000. Open your browser and take a look!
      2. +
    +
    7. +
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/video/record.html b/maixpy/doc/en/video/record.html new file mode 100644 index 0000000..18ce6c3 --- /dev/null +++ b/maixpy/doc/en/video/record.html @@ -0,0 +1,505 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Video Record - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Video Record

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-05-201.0.0lxowalle + + Initial document + +
+
+
+ +
+
+ +

Introduction

+

This document provides instructions on how to use the video recording feature

+

Example 1

+

An example of recording a video in h265 format.

+ +
from maix import video, image, camera, app, time
+
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+e = video.Encoder()
+f = open('/root/output.h265', 'wb')
+
+record_ms = 2000
+start_ms = time.ticks_ms()
+while not app.need_exit():
+    img = cam.read()
+    frame = e.encode(img)
+
+    print(frame.size())
+    f.write(frame.to_bytes())
+
+    if time.ticks_ms() - start_ms > record_ms:
+        app.set_exit_flag(True)
+
+

步骤：

+
    +

  1. import module and Initialize the camera

    + +
    from maix import video, image, camera, app, time
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+
    +
      +
    • camera.Camera() is used to initialise the camera, here the camera resolution is initialised to 640x480, currently the Encoder only supports the NV21 format, so set the image format to image.Format.FMT_YVU420SP.
      • +
    +
    2. +

  2. Initialise the Encoder module

    + +
    e = video.Encoder()
+
    +
      +
    • The video.Encoder() module currently only supports processing image.Format.FMT_YVU420SP format images, which supports h265 and h264 encoding, and defaults to h265 encoding. If you want to use h264 encoding, then you can change the initialisation parameter to video.Encoder(type=video.VideoType.VIDEO_H264_CBR).
      • +
    • Note that only one encoder can exist at the same time
      • +
    +
    3. +

  3. Encoding the camera image

    + +
    img = cam.read()
+frame = e.encode(img)
+
    +
      +
    • img = cam.read() read camera image and save to img
      • +
    • frame = e.encode(img) encode img and save result to frame
      • +
    +
    4. +

  4. Save the encoded result to file

    + +
    f = open('/root/output.h265', 'wb')
+f.write(frame.to_bytes(False))
+
    +
      +
    • f = open(xxx) opens and creates a file
      • +
    • f.write(frame.to_bytes(False)) converts the encoding result frame to type bytes and then calls f.write() to write the data to the file
      • +
    +
    5. +

  5. Timed 2s exit

    + +
    record_ms = 2000
+start_ms = time.ticks_ms()
+while not app.need_exit():
+    if time.ticks_ms() - start_ms > record_ms:
+    app.set_exit_flag(True)
+
    +
      +
    • Here is the application logic for the timed exit, see the code for yourself
      • +
    +
    6. +

  6. Done

    +
    7. +
+

Example 2

+

An example of recording a video in h265 format.

+ +
from maix import video, time, image, camera, app
+
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+e = video.Encoder(capture = True)
+e.bind_camera(cam)
+
+f = open('/root/output.h265', 'wb')
+
+record_ms = 2000
+start_ms = time.ticks_ms()
+while not app.need_exit():
+    frame = e.encode()
+    img = e.capture()
+
+    print(frame.size())
+    f.write(frame.to_bytes(True))
+
+    if time.ticks_ms() - start_ms > record_ms:
+        app.set_exit_flag(True)
+
+

Similar to example 1, the difference is that the Encoder object's bind_camera method is called, and the Encoder takes the initiative to get the camera image, which has the advantage of using the hardware features to increase the encoding speed.

+ +
e = video.Encoder(capture = True)
+e.bind_camera(cam)
+frame = e.encode()
+img = e.capture()
+
+
    +
  • e = video.Encoder(capture = True) enables the capture parameter to allow encoding to capture encoded images when encoding
    • +
  • e.bind_camera(cam) binds the camera to the Encoder object
    • +
  • frame = e.encode() Instead of passing in img when encoding, fetch the image from the camera internally
    • +
  • img = e.capture() captures the encoded image from the Encoder object, which can be used for image processing
    • +
+

Convert to MP4 format

+

If you want to record video in mp4 format, you can record H265 video first, and then use the ffmpeg tool in the system to convert to mp4 format.

+ +
import os
+
+# Pack h265 to mp4
+# /root/output.h265 is the h265 file path
+# /root/output.mp4 is the mp4 file path
+os.system('ffmpeg -loglevel quiet -i /root/output.h265 -c:v copy -c:a copy /root/output.mp4 -y')
+
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/video/rtmp_streaming.html b/maixpy/doc/en/video/rtmp_streaming.html new file mode 100644 index 0000000..a882f1b --- /dev/null +++ b/maixpy/doc/en/video/rtmp_streaming.html @@ -0,0 +1,489 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Video Streaming RTMP Push Streaming - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Video Streaming RTMP Push Streaming

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-31 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-05-311.0.0lxowalle + + initial document + +
+
+
+ +
+
+ +

Introduction

+

This document provides methods for pushing H264 video streams via RTMP

+

How to use

+

The following example shows pushing an h264 video stream to rtmp://192.168.0.30:1935/live/stream

+ +
from maix import camera, time, rtmp, image
+
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+
+# rtmp://192.168.0.30:1935/live/stream
+host = '192.168.0.30'
+port = 1935
+app = 'live'
+stream = 'stream'
+bitrate = 1000_000
+r = rtmp.Rtmp(host, port, app, stream, bitrate)
+r.bind_camera(cam)
+r.start()
+
+while True:
+    time.sleep(1)
+
+

Steps:

+
    +

  1. Import the camera、rtmp、time and image modules:

    + +
    from maix import camera, time, rtmp, image
+
    +
    2. +

  2. Initialize the camera:

    + +
    cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP) # Initialise camera, output resolution 640x480 NV21 format
+
    +
      +
    • Note that the RTMP module currently only supports the NV21 format, so the camera needs to be configured to output in NV21 format.
      • +
    +
    3. +

  3. Initialise and start the Rtmp object

    + +
    r = rtmp.Rtmp(host, port, app, stream, bitrate)
+r.bind_camera(cam)
+r.start()
+
    +
      +
    • r = rtmp.Rtmp(host, port, app, stream, bitrate) is used to create an Rtmp object, where host refers to the ip address or domain of the rtmp server, app refers to the name of the application that is open to the rtmp server, and stream refers to the name of the rtmp stream, which can also be used as the key for pushing the stream
      • +
    • r.bind_camera(cam) is used to bind a Camera object, the original Camera object can not be used after binding.
      • +
    • r.start() is used to start the rtmp stream.
      • +
    +
    4. +

  4. Done

    +
    5. +
+

Push streaming test to Bilibili

+

Launch bilibili live stream

+
    +

  1. Click on Live Streaming

    +

    +
    2. +

  2. Click on Live Streaming Settings

    +
    3. +
+

+
    +
  1. Find the live streaming address
    2. +
+

+
    +
  1. Scroll down, select a category, and click Start Live!
    2. +
+

+
    +
  1. Get the push stream address
    2. +
+

+
    +
  • server address: rtmp://live-push.bilivideo.com/live-bvc
    • +
  • key：?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1
    • +
+

Push stream address: rtmp://live-push.bilivideo.com/live-bvc/?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1

+

Run the RTMP client

+ +
from maix import camera, time, rtmp, image
+
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+
+# rtmp://live-push.bilivideo.com/live-bvc/?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1
+host = 'live-push.bilivideo.com'
+port = 1935
+app = 'live-bvc'
+stream = '?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1'
+bitrate = 1000_000
+r = rtmp.Rtmp(host, port, app, stream, bitrate)
+r.bind_camera(cam)
+r.start()
+
+while True:
+    time.sleep(1)
+
+

Above get bilibili's push stream address as rtmp://live-push.bilivideo.com/live-bvc/?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1

+

Can be detached:

+
    +
  1. server address is live-push.bilivideo.com
    2. +
  2. port is 1935, if there is no port number, the default is 1935
    3. +
  3. application name is live-bvc
    4. +
  4. stream name is ?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1
    5. +
+

Run the code and you will be able to see the maixcam screen in the live stream, if you find that the live stream is not displayed, try to close the live stream first, then reopen it and run the code again.

+

Try it~!

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/video/rtsp_streaming.html b/maixpy/doc/en/video/rtsp_streaming.html new file mode 100644 index 0000000..f780a51 --- /dev/null +++ b/maixpy/doc/en/video/rtsp_streaming.html @@ -0,0 +1,436 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Video Streaming RTSP Push Streaming - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Video Streaming RTSP Push Streaming

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-05-201.0.0lxowalle + + Initial documentation + +
+
+
+ +
+
+ +

Introduction

+

This document provides methods for pushing streaming camera image via RTSP

+

How to use

+ +
from maix import time, rtsp, camera, image
+
+server = rtsp.Rtsp()
+cam = camera.Camera(2560, 1440, image.Format.FMT_YVU420SP)
+server.bind_camera(cam)
+server.start()
+
+print(server.get_url())
+
+while True:
+    time.sleep(1)
+
+

Steps:

+
    +

  1. Import the image、camera、image and rtsp modules:

    + +
    from maix import time, rtsp, camera, image
+
    +
    2. +

  2. Initialize the camera:

    + +
    cam = camera.Camera(2560, 1440, image.Format.FMT_YVU420SP) # Initialise camera, output resolution 2560x1440 NV21 format
+
    +
      +
    • Note that the RTSP module currently only supports the NV21 format, so the camera needs to be configured to output in NV21 format.
      • +
    +
    3. +

  3. Initialise and start the Rtsp object

    + +
    server = rtsp.Rtsp()
+server.bind_camera(cam)
+server.start()
+
    +
      +
    • server = rtsp.Rtsp() used to create an Rtsp object
      • +
    • server.bind_camera(cam) is used to bind a Camera object, after which the original Camera object can no longer be used.
      • +
    • server.start() is used to start the rtsp push stream.
      • +
    +
    4. +

  4. Print the URL of the current RTSP stream

    +

    python print(server.get_url())

    +
      +
    • server.get_url() is used to get the playback address of RTSP.
      • +
    +
    5. +

  5. Finished, after running the above code, you can play the video stream through VLC software, the tested version of VLC is 3.0.20. The default playback address is rtsp://device ip:8554/live.

    +
    6. +
+

OSD

+

Drawing lines and frames via OSD

+

TODO

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/ai.html b/maixpy/doc/en/vision/ai.html new file mode 100644 index 0000000..6c9a71b --- /dev/null +++ b/maixpy/doc/en/vision/ai.html @@ -0,0 +1,389 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Basic Knowledge of AI Vision - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

Basic Knowledge of AI Vision

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-04-031.0.0neucrack + + Initial documentation + +
+
+
+ +
+
+ +

Introduction

+

If you don't have an AI background, you can first read What is Artificial Intelligence (AI) and Machine Learning 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.

+

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.

+

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. 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.

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/apriltag.html b/maixpy/doc/en/vision/apriltag.html new file mode 100644 index 0000000..ddba1b7 --- /dev/null +++ b/maixpy/doc/en/vision/apriltag.html @@ -0,0 +1,503 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Apriltag Recognition - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Apriltag Recognition

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-04-031.0.0lxowalle + + Initial documentation + +
+
+
+ +
+
+ +

Before reading this article, make sure you are familiar with how to develop with MaixCAM. For more details, please read Quick Start.

+

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:

+ +
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

    + +
    from maix import image, camera, display
+
    +
    2. +

  2. Initialize the camera and display

    + +
    cam = camera.Camera()
+disp = display.Display()
+
    +
    3. +

  3. Get the image from the camera and display it

    + +
    while 1:
+    img = cam.read()
+    disp.show(img)
+
    +
    4. +

  4. Call the find_apriltags method to recognize Apriltag labels in the camera image

    + +
    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. +

  5. Process the recognized label results and display them on the screen

    + +
    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.
      • +
    +
    6. +
+

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.

+ + + + + + + + + + + + + + + + + + + + +
ParameterDescriptionExample
roiSet 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:
img.find_apriltags(roi=[50, 50, 100, 100])
familiesApriltag label family typeScan for labels from the TAG36H11 family:
img.find_apriltags(families = image.ApriltagFamilies.TAG36H11)
+

This article introduces common methods. For more API information, please refer to the image section of the API documentation.

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/assets/custmize_model1.png b/maixpy/doc/en/vision/assets/custmize_model1.png new file mode 100644 index 0000000..d33a933 Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model1.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model10.png b/maixpy/doc/en/vision/assets/custmize_model10.png new file mode 100644 index 0000000..09261c7 Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model10.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model11.png b/maixpy/doc/en/vision/assets/custmize_model11.png new file mode 100644 index 0000000..6f1b9ad Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model11.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model2.png b/maixpy/doc/en/vision/assets/custmize_model2.png new file mode 100644 index 0000000..924accf Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model2.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model3.png b/maixpy/doc/en/vision/assets/custmize_model3.png new file mode 100644 index 0000000..5e33031 Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model3.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model4.png b/maixpy/doc/en/vision/assets/custmize_model4.png new file mode 100644 index 0000000..e483206 Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model4.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model5.png b/maixpy/doc/en/vision/assets/custmize_model5.png new file mode 100644 index 0000000..9486d6d Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model5.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model6.png b/maixpy/doc/en/vision/assets/custmize_model6.png new file mode 100644 index 0000000..8933004 Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model6.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model7.png b/maixpy/doc/en/vision/assets/custmize_model7.png new file mode 100644 index 0000000..88fe9d9 Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model7.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model8.png b/maixpy/doc/en/vision/assets/custmize_model8.png new file mode 100644 index 0000000..b41aa89 Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model8.png differ diff --git a/maixpy/doc/en/vision/assets/custmize_model9.png b/maixpy/doc/en/vision/assets/custmize_model9.png new file mode 100644 index 0000000..f2b8355 Binary files /dev/null and b/maixpy/doc/en/vision/assets/custmize_model9.png differ diff --git a/maixpy/doc/en/vision/body_key_points.html b/maixpy/doc/en/vision/body_key_points.html new file mode 100644 index 0000000..f4b5558 --- /dev/null +++ b/maixpy/doc/en/vision/body_key_points.html @@ -0,0 +1,398 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Title: MaixPy Human Keypoint Pose Detection - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

Title: MaixPy Human Keypoint Pose Detection

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-06-21 + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

Introduction

+

With MaixPy, you can easily detect the coordinates of keypoints on human joints, useful for applications like posture detection, such as sitting posture analysis, or input for motion-sensing games.

+

MaixPy implements human pose detection based on YOLOv8-Pose, which can detect 17 keypoints on the human body.

+

+

Usage

+

Using MaixPy's maix.nn.YOLOv8 class, you can easily implement this functionality:

+ +
from maix import camera, display, image, nn, app
+
+detector = nn.YOLOv8(model="/root/models/yolov8n_pose.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, keypoint_th = 0.5)
+    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)
+        detector.draw_pose(img, obj.points, 8 if detector.input_width() > 480 else 4, image.COLOR_RED)
+    dis.show(img)
+
+

And you can also find code in MaixPy/examples/vision directory.

+

As you can see, by using YOLOv8-Pose, we directly utilize the YOLOv8 class. The only difference from the YOLOv8 object detection model is the model file, and the detect function returns an additional points value, which is a list of 17 integer coordinates arranged in sequence. For example, the first value is the x-coordinate of the nose, the second value is the y-coordinate of the nose, and so on, in the following order:

+ +
1. Nose
+2. Left Eye
+3. Right Eye
+4. Left Ear
+5. Right Ear
+6. Left Shoulder
+7. Right Shoulder
+8. Left Elbow
+9. Right Elbow
+10. Left Wrist
+11. Right Wrist
+12. Left Hip
+13. Right Hip
+14. Left Knee
+15. Right Knee
+16. Left Ankle
+17. Right Ankle
+
+

If certain parts are occluded, the corresponding values will be -1.

+

Higher Input Resolution Models

+

The default model input resolution is 320x224. If you wish to use a model with a higher resolution, you can download it from the MaixHub Model Library and transfer it to your device.

+

Higher resolutions theoretically offer better accuracy but come with a decrease in processing speed. Choose the resolution based on your use case. Additionally, if the provided resolutions do not meet your requirements, you can train your own model using the YOLOv8-Pose source code to export your own ONNX model, which can then be converted to a model supported by MaixCAM (method detailed in subsequent articles).

+ + +
+
+ +
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+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/camera.html b/maixpy/doc/en/vision/camera.html new file mode 100644 index 0000000..5b9e2a9 --- /dev/null +++ b/maixpy/doc/en/vision/camera.html @@ -0,0 +1,418 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Camera Usage - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Camera Usage

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-04-031.0.0neucrack + + 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 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:

+ +
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:

+ +
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:

+ +
from maix import camera, display
+
+cam = camera.Camera(640, 480)
+disp = display.Display()
+
+while 1:
+    img = cam.read()
+    disp.show(img)
+
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/classify.html b/maixpy/doc/en/vision/classify.html new file mode 100644 index 0000000..80d7128 --- /dev/null +++ b/maixpy/doc/en/vision/classify.html @@ -0,0 +1,372 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Using AI Models for Object Classification in MaixPy - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

Using AI Models for Object Classification in MaixPy

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+ + +
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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:

+ +
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:

+ +

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 module.

+

Training Your Own Classification Model

+

Please go to MaixHub to learn and train classification models. When creating a project, select Classification Model.

+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/custmize_model.html b/maixpy/doc/en/vision/custmize_model.html new file mode 100644 index 0000000..adcc145 --- /dev/null +++ b/maixpy/doc/en/vision/custmize_model.html @@ -0,0 +1,340 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy + + + + + + + + + + +
+ +
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+ +

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+ + + + + + 2024-06-21 + + +
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+ +

Please refer to MaixCAM Model Conversion, and find the model documentation you need to convert in the left directory, such as Custom YOLOv5 Model.

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/customize_model_yolov5.html b/maixpy/doc/en/vision/customize_model_yolov5.html new file mode 100644 index 0000000..b2ee5a6 --- /dev/null +++ b/maixpy/doc/en/vision/customize_model_yolov5.html @@ -0,0 +1,436 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Offline Training of YOLOv5 Model for Custom Object Detection with MaixPy - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

Offline Training of YOLOv5 Model for Custom Object Detection with MaixPy

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+ + + + + + 2024-06-21 + + +
+
+ + + +
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+ + +
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+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-6-20v1.0neucrack + + Documentation written + +
+
+
+ +
+
+ +

Introduction

+

The default official model provides detection for 80 types of objects. If this does not meet your needs, you can train your own detection objects using two methods:

+
    +
  • Use MaixHub Online Training, which is convenient and fast, without needing to buy a server or set up an environment, just a few clicks of the mouse.
    • +
  • Set up a training environment on your own computer or server.
    • +
+

The former is simple and quick, while the latter uses your own computer and the number of training images is not limited, but the latter is much more difficult.

+

Note: This article explains how to customize training, but some basic knowledge is assumed. If you do not have this knowledge, please learn it yourself:

+
    +
  • This article will not explain how to install the training environment. Please search and install it yourself (Pytorch environment installation) and test it.
    • +
  • This article will not explain the basic concepts of machine learning or basic Linux usage knowledge.
    • +
+

If you think there is something in this article that needs improvement, feel free to click Edit this article in the upper right corner to contribute and submit a documentation PR.

+

Process and Goals of this Article

+

To use our model on MaixPy (MaixCAM), the following process is required:

+
    +
  • Set up the training environment (this is not covered in this article, please search for Pytorch training environment setup).
    • +
  • Pull the yolov5 source code to your local machine.
    • +
  • Prepare the dataset and format it as required by the yolov5 project.
    • +
  • Train the model to get an onnx model file, which is the final output file of this article.
    • +
  • Convert the onnx model to a MUD file supported by MaixPy, which is detailed in MaixCAM Model Conversion.
    • +
  • Use MaixPy to load and run the model.
    • +
+

Reference Articles

+

Since this is a relatively common operational process, this article only provides an overview. For specific details, you can refer to the YOLOv5 official code and documentation (recommended), and search for training tutorials to ultimately export the onnx file.

+

Here are some articles from the MaixHub community:

+ +

If you find any good articles, feel free to modify this article and submit a PR.

+

Exporting YOLOv5 ONNX Model File

+

YOLOv5 provides an export option. Execute the following command in the yolov5 directory:

+ +
python export.py --weights ../yolov5s.pt --include onnx --img 224 320
+
+

This command loads the pt parameter file and converts it to onnx, while also specifying the resolution. Note that the height comes first, followed by the width. The model was trained with 640x640, but we re-specified the resolution to improve the running speed. The resolution 320x224 is used because it is closer to the MaixCAM screen ratio for better display. You can set it according to your needs.

+

MaixCAM MUD File

+

When converting onnx to mud format model files, refer to MaixCAM Model Conversion. You will eventually get a mud file and a cvimodel file. The content of the mud file is:

+ +
[basic]
+type = cvimodel
+model = yolov8n.cvimodel
+
+[extra]
+model_type = yolov8
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+labels = person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush
+
+

Replace the parameters according to the content of your training. For example, if you train to detect digits 0-9, then just replace labels=0,1,2,3,4,5,6,7,8,9, and then place the two files in the same directory and load the mud file when running the model.

+

Upload share on MaixHub

+

Share your model on MaixHub model zoo 上传并分享你的模型，可以多提供几个分辨率供大家选择。

+ + +
+
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/customize_model_yolov8.html b/maixpy/doc/en/vision/customize_model_yolov8.html new file mode 100644 index 0000000..def9fd0 --- /dev/null +++ b/maixpy/doc/en/vision/customize_model_yolov8.html @@ -0,0 +1,464 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Offline Training of YOLOv8 Model for Custom Object and Keypoint Detection with MaixPy - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

Offline Training of YOLOv8 Model for Custom Object and Keypoint Detection with MaixPy

+ +
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    + +
+
+
+
+ + + + + + 2024-06-21 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-6-21v1.0neucrack + + Documentation written + +
+
+
+ +
+
+ +

Introduction

+

The default official model provides detection for 80 types of objects. If this does not meet your needs, you can train your own detection objects by setting up a training environment on your computer or server.

+

YOLOv8 supports not only object detection but also keypoint detection with yolov8-pose. Besides the official human keypoints, you can create your own keypoint dataset to train and detect specified objects and keypoints.

+

Note: This article explains how to customize training, but some basic knowledge is assumed. If you do not have this knowledge, please learn it yourself:

+
    +
  • This article will not explain how to install the training environment. Please search and install it yourself (Pytorch environment installation) and test it.
    • +
  • This article will not explain the basic concepts of machine learning or basic Linux usage knowledge.
    • +
+

If you think there is something in this article that needs improvement, feel free to click Edit this article in the upper right corner to contribute and submit a documentation PR.

+

Process and Goals of this Article

+

To use our model on MaixPy (MaixCAM), the following process is required:

+
    +
  • Set up the training environment (this is not covered in this article, please search for Pytorch training environment setup).
    • +
  • Pull the yolov8 source code to your local machine.
    • +
  • Prepare the dataset and format it as required by the yolov5 project.
    • +
  • Train the model to get an onnx model file, which is the final output file of this article.
    • +
  • Convert the onnx model to a MUD file supported by MaixPy, which is detailed in MaixCAM Model Conversion.
    • +
  • Use MaixPy to load and run the model.
    • +
+

Reference Articles

+

Since this is a relatively common operational process, this article only provides an overview. For specific details, you can refer to the YOLOv8 official code and documentation (recommended), and search for training tutorials to ultimately export the onnx file.

+

If you find any good articles, feel free to modify this article and submit a PR.

+

Exporting YOLOv8 ONNX Model

+

Create an export_onnx.py file in the ultralytics directory:

+ +
from ultralytics import YOLO
+import sys
+
+print(sys.path)
+net_name = sys.argv[1] # yolov8n.pt yolov8n-pose.pt # https://docs.ultralytics.com/models/yolov8/#supported-tasks-and-modes
+input_width = int(sys.argv[2])
+input_height = int(sys.argv[3])
+
+# Load a model
+model = YOLO(net_name)  # load an official model
+# model = YOLO("path/to/best.pt")  # load a custom model
+
+# Predict with the model
+results = model("https://ultralytics.com/images/bus.jpg")  # predict on an image
+path = model.export(format="onnx", imgsz=[input_width, input_height])  # export the model to ONNX format
+print(path)
+
+

Then execute python export_onnx.py yolov8n.pt 320 224 to export the onnx model. Here, the input resolution is re-specified. The model was trained with 640x640, but we re-specified the resolution to improve the running speed. The resolution 320x224 is used because it is closer to the MaixCAM screen ratio for better display. You can set it according to your needs.

+

Converting to MaixCAM Supported Model and MUD File

+

MaixPy/MaixCDK currently supports both YOLOv8 detection and YOLOv8-pose human pose keypoint detection (as of 2024.6.21).

+

Follow MaixCAM Model Conversion for model conversion.

+

Note the choice of model output nodes:

+
    +
  • For YOLOv8, extract /model.22/dfl/conv/Conv_output_0,/model.22/Sigmoid_output_0 outputs from the onnx.
    • +
  • For keypoint detection (yolov8-pose), extract /model.22/dfl/conv/Conv_output_0,/model.22/Sigmoid_output_0,/model.22/Concat_output_0 outputs from the onnx.
    • +
+

YOLOv8 Output 1 YOLOv8 Output 2

+

For object detection, the mud file is:

+ +
[basic]
+type = cvimodel
+model = yolov8n.cvimodel
+
+[extra]
+model_type = yolov8
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+labels = person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush
+
+

Replace labels according to your training objects.

+

For keypoint detection (yolov8-pose), the mud file is:

+ +
[basic]
+type = cvimodel
+model = yolov8n_pose.cvimodel
+
+[extra]
+model_type = yolov8
+type = pose
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+labels = person
+
+

The default is human pose keypoint detection, so labels has only one person. Replace it according to the objects you are detecting.

+

Upload share on MaixHub

+

Share your model on MaixHub model zoo 上传并分享你的模型，可以多提供几个分辨率供大家选择。

+ + +
+
+ +
+
+
+
+
+ +
+
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/display.html b/maixpy/doc/en/vision/display.html new file mode 100644 index 0000000..34c59e7 --- /dev/null +++ b/maixpy/doc/en/vision/display.html @@ -0,0 +1,457 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Screen Usage - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Screen Usage

+ +
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+ + + + + + 2024-03-31 + + +
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+ + + +
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+ + +
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+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-03-311.0.0neucrack + + 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 section of the API documentation.

+

Using the Screen

+
    +
  • Import the display module:
    • +
+ +
from maix import display
+
+
    +
  • Create a Display object:
    • +
+ +
disp = display.Display()
+
+
    +
  • Display an image:
    • +
+ +
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:

+ +
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:

+ +
from maix import image, display
+
+disp = display.Display()
+img = image.Image(320, 240)
+img.draw_rect(0, 0, disp.width(), disp.height(), color=image.Color.from_rgb(255, 0, 0), thickness=-1)
+img.draw_rect(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:

+ +
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:

+ +
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.

+ +
from maix import image
+
+img = image.Image(320, 240)
+img.draw_rect(0, 0, img.width(), img.height(), color=image.Color.from_rgb(255, 0, 0), thickness=-1)
+img.draw_rect(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()
+
+ + +
+
+ +
+
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+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/face_detection.html b/maixpy/doc/en/vision/face_detection.html new file mode 100644 index 0000000..d3643f1 --- /dev/null +++ b/maixpy/doc/en/vision/face_detection.html @@ -0,0 +1,399 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Face Detection and Keypoint Detection - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Face Detection and Keypoint Detection

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+ + + +
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+ +

Introduction

+

Face detection can be applied in many scenarios, such as providing the face detection step for face recognition, or for face tracking applications, etc.

+

The face detection provided here can not only detect faces but also detect 5 key points, including two eyes, one nose, and two corners of the mouth.

+

face detection

+

Using Face Detection in MaixPy

+

MaixPy officially provides three face detection models from the open-source projects Face Detector 1MB with landmark, Retinaface, and YOLOv8-face.

+

All three models can be used. YOLOv8-face performs better but is slightly slower, so you can choose based on your testing.

+

Using YOLOv8-face (requires MaixPy version >= 4.3.8):

+ +
from maix import camera, display, image, nn, app
+
+detector = nn.YOLOv8(model="/root/models/yolov8n_face.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, keypoint_th = 0.5)
+    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)
+        detector.draw_pose(img, obj.points, 2, image.COLOR_RED)
+    dis.show(img)
+
+

For the other two models:
+Here, a line of commented-out code is used to load the Retinaface model. Choose which line of code to use based on the model you download.

+ +
from maix import camera, display, image, nn, app
+import math
+
+detector = nn.Retinaface(model="/root/models/retinaface.mud")
+# detector = nn.FaceDetector(model="/root/models/face_detector.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)
+
+

Model Downloads and Other Resolution Models

+

Download the models; the compressed package contains multiple resolutions to choose from. Higher resolution models are more accurate but take longer to process:

+ + + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/face_recognition.html b/maixpy/doc/en/vision/face_recognition.html new file mode 100644 index 0000000..c02533e --- /dev/null +++ b/maixpy/doc/en/vision/face_recognition.html @@ -0,0 +1,398 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Face Recognition - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Face Recognition

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+ + + + +
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+ + + +
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+ + +
+
+ +
+
+ +

Introduction to Face Recognition

+

face_recognize

+

Face recognition involves identifying the location of faces in the current view and who they are.
+Thus, in addition to detecting faces, face recognition typically involves a database to store known and unknown individuals.

+

Recognition Principles

+
    +
  • Use AI models to detect faces, obtaining coordinates and features of facial components.
    • +
  • Use the coordinates of these features for affine transformation to align the face in the image to a standard face orientation, facilitating the extraction of facial features by the model.
    • +
  • Employ a feature extraction model to derive facial feature values.
    • +
  • Compare these features with those stored in the database (by calculating the cosine distance between the saved and the current facial features, identifying the face in the database with the smallest distance; if it's below a predefined threshold, it is recognized as the person in the database).
    • +
+

Using MaixPy

+

MaixPy's maix.nn module provides a face recognition API, ready to use with built-in models. Additional models can also be downloaded from the MaixHub model repository (select the appropriate hardware platform, such as maixcam).

+

Recognition:

+ +
from maix import nn, camera, display, image
+import os
+import math
+
+recognizer = nn.FaceRecognizer(detect_model="/root/models/retinaface.mud", feature_model = "/root/models/face_feature.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, 0.5, 0.45, 0.8)
+    for obj in faces:
+        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)
+        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 you first run this code, it can detect faces but will not recognize them. We need to enter a mode to learn faces.

+
+

Here recognizer.labels[0] is by default unknown, and every new face added will automatically append to labels.

+
+

For example, you can learn faces when a user presses a button:

+ +
faces = recognizer.recognize(img, 0.5, 0.45, True)
+for face in faces:
+    print(face)
+    # This accounts for the scenario where multiple faces are present in one scene; obj.class_id of 0 means the face is not registered
+    # Write your own logic here
+    #   For instance, based on face’s class_id and coordinates, you can decide whether to add it to the database and facilitate user interaction, like pressing a button to register
+    recognizer.add_face(face, label) # label is the name you assign to the face
+recognizer.save_faces("/root/faces.bin")
+
+

Complete Example

+

A complete example is provided for recording unknown faces and recognizing faces with a button press. This can be found in the MaixPy example directory under nn_face_recognize.py.

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/find_blobs.html b/maixpy/doc/en/vision/find_blobs.html new file mode 100644 index 0000000..2484467 --- /dev/null +++ b/maixpy/doc/en/vision/find_blobs.html @@ -0,0 +1,543 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Find Blobs - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Find Blobs

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-04-031.0.0neucrack + + Initial documentation + +
2024-04-031.0.1lxowalle + + 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.

+

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:

+ +
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

    + +
    from maix import image, camera, display
+
    +
    2. +

  2. Initialize the camera and display

    + +
    cam = camera.Camera(320, 240)	# Initialize the camera with an output resolution of 320x240 in RGB format
+disp = display.Display()
+
    +
    3. +

  3. Get the image from the camera and display it

    + +
    while 1:
+    img = cam.read()
+    disp.show(img)
+
    +
    4. +

  4. Call the find_blobs method to find color blobs in the camera image and draw them on the screen

    + +
    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.
      • +
    +
    5. +
+

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.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ParameterDescriptionExample
thresholdsThresholds based on the LAB color space, thresholds=[[l_min, l_max, a_min, a_max, b_min, b_max]], representing:
Brightness range [l_min, l_max]
Green to red component range [a_min, a_max]
Blue to yellow component range [b_min, b_max]
Multiple thresholds can be set simultaneously		Set two thresholds to detect red and green
img.find_blobs(thresholds=[[0, 80, 40, 80, 10, 80], [0, 80, -120, -10, 0, 30]])
Red threshold is [0, 80, 40, 80, 10, 80]
Green threshold is [0, 80, -120, -10, 0, 30]
invertEnable threshold inversion, when enabled, the passed thresholds are inverted. Default is False.Enable threshold inversion
img.find_blobs(invert=True)
roiSet 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
img.find_blobs(roi=[50, 50, 100, 100])
area_thresholdFilter 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
img.find_blobs(area_threshold=1000)
pixels_thresholdFilter 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
img.find_blobs(pixels_threshold=1000)
+

This article introduces commonly used methods. For more APIs, please see the image 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.

+

+

Detailed Explanation

+

The app interface is as follows:

+

+

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. +
  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. +
  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.
    4. +
+
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. +
  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. +
  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. +
  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.
    5. +
+

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. +
  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. +
  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.
    4. +
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/image_ops.html b/maixpy/doc/en/vision/image_ops.html new file mode 100644 index 0000000..20815a0 --- /dev/null +++ b/maixpy/doc/en/vision/image_ops.html @@ -0,0 +1,643 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Basic Image Operations - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Basic Image Operations

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-04-031.0.0neucrack + + 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")
+if img is None:
+    raise Exception(f"load image failed")
+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.

+

Chinese support and custom fonts

+

The image module supports loading ttf/otf fonts. The default font only supports English. If you want to display Chinese or custom fonts, you can first download the font file to the device and then load the font.
+The system also has several built-in fonts, under the /maixapp/share/font directory, code example:

+ +
from maix import image, display, app, time
+
+image.load_font("sourcehansans", "/maixapp/share/font/SourceHanSansCN-Regular.otf", size = 32)
+print("fonts:", image.fonts())
+image.set_default_font("sourcehansans")
+
+disp = display.Display()
+
+img = image.Image(disp.width(), disp.height())
+img.draw_string(2, 2, "Hello! Hello, world!", image.Color.from_rgba(255, 0, 0))
+
+disp.show(img)
+while not app.need_exit():
+time.sleep(1)
+
+

Load the font file, then set the default font, or you can set the default font without setting the default font, and set the parameters in the writing function:

+ +
img.draw_string(2, 2, "你好！Hello, world!", image.Color.from_rgba(255, 0, 0), font="sourcehansans")
+
+

Note that the string_size method will also use the default font to calculate the size, and you can also use the font parameter to set the font to be calculated separately.

+

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:

+ +
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:

+ +
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:

+ +
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:

+ +
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:

+ +
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:

+ +
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:

+ +
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:

+ +
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:

+ +
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:

+ +
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.

+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/line_tracking.html b/maixpy/doc/en/vision/line_tracking.html new file mode 100644 index 0000000..a2417e6 --- /dev/null +++ b/maixpy/doc/en/vision/line_tracking.html @@ -0,0 +1,567 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Line Tracking - MaixPy + + + + + + + + + + +
+ +
+ +
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+
+
+ +

MaixPy Line Tracking

+ +
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    + +
+
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+ + + + + + 2024-05-09 + + +
+
+ + + +
+
+
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+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-05-091.0.0lxowalle + + Initial document + +
+
+
+ +
+
+ +

Before reading this article, make sure you already know how to develop MaixCAM. For details, please read Quick Start.

+

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.

+ +
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

    + +
    from maix import image, camera, display
+
    +
    2. +

  2. Initialize camera and display

    + +
    cam = camera.Camera(320, 240) # Initialise camera, output resolution 320x240 in RGB format.
+disp = display.Display()
+
    +
    3. +

  3. Get the image from the camera and display it

    + +
    while 1:
+    img = cam.read()
+    disp.show(img)
+
    +
    4. +

  4. Call the get_regression method to find the straight line in the camera image and draw it to the screen

    + +
    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. +

  5. Run the code through the maixvision, you can find the line, look at the effect!

    +

    image-20240509110204007

    +
    6. +
+

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.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ParameterDescriptionExample
thresholdsThresholds based on the LAB color space, thresholds=[[l_min, l_max, a_min, a_max, b_min, b_max]], representing:
Brightness range [l_min, l_max]
Green to red component range [a_min, a_max]
Blue to yellow component range [b_min, b_max]
Multiple thresholds can be set simultaneously		Set two thresholds to detect red and green
img.find_blobs(thresholds=[[0, 80, 40, 80, 10, 80], [0, 80, -120, -10, 0, 30]])
Red threshold is [0, 80, 40, 80, 10, 80]
Green threshold is [0, 80, -120, -10, 0, 30]
invertEnable threshold inversion, when enabled, the passed thresholds are inverted. Default is False.Enable threshold inversion
img.find_blobs(invert=True)
roiSet 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
img.find_blobs(roi=[50, 50, 100, 100])
area_thresholdFilter 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
img.find_blobs(area_threshold=1000)
pixels_thresholdFilter 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
img.find_blobs(pixels_threshold=1000)
+

This article introduces commonly used methods. For more APIs, please see the image section of the API documentation.

+

Increasing the speed of line tracking

+

Here are a few ways to increase the speed of line tracking

+
    +

  1. Choose a suitable resolution

    +

    The larger the resolution, the slower the calculation speed, you can choose a more suitable resolution according to the recognition distance and accuracy requirements.

    +
    2. +

  2. Use gray scale image

    +

    When using gray scale recognition, the algorithm will only process one channel, there is a faster recognition speed, in the environment of a single color will be very useful. Note that only l_min and l_max are valid when passing thresholds to get_regression when using gray scale image recognition.

    +

    Methods for get gray scale image:

    + +
    # Example 1
+cam = camera.Camera(320, 240， image.Format.FMT_GRAYSCALE)    	# Support after MaixPy v4.2.1
+gray_img = cam.read()											# get gray scale image
+
+# Example 2
+cam = camera.Camera(320, 240)
+img = cam.read()
+gray_img = img.to_format(image.Format.FMT_GRAYSCALE)			# get gray scale image
+
    +
    3. +
+

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. +
  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. +
  3. Click on the colour to be detected on the left (the colour below L A B in the screen)
    4. +
  4. The line will be identified and the coordinates and angle of the line will be output from the serial port.
    5. +
+

Demo

+

+

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. +
  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. +
  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. +
  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.
    5. +
+

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:

+ +
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.

    +
    • +
+ + +
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+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/maixhub_train.html b/maixpy/doc/en/vision/maixhub_train.html new file mode 100644 index 0000000..b24c1ab --- /dev/null +++ b/maixpy/doc/en/vision/maixhub_train.html @@ -0,0 +1,405 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Using MaixHub to Train AI Models for MaixPy - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

Using MaixHub to Train AI Models for MaixPy

+ +
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    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-04-031.0.0neucrack + + 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 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.

+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/object_track.html b/maixpy/doc/en/vision/object_track.html new file mode 100644 index 0000000..5ed4e99 --- /dev/null +++ b/maixpy/doc/en/vision/object_track.html @@ -0,0 +1,349 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

+ +
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+ + + + + + 2024-06-21 + + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/ocr.html b/maixpy/doc/en/vision/ocr.html new file mode 100644 index 0000000..0c920a7 --- /dev/null +++ b/maixpy/doc/en/vision/ocr.html @@ -0,0 +1,346 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 实现 OCR 图片文字提取 - MaixPy + + + + + + + + + + +
+ +
+ +
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+
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+ +

MaixPy 实现 OCR 图片文字提取

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TODO:

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/opencv.html b/maixpy/doc/en/vision/opencv.html new file mode 100644 index 0000000..48ff35c --- /dev/null +++ b/maixpy/doc/en/vision/opencv.html @@ -0,0 +1,426 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Use OpenCV - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

Use OpenCV

+ +
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+ + +
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+ +
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+ +

Introduction

+

For MaixCAM, since it uses Linux and the performance can support using the Python version of OpenCV, you can use the cv2 module directly in addition to the maix module.

+

The examples in this article and more can be found in MaixPy/examples/vision/opencv.

+

Note that OpenCV functions are basically CPU-calculated. If you can use maix modules, try not to use OpenCV, because many maix functions are hardware-accelerated.

+

Load an Image

+ +
import cv2
+
+file_path = "/maixapp/share/icon/detector.png"
+img = cv2.imread(file_path)
+print(img)
+
+

Since the cv2 module is quite large, import cv2 may take some time.

+

Display Image on Screen

+

To display an image on the screen, convert it to a maix.image.Image object and then use display to show it:

+ +
from maix import display, image, time
+import cv2
+
+disp = display.Display()
+
+file_path = "/maixapp/share/icon/detector.png"
+img = cv2.imread(file_path)
+
+img_show = image.cv2image(img)
+disp.show(img_show)
+
+while not app.need_exit():
+    time.sleep(1)
+
+

Use OpenCV Functions

+

For example, edge detection:

+

Based on the code above, use the cv2.Canny function:

+ +
from maix import image, display, app, time
+import cv2
+
+file_path = "/maixapp/share/icon/detector.png"
+img0 = cv2.imread(file_path)
+
+disp = display.Display()
+
+while not app.need_exit():
+    img = img0.copy()
+
+    # canny method
+    t = time.ticks_ms()
+    edged = cv2.Canny(img, 180, 60)
+    t2 = time.ticks_ms() - t
+
+    # show by maix.display
+    t = time.ticks_ms()
+    img_show = image.cv2image(edged)
+    print(f"edge time: {t2}ms, convert time: {time.ticks_ms() - t}ms")
+    disp.show(img_show)
+
+

Use Camera

+

On a PC, we use OpenCV's VideoCapture class to read from the camera. For MaixCAM, OpenCV does not support this directly, so we use the maix.camera module to read from the camera and then use it with OpenCV.

+

Convert a maix.image.Image object to a numpy.ndarray object using the image.image2cv function:

+ +
from maix import image, display, app, time, camera
+import cv2
+
+disp = display.Display()
+cam = camera.Camera(320, 240)
+
+while not app.need_exit():
+    img = cam.read()
+
+    # convert maix.image.Image object to numpy.ndarray object
+    t = time.ticks_ms()
+    img = image.image2cv(img)
+    print("time: ", time.ticks_ms() - t)
+
+    # canny method
+    edged = cv2.Canny(img, 180, 60)
+
+    # show by maix.display
+    img_show = image.cv2image(edged)
+    disp.show(img_show)
+
+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/qrcode.html b/maixpy/doc/en/vision/qrcode.html new file mode 100644 index 0000000..d258e94 --- /dev/null +++ b/maixpy/doc/en/vision/qrcode.html @@ -0,0 +1,467 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy QR Code Recognition - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy QR Code Recognition

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + Update history +
+ + + + + + + + + + + + + + + + + + + +
DateVersionAuthorUpdate content
2024-04-031.0.0lxowalle + + Initial document + +
+
+
+ +
+
+ +

Before reading this article, make sure you are familiar with how to develop with MaixCAM. For details, please read Quick Start.

+

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:

+ +
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:

    + +
    from maix import image, camera, display
+
    +
    2. +

  2. Initialize the camera and display:

    + +
    cam = camera.Camera(320, 240)  # Initialize the camera with a resolution of 320x240 in RGB format
+disp = display.Display()
+
    +
    3. +

  3. Capture and display images from the camera:

    + +
    while True:
+    img = cam.read()
+    disp.show(img)
+
    +
    4. +

  4. Use the find_qrcodes method to detect QR codes in the camera image:

    + +
    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. +

  5. Process and display the results of QR code recognition on the screen:

    + +
    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.
      • +
    +
    6. +
+

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.

+ + + + + + + + + + + + + + + +
ParameterDescriptionExample
roiSets 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:
img.find_qrcodes(roi=[50, 50, 100, 100])
+

This article introduces common methods. For more API details, refer to the image section of the API documentation.

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MaixPy Self-Learning Classifier

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Introduction to MaixPy Self-Learning Classifier

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Usually, to recognize new categories, we need to collect a dataset on a computer and retrain the model, which is a cumbersome and difficult process. Here, we provide a method that allows for instant learning of new objects directly on the device without the need for computer-side training, suitable for less complex scenarios.

+

For example, if there is a bottle and a phone in front of you, you can use the device to take a picture of each as the basis for two classifications. Then, you collect a few more pictures of them from different angles, extract their features and save them. During recognition, the feature values of the image are compared with the saved feature values, and the classification that is more similar to the saved features is considered the corresponding classification.

+

Using the Self-Learning Classifier in MaixPy

+

The default image comes with the Self-Learning Classification APP, which you can use directly to get familiar with the process.

+

+

Steps:

+
    +
  • Click the + Class button to collect n classification (class) images. The object needs to be within the white frame on the screen while collecting the images.
    • +
  • Click the + Sample button to collect m sample images. Collect some images for each classification. The order does not matter, and the number is flexible. It's best to take pictures from different angles, but not too different.
    • +
  • Click the Learn button to start learning. The device will automatically classify and learn based on the collected classification and sample images, obtaining the characteristics of the classifications.
    • +
  • Align the object with the center of the screen, recognize the image, and output the result. The screen will show the classification it belongs to and the similarity distance to this classification. The closer the similarity distance, the more similar it is.
    • +
  • The feature values ​​learned by this APP will be saved to /root/my_classes.bin, so the last one will be automatically loaded after exiting the application or restarting it.
    • +
+

Simplified version of the code, for the complete version, please refer to the examples for the full code.

+ +
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)
+
+

Storing and Loading Learned Feature Values

+

Use the save function to store the learned feature values. This will generate a binary file containing the feature values of the objects. When you need to use it again, simply use the load function to load the feature values.

+ +
classifier.save("/root/my_classes.bin")
+classifier.load("/root/my_classes.bin")
+
+

If you have named each classification and stored them in the labels variable, you can also use:

+ +
classifier.save("/root/my_classes.bin", labels=labels)
+labels = classifier.load("/root/my_classes.bin")
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MaixPy Self-Learning Detector

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MaixPy Self-Learning Detector

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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

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TODO:

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/touchscreen.html b/maixpy/doc/en/vision/touchscreen.html new file mode 100644 index 0000000..b060624 --- /dev/null +++ b/maixpy/doc/en/vision/touchscreen.html @@ -0,0 +1,434 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy / MaixCAM Touchscreen Usage Guide - MaixPy + + + + + + + + + + +
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MaixPy / MaixCAM Touchscreen Usage Guide

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Introduction

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MaixCAM comes equipped with a touchscreen, which, when used in conjunction with applications, can facilitate numerous engaging functionalities. We can utilize APIs to detect touch interactions on the touchscreen.

+

Reading Touch Input with MaixPy

+

MaixPy offers a straightforward maix.touchscreen.TouchScreen class for reading touch inputs. Here's an example:

+ +
from maix import touchscreen, app, time
+
+ts = touchscreen.TouchScreen()
+
+pressed_already = False
+last_x = 0
+last_y = 0
+last_pressed = False
+while not app.need_exit():
+    x, y, pressed = ts.read()
+    if x != last_x or y != last_y or pressed != last_pressed:
+        print(x, y, pressed)
+        last_x = x
+        last_y = y
+        last_pressed = pressed
+    if pressed:
+        pressed_already = True
+    else:
+        if pressed_already:
+            print(f"clicked, x: {x}, y: {y}")
+            pressed_already = False
+    time.sleep_ms(1)  # sleep some time to free some CPU usage
+
+

Interactivity with the Screen

+

Integrating the screen can enable various interactive user experiences. More examples can be found in the MaixPy/examples/vision/touchscreen directory.

+

As previously described, to display content on the screen, typically, a maix.image.Image object is created and displayed using disp.show(img). Implementing a button is as simple as drawing one on the image and then detecting touches within its area, ensuring that the image's dimensions match those of the screen:

+ +
from maix import touchscreen, app, time, display, image
+
+ts = touchscreen.TouchScreen()
+disp = display.Display()
+
+img = image.Image(disp.width(), disp.height())
+
+# draw exit button
+exit_label = "< Exit"
+size = image.string_size(exit_label)
+exit_btn_pos = [0, 0, 8*2 + size.width(), 12 * 2 + size.height()]
+img.draw_string(8, 12, exit_label, image.COLOR_WHITE)
+img.draw_rect(exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3], image.COLOR_WHITE, 2)
+
+def is_in_button(x, y, btn_pos):
+    return x > btn_pos[0] and x < btn_pos[0] + btn_pos[2] and y > btn_pos[1] and y < btn_pos[1] + btn_pos[3]
+
+while not app.need_exit():
+    x, y, pressed = ts.read()
+    if is_in_button(x, y, exit_btn_pos):
+        app.set_exit_flag(True)
+    img.draw_circle(x, y, 1, image.Color.from_rgb(255, 255, 255), 2)
+    disp.show(img)
+
+

Handling Different Screen and Image Sizes

+

In the example above, the img matches the screen size. If your img and screen sizes differ (e.g., using img = image.Image(240, 240) on a 640x480 screen), the default behavior of disp.show(img) is image.Fit.FIT_CONTAIN, which scales the image to 480x480 and fills the sides with black. If a button is drawn on the 240x240 image, such as at coordinates (0, 0, 60, 40), the button will also be scaled up. Thus, the coordinates for touch detection should be adjusted to ((640 - 480) / 2, 0, 480/240*60, 480/240*40), which translates to (80, 0, 120, 80).

+

For convenience in scaling images and quickly calculating the positions and sizes of points or rectangles in the scaled image, the image.resize_map_pos function is provided:

+ +
from maix import touchscreen, app, time, display, image
+
+ts = touchscreen.TouchScreen()
+disp = display.Display()
+
+img = image.Image(240, 240)
+img.draw_rect(0, 0, img.width(), img.height(), image.COLOR_WHITE)
+
+# draw exit button
+exit_label = "< Exit"
+size = image.string_size(exit_label)
+exit_btn_pos = [0, 0, 8*2 + size.width(), 12 * 2 + size.height()]
+img.draw_string(8, 12, exit_label, image.COLOR_WHITE)
+img.draw_rect(exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3],  image.COLOR_WHITE, 2)
+# 图像按键坐标映射到屏幕上的坐标
+exit_btn_disp_pos = image.resize_map_pos(img.width(), img.height(), disp.width(), disp.height(), image.Fit.FIT_CONTAIN, exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3])
+
+def is_in_button(x, y, btn_pos):
+    return x > btn_pos[0] and x < btn_pos[0] + btn_pos[2] and y > btn_pos[1] and y < btn_pos[1] + btn_pos[3]
+
+while not app.need_exit():
+    x, y, pressed = ts.read()
+    if is_in_button(x, y, exit_btn_disp_pos):
+        app.set_exit_flag(True)
+    # 屏幕的坐标映射回图像上对应的坐标，然后在图像上画点
+    x, y = image.resize_map_pos_reverse(img.width(), img.height(), disp.width(), disp.height(), image.Fit.FIT_CONTAIN, x, y)
+    img.draw_circle(x, y, 1, image.Color.from_rgb(255, 255, 255), 2)
+    disp.show(img, fit=image.Fit.FIT_CONTAIN)
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/en/vision/yolov5.html b/maixpy/doc/en/vision/yolov5.html new file mode 100644 index 0000000..f690982 --- /dev/null +++ b/maixpy/doc/en/vision/yolov5.html @@ -0,0 +1,477 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Using YOLOv5 / YOLOv8 Models for Object Detection in MaixPy - MaixPy + + + + + + + + + + +
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Using YOLOv5 / YOLOv8 Models for Object Detection in MaixPy

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Concept of Object Detection

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Object detection refers to identifying the location and category of objects in images or videos, such as detecting apples, airplanes, etc., and marking their positions. Unlike classification, object detection includes positional information, so the result is generally a rectangle marking the object's position.

+

Using Object Detection in MaixPy

+

MaixPy provides YOLOv5 and YOLOv8 models by default, which can be used directly:

+
+

YOLOv8 requires MaixPy >= 4.3.0.

+
+ +
from maix import camera, display, image, nn, app
+
+detector = nn.YOLOv5(model="/root/models/yolov5s.mud")
+# detector = nn.YOLOv8(model="/root/models/yolov8n.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)
+
+

Video demonstration:

+
+
+

Here, the camera captures an image, which is then passed to the detector for detection. The results (classification names and positions) are displayed on the screen.

+

You can switch between YOLOv5 and YOLOv8 by replacing them in the code. Make sure to update the model file path accordingly.

+

The list of 80 supported object categories can be found in the appendix.

+

For more API usage, refer to the documentation of the maix.nn module.

+

More Input Resolutions

+

The default model input resolution is 320x224, which closely matches the provided screen resolution. You can manually download models with other resolutions if needed:

+

YOLOv5: https://maixhub.com/model/zoo/365
+YOLOv8: https://maixhub.com/model/zoo/400

+

Higher resolutions increase accuracy but also require more processing time. Choose the appropriate resolution based on your application.

+

Which to Use: YOLOv5 or YOLOv8?

+

We provide YOLOv5s and YOLOv8n models. The former is larger and more accurate, while the latter is slightly faster but with marginally lower accuracy. You can test both to see which suits your needs better.

+

You can also try YOLOv8s, which offers higher accuracy but lower frame rates(e.g. yolov8s_320x224 slower than yolov8n_320x224 about 10ms）. Models can be downloaded from the mentioned model library.

+

Can Camera Resolution and Model Resolution Differ?

+

When using the detector.detect(img) function, if img resolution differs from the model's resolution, the function will automatically call img.resize to adjust the image to the model's input resolution. The resize method uses image.Fit.FIT_CONTAIN by default, maintaining the aspect ratio and padding with black. The detected coordinates will map back to the original img coordinates.

+

Training Your Own Object Detection Model on MaixHub

+

If the default 80-class model doesn't meet your needs, visit MaixHub to learn and train your object detection model. Select Object Detection Model when creating a project. Refer to MaixHub online train doc.

+

Alternatively, check out the models shared by community members in the MaixHub Model Library.

+

Offline Training of Your Own Object Detection Model

+

We strongly recommend using MaixHub for online training. Offline training is more complex and not suggested for beginners. This method assumes some pre-existing knowledge not covered in this document. For more details, see Offline Training YOLOv5 Model.

+

Appendix: 80 Categories

+

The 80 object categories from the COCO dataset are:

+ +
person
+bicycle
+car
+motorcycle
+airplane
+bus
+train
+truck
+boat
+traffic light
+fire hydrant
+stop sign
+parking meter
+bench
+bird
+cat
+dog
+horse
+sheep
+cow
+elephant
+bear
+zebra
+giraffe
+backpack
+umbrella
+handbag
+tie
+suitcase
+frisbee
+skis
+snowboard
+sports ball
+kite
+baseball bat
+baseball glove
+skateboard
+surfboard
+tennis racket
+bottle
+wine glass
+cup
+fork
+knife
+spoon
+bowl
+banana
+apple
+sandwich
+orange
+broccoli
+carrot
+hot dog
+pizza
+donut
+cake
+chair
+couch
+potted plant
+bed
+dining table
+toilet
+tv
+laptop
+mouse
+remote
+keyboard
+cell phone
+microwave
+oven
+toaster
+sink
+refrigerator
+book
+clock
+vase
+scissors
+teddy bear
+hair drier
+toothbrush
+
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/ai_model_converter/maixcam.html b/maixpy/doc/zh/ai_model_converter/maixcam.html new file mode 100644 index 0000000..8169b15 --- /dev/null +++ b/maixpy/doc/zh/ai_model_converter/maixcam.html @@ -0,0 +1,526 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 将 ONNX 模型转换为 MaixCAM 可以使用的模型（MUD） - MaixPy + + + + + + + + + + +
+ +
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将 ONNX 模型转换为 MaixCAM 可以使用的模型（MUD）

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简介

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电脑上训练的模型不能直接给 MaixCAM 使用，因为 MaixCAM 的硬件性能有限，一般我们需要将模型进行INT8量化以减少计算量，并且转换为 MaixCAM 支持的模型格式。

+

本文介绍如何将 ONNX 模型转换为 MaixCAM 能使用的模型（MUD模型）。

+

MaixCAM 支持的模型文件格式

+

MUD（模型统一描述文件， model universal description file）是 MaixPy 支持的一种模型描述文件，用来统一不同平台的模型文件，方便 MaixPy 代码跨平台，本身是一个 ini格式的文本文件，可以使用文本编辑器编辑。
+一般 MUD 文件会伴随一个或者多个实际的模型文件，比如对于 MaixCAM， 实际的模型文件是.cvimodel格式， MUD 文件则是对它做了一些描述说明。

+

这里以 YOLOv8 模型文件举例，一共两个文件yolov8n.mud和yolov8n.cvimodel，前者内容：

+ +
[basic]
+type = cvimodel
+model = yolov8n.cvimodel
+
+[extra]
+model_type = yolov8
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+labels = person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush
+
+

可以看到， 指定了模型类别为cvimodel, 模型路径为相对mud文件的路径下的yolov8n.cvimodel文件；
+以及一些需要用到的信息，比如预处理mean和scale，这里需要和训练的时候对模型输入的数据的预处理方法一致，labels则是检测对象的 80 种分类。

+

实际用这个模型的时候将两个文件放在同一个目录下即可。

+

准备 ONNX 模型

+

准备好你的 onnx 模型， 然后在https://netron.app/ 查看你的模型，确保你的模型使用的算子在转换工具的支持列表中，转换工具的支持列表可以在算能 TPU SDK的 CVITEK_TPU_SDK开发指南.pdf 中看到列表。

+

找出合适的量化输出节点

+

一般模型都有后处理节点，这部分是 CPU 进行运算的，我们将它们剥离出来，它们会影响到量化效果，可能会导致量化失败。

+

这里以YOLOv5 举例，

+

+

可以看到这里有三个conv，后面的计算均由 CPU 进行，我们量化时就采取这几个conv的输出作为模型的最后输出，在这里输出名分别叫/model.24/m.0/Conv_output_0,/model.24/m.1/Conv_output_0,/model.24/m.2/Conv_output_0。

+

安装模型转换环境

+

模型转换使用算能的https://github.com/sophgo/tpu-mlir，要安装它我们直接在 docker 环境中安装，防止我们电脑的环境不匹配，如果你没用过 docker，可以简单理解成它类似虚拟机。

+

安装 docker

+

参考docker 安装官方文档安装即可。

+

比如：

+ +
# 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
+
+

拉取 docker 镜像

+ +
docker pull sophgo/tpuc_dev:latest
+
+
+

在中国国内可能无法拉取或者速度慢，可以设置国内的镜像，可自行搜索或者参考docker 设置代理，以及国内加速镜像设置。

+
+

运行容器

+ +
docker run --privileged --name tpu-env -v /home/$USER/data:/home/$USER/data -it sophgo/tpuc_dev
+
+

这就起了一个容器，名叫tpu-env，并且把本机的~/data目录挂载到了容器的~/data，这样就实现了文件共享，并且和宿主机路径一致。

+

下次启动容器用docker start tpu-env && docker attach tpu-env即可。

+

安装 tpu-mlir

+

先到github下载 whl 文件，放到~/data目录下。
+在容器中执行命令安装：

+ +
pip install tpu_mlir*.whl # 这里就是下载文件的名字
+
+

执行model_transform.py 会有打印帮助信息就算是安装成功了。

+

编写转换脚本

+

转换模型主要就两个命令，model_transform.py 和 model_deploy.py，主要麻烦的是参数，所以我们写一个脚本convert_yolov5_to_cvimodel.sh存下来方便修改。

+ +
#!/bin/bash
+
+set -e
+
+net_name=yolov5s
+input_w=640
+input_h=640
+
+# mean: 0, 0, 0
+# std: 255, 255, 255
+
+# mean
+# 1/std
+
+# mean: 0, 0, 0
+# scale: 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+
+mkdir -p workspace
+cd workspace
+
+# convert to mlir
+model_transform.py \
+--model_name ${net_name} \
+--model_def ../${net_name}.onnx \
+--input_shapes [[1,3,${input_h},${input_w}]] \
+--mean "0,0,0" \
+--scale "0.00392156862745098,0.00392156862745098,0.00392156862745098" \
+--keep_aspect_ratio \
+--pixel_format rgb \
+--channel_format nchw \
+--output_names "/model.24/m.0/Conv_output_0,/model.24/m.1/Conv_output_0,/model.24/m.2/Conv_output_0" \
+--test_input ../dog.jpg \
+--test_result ${net_name}_top_outputs.npz \
+--tolerance 0.99,0.99 \
+--mlir ${net_name}.mlir
+
+# export bf16 model
+#   not use --quant_input, use float32 for easy coding
+model_deploy.py \
+--mlir ${net_name}.mlir \
+--quantize BF16 \
+--processor cv181x \
+--test_input ${net_name}_in_f32.npz \
+--test_reference ${net_name}_top_outputs.npz \
+--model ${net_name}_bf16.cvimodel
+
+echo "calibrate for int8 model"
+# export int8 model
+run_calibration.py ${net_name}.mlir \
+--dataset ../images \
+--input_num 200 \
+-o ${net_name}_cali_table
+
+echo "convert to int8 model"
+# export int8 model
+#    add --quant_input, use int8 for faster processing in maix.nn.NN.forward_image
+model_deploy.py \
+--mlir ${net_name}.mlir \
+--quantize INT8 \
+--quant_input \
+--calibration_table ${net_name}_cali_table \
+--processor cv181x \
+--test_input ${net_name}_in_f32.npz \
+--test_reference ${net_name}_top_outputs.npz \
+--tolerance 0.9,0.6 \
+--model ${net_name}_int8.cvimodel
+
+

可以看到，这里有几个比较重要的参数：

+
    +
  • output_names 就是我们前面说到的输出节点的输出名。
    • +
  • mean, scale 就是训练时使用的预处理方法，比如 YOLOv5 官方代码的预处理是把图像 RGB 3个通道分别 -mean再除以std，并且默认mean
    • +
+

为0， std为255，即将图像的值归一，这里scale就是1/std。你的模型需要根据实际的预处理方法修改。

+
    +
  • test_input 就是转换时用来测试的图像，这里是../dog.jpg，所以实际模型转换时我们需要在此脚本所在同目录放一张dog.jpg的图，你的模型根据你的实际情况替换图像。
    • +
  • tolerance 就是量化前后允许的误差，如果转换模型时报错提示值小于设置的这个值，说明转出来的模型可能相比 onnx 模型误差较大，如果你能够容忍，可以适当调小这个阈值让模型转换通过，不过大多数时候都是因为模型结构导致的，需要优化模型，以及仔细看后处理，把能去除的后处理去除了。
    • +
  • quantize 即量化的数据类型，在 MaixCAM 上我们一般用 INT8 模型，这里我们虽然也顺便转换了一个 BF16 模型，BF16 模型的好处时精度高，不过运行速率比较慢，能转成 INT8 就推荐先用 INT8,实在不能转换的或者精度要求高速度要求不高的再考虑 BF16。
    • +
  • dataset 表示用来量化的数据集，也是放在转换脚本同目录下，比如这里是images文件夹，里面放数据即可，对于 YOLOv5 来说就是图片，从 coco 数据集中复制一部分典型场景的图片过来即可。 用--input_num 可以指定实际使用图片的数量（小于等于 images 目录下实际的图片）。
    • +
+

执行转换脚本

+

直接执行chmod +x convert_yolov5_to_cvimodelsh && ./convert_yolov5_to_cvimodel.sh 等待转换完成。

+

如果出错了，请仔细看上一步的说明，是不是参数有问题，或者输出层选择得不合理等。

+

然后就能在workspace文件夹下看到有**_int8.cvimodel 文件了。

+

编写mud文件

+

根据你的模型情况修改mud文件，对于 YOLOv5 就如下，修改成你训练的labels就好了。

+ +
[basic]
+type = cvimodel
+model = yolov5s.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 = person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush
+
+

这里basic部分指定了模型文件类别和模型文件路径，是必要的参数，有了这个参数就能用MaixPy或者MaixCDK中的maix.nn.NN类来加载并运行模型了。

+

extra则根据不同模型的需求设计不同参数。
+比如这里对YOLOv5设计了这些参数，主要是 预处理、后处理、标签等参数。
+对于 MaixPy 已经支持了的模型可以直接下载其模型复制修改。
+也可以看具体的代码，比如YOLOv5 的源码，可以看到源码使用了哪些参数。

+

比如你用YOLOv5训练了检测数字0~9的模型，那么需要将labels改成0,1,2,3,4,5,6,7,8,9，其它参数如果你没改训练代码保持即可。

+

如果你需要移植 MaixPy 没有支持的模型，则可以根据模型的预处理和后处理情况定义 extra, 然后编写对应的解码类。如果你不想用C++修改 MaixPy 源码，你也可以用MaixPy 的maix.nn.NN类加载模型，然后用 forward 或者 forward_image 方法或者原始输出，在 Python 层面写后处理也可以，只是运行效率比较低不太推荐。

+

编写后处理代码

+

如上一步所说，如果是按照已经支持的模型的mud文件修改好，那直接调用MaixPy或者MaixCDK对应的代码加载即可。
+如果支持新模型，设计好 mud 文件后，你需要实际编写预处理和后处理，有两种方法：

+
    +
  • 一：MaixPy 用 maix.nn.NN加载模型，然后forward或者forward_image函数运行模型，获得输出，然后用 Python 函数编写后处理得到最终结果。
    • +
  • 二：在MaixCDK中，可以参考YOLOv5 的源码, 新增一个hpp文件，增加一个处理你的模型的类，并且修改所有函数和类的@maixpy注释，编写好了编译MaixPy项目，即可在MaixPy中调用新增的类来运行模型了。
    • +
+

支持了新模型后还可以将源码提交（Pull Request）到主MaixPy仓库中，成为MaixPy项目的一员，为社区做贡献，也可以到 MaixHub 分享 分享你新支持的模型，根据质量可以获得最少 30元 最高 2000元 的打赏！

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/audio/play.html b/maixpy/doc/zh/audio/play.html new file mode 100644 index 0000000..ca57eaa --- /dev/null +++ b/maixpy/doc/zh/audio/play.html @@ -0,0 +1,442 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 播放音频 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 播放音频

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-05-201.0.0lxowalle + + 初版文档 + +
+
+
+ +
+
+ +

简介

+

本文档提供播放音频的使用方法

+

使用方法

+

硬件操作

+

image-20240520134637905

+

MaixCAM没有内置喇叭，因此需要自行焊接一个功率在1W内的喇叭。喇叭焊接的引脚见上图的Speaker对应的VOP和VON脚。

+

注：如果MaixCAM在这两个脚上连接了铜柱，则可以直接焊接在铜柱上，为了美观也可以焊接在板子的另一面。

+

编写代码

+

播放一个PCM文件的方法

+ +
from maix import audio, time, app
+
+p = audio.Player()
+
+with open('/root/output.pcm', 'rb') as f:
+    ctx = f.read()
+
+p.play(bytes(ctx))
+
+while not app.need_exit():
+    time.sleep_ms(10)
+
+print("play finish!")
+
+

步骤：

+
    +

  1. 导入audio、time和app模块

    + +
    from maix import audio, time, app
+
    +
    2. +

  2. 初始化播放器

    + +
    p = audio.Player()
+
    +
    3. +
+
    +
  • 注意默认的采样率是48k，采样格式为小端格式-有符号16位，采样通道为1。你也可以像这样自定义参数p = audio.Player(sample_rate=48000, format=audio.Format.FMT_S16_LE, channel = 1)。目前只测试过采样率48000，FMT_S16_LE格式，和采样通道数为1
    • +
+
    +
  1. 打开并播放一个PCM文件
    2. +
+ +
with open('/root/output.pcm', 'rb') as f:
+    ctx = f.read()
+
+p.play(bytes(ctx))
+
+while not app.need_exit():
+  time.sleep_ms(10)
+
+
    +
  • with open('xxx','rb') as f:打开文件xxx， 并获取文件对象f
    • +
  • ctx = f.read()将读取文件的内容到ctx中
    • +
  • p.play(bytes(ctx))播放音频，p是已打开的播放器对象， ctx是转换为bytes类型的PCM数据
    • +
  • time.sleep_ms(10)这里有一个循环来等待播放完成，因为播放操作是异步执行的，如果提前退出了程序，那么可能导致音频不会完全播放。
    • +
+
    +
  1. 完成
    2. +
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/audio/recognize.html b/maixpy/doc/zh/audio/recognize.html new file mode 100644 index 0000000..674fe46 --- /dev/null +++ b/maixpy/doc/zh/audio/recognize.html @@ -0,0 +1,349 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-06-21 + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ + + +
+
+ +
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+
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+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/audio/record.html b/maixpy/doc/zh/audio/record.html new file mode 100644 index 0000000..c543b8c --- /dev/null +++ b/maixpy/doc/zh/audio/record.html @@ -0,0 +1,430 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 录音 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 录音

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-05-201.0.0lxowalle + + 初版文档 + +
+
+
+ +
+
+ +

简介

+

本文档提供录音的使用方法

+

使用方法

+

一个录音的示例

+ +
from maix import audio, time, app
+
+r = audio.Recorder()
+r.volume(12)
+print("sample_rate:{} format:{} channel:{}".format(r.sample_rate(), r.format(), r.channel()))
+
+while not app.need_exit():
+    data = r.record()
+    print("data size", len(data))
+
+    time.sleep_ms(10)
+
+print("record finish!")
+
+

步骤：

+
    +

  1. 导入audio、time和app模块

    + +
    from maix import audio, time, app
+
    +
    2. +

  2. 初始化录制器

    + +
    r = audio.Recorder()
+r.volume(12)
+
    +
      +

    • 注意默认的采样率是48k，采样格式为小端格式-有符号16位，采样通道为1。你也可以像这样自定义参数p = audio.Recorder(sample_rate=48000, format=audio.Format.FMT_S16_LE, channel = 1)。目前只测试过采样率48000，FMT_S16_LE格式，和采样通道数为1

      +
      • +

    • r.volume(12)用来设置音量，音量范围为[0,24]

      +
      • +
    +
    3. +

  3. 开始录制

    + +
    data = r.record()
+
    +
      +
    • data是PCM格式的bytes类型数据，保存了当前录入的音频。PCM格式在初始化Recorder对象时设置，见步骤2.
      • +
    +
    4. +

  4. 完成，做自己的应用时可以对r.record()返回的PCM数据做语音处理。

    +
    5. +
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/app.html b/maixpy/doc/zh/basic/app.html new file mode 100644 index 0000000..7c52cdb --- /dev/null +++ b/maixpy/doc/zh/basic/app.html @@ -0,0 +1,375 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 应用开发和应用商店 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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： 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 或者 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，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 （例程）,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。
    • +
+ + +
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+ +
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+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/app_usage.html b/maixpy/doc/zh/basic/app_usage.html new file mode 100644 index 0000000..bfc762a --- /dev/null +++ b/maixpy/doc/zh/basic/app_usage.html @@ -0,0 +1,349 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 应用使用说明 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

应用使用说明

+ +
+
+
    + +
+
+
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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， 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！

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/auto_start.html b/maixpy/doc/zh/basic/auto_start.html new file mode 100644 index 0000000..ffb2fb9 --- /dev/null +++ b/maixpy/doc/zh/basic/auto_start.html @@ -0,0 +1,359 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy/MaixCAM 应用开机自启 - MaixPy + + + + + + + + + + +
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MaixPy/MaixCAM 应用开机自启

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打包安装好的应用可以设置开机自动启动，这样开机就不会显示应用菜单，直接进入指定的应用。

+

设置应用开机自启方法一

+

先打包安装好应用，然后在设备设置 -> 开机自启 设置中选择需要自动启动的应用即可，取消开机自启也是在这里设置。

+

设置应用开机自启方法二

+

你也可以通过修改设备中的 /maixapp/auto_start.txt 文件来设置，和传输文件的方法请看前面的文档。

+
    +
  • 首先知道你需要设置的应用的 id 是什么。在你打包应用的时候设置的；如果不是你自己打包的应用，可以先安装到设备，查看设备/maixapp/apps/ 目录下的文件夹名就是应用名，（也可以下载查看设备的/maixapp/apps/app.info 文件，[]中括号部分就是应用id）。
    • +
  • 然后写入 id 到 /maixapp/auto_start.txt 文件即可。（可以在电脑本地创建文件，然后 MaixVision 传输到设备。）
    • +
  • 如果要取消，删除设备上的 /maixapp/auto_start.txt 文件即可。
    • +
+

其它方法

+

对于 MaixCAM， 因为底层是 Linux， 如果你熟悉 Linux, 编辑/etc/rc.local 或者 /etc/init.d 下的启动脚本也可以。

+

但是需要注意的是，这种方式会让 MaixVision 在连接的时候无法停止这个应用，从而造成资源占用（比如屏幕和摄像头） MaixVision 可能无法正常跑程序，而前两种方法 MaixVision 连接设备时是可以正常让程序退出以供 MaixVsion 跑程序的。

+

所以这种方法比较适合开机跑一些不会占用屏幕和摄像头等资源的后台进程，一般情况下如果你不熟悉 Linux 不建议这样操作。

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/linux_basic.html b/maixpy/doc/zh/basic/linux_basic.html new file mode 100644 index 0000000..f4e8c28 --- /dev/null +++ b/maixpy/doc/zh/basic/linux_basic.html @@ -0,0 +1,395 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linux 基础知识 - MaixPy + + + + + + + + + + +
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Linux 基础知识

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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），

+ +
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：

+ +
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。

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/maixpy_upgrade.html b/maixpy/doc/zh/basic/maixpy_upgrade.html new file mode 100644 index 0000000..fa7f127 --- /dev/null +++ b/maixpy/doc/zh/basic/maixpy_upgrade.html @@ -0,0 +1,366 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 更新 MaixPy - MaixPy + + + + + + + + + + +
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更新 MaixPy

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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（推荐）

+

按照 升级和烧录系统 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 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。
    • +
+

也可以执行 Python 代码调用系统命令来更新：

+ +
import os
+
+os.system("pip install MaixPy -U")
+
+
+

如果你会使用终端， 也可以直接在终端中使用 pip install MaixPy -U 来更新 MaixPy。

+
+

另外你也可以手动下载wheel 文件（.whl格式）传输到设备（传输方法见后文MaixVision 使用）后通过 pip install ******.whl 命令来安装。

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/maixvision.html b/maixpy/doc/zh/basic/maixvision.html new file mode 100644 index 0000000..1cbc0e9 --- /dev/null +++ b/maixpy/doc/zh/basic/maixvision.html @@ -0,0 +1,428 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixVision -- MaixPy 编程 IDE + 图形化积木编程 - MaixPy + + + + + + + + + + +
+ +
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MaixVision -- MaixPy 编程 IDE + 图形化积木编程

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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。

+

下载

+

访问 MaixVision 主页 下载。

+

使用 MaixPy 编程和在线运行

+

按照快速开始的步骤连接设备，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：

+ +
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

+

maixvision_browser

+
+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 或者 FileZilla 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：

+ +
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：
    • +
+ +
scp /path/to/your/file.py root@maixcam-xxxx.local:/root
+
+
    +
  • 方法二：使用 FileZilla 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。
    • +
+
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+

使用图形化积木编程

+

开发中，敬请期待。

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/os.html b/maixpy/doc/zh/basic/os.html new file mode 100644 index 0000000..69edb03 --- /dev/null +++ b/maixpy/doc/zh/basic/os.html @@ -0,0 +1,367 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 升级和烧录系统 - MaixPy + + + + + + + + + + +
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升级和烧录系统

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介绍

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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 找到最新的系统镜像文件，比如maixcam_os_20240401_maixpy_v4.1.0.xz。

+
+

中国国内用户下载速度慢可以用迅雷下载，速度可能会快一些。

+
+

备用地址：

+
    +
  • Sourceforge （同步可能不及时，建议优先上面的方式）
    • +
+

烧录系统到 MaixCAM

+

参考 MaixCAM 系统烧录 教程，注意里面能满足 USB 烧录的条件则推荐使用 USB 烧录方式，USB 烧录方式不用拔 TF 卡。

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/python.html b/maixpy/doc/zh/basic/python.html new file mode 100644 index 0000000..d3ef6bc --- /dev/null +++ b/maixpy/doc/zh/basic/python.html @@ -0,0 +1,386 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Python 基础知识 - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

Python 基础知识

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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 或者 Python 官方教程。

+

或者个人开发者的博客，比如 哇！是 Python。

+

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 或者 Python 官方教程 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。

+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/python_pkgs.html b/maixpy/doc/zh/basic/python_pkgs.html new file mode 100644 index 0000000..e70173f --- /dev/null +++ b/maixpy/doc/zh/basic/python_pkgs.html @@ -0,0 +1,364 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 添加额外的 Python 软件包 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

添加额外的 Python 软件包

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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：

+ +
import os
+os.system("pip install 包名")
+
+

要更新一个包，可以使用：

+ +
import os
+os.system("pip install --upgrade 包名")
+
+

方法二： 终端使用 pip 命令安装

+

使用Linux 基础中介绍的终端使用方法，使用 pip install 包名 安装你需要的包。

+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/basic/view_src_code.html b/maixpy/doc/zh/basic/view_src_code.html new file mode 100644 index 0000000..7c0b971 --- /dev/null +++ b/maixpy/doc/zh/basic/view_src_code.html @@ -0,0 +1,407 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 如何找到 MaixPy API 对应的源码 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

如何找到 MaixPy API 对应的源码

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+ + +
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简介

+

MaixPy 是基于 Python 实现，有部分函数是用 Python 编写，大多数底层代码都是使用 C/C++ 编写，这样可以保证运行效率。

+

如果我们在使用一个函数遇到疑问，我们可以查询本文档，以及 API 文档。
+如果仍然不能解决你的疑惑，那么可以直接按照本文的方法找到底层实现的源码找出答案，也欢迎一起贡献文档或代码，成为 MaixPy 开发者的一员！

+

先看文档

+

一定要先看文档： https://wiki.sipeed.com/maixpy/, 然后看 API 文档：https://wiki.sipeed.com/maixpy/api/index.html

+

API 文档只有英文，原因是 API 文档是从代码的注释生成而来，代码中一律使用英文，看不懂英文可以使用翻译。

+

如何找到 API 对应的源码

+

首先有两个开源仓库，分别是 MaixPy 和 MaixCDK。
+MaixPy 是工程仓库，里面包含了 MaixPy 的部分源码，所有文档、例程；MaixCDK 包含了大多数 MaixPy API 的底层 C/C++ 实现。

+

我们可以把这两份代码下载下来，也可以直接在网页查看。

+

顺便记得给它们点一个 star 让更多人看到哦～

+

找到 C/C++ 编写的 API

+

现在假设我们要找到 maix.image.Image.find_blobs 函数为例， 首先我们尝试手动去找：

+
    +
  • 因为这是属于视觉相关的 API， 我们在 MaixCDK 的components/vision/include 下面可以看到有一个 maix_image.hpp的头文件，猜测大概在这里面。
    • +
  • 在maix_image.hpp 搜索 find_blobs，马上就发现了函数声明：
    • +
+ +
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);
+
+
    +
  • 同时我们发现函数声明前面有注释，API 文档即从这份注释自动生成而来，如果你仔细对比 API 文档和这个注释会发现他们一模一样的，改动这个注释编译后会产生 API 文档。
    • +
  • 这只是函数声明，我们找到components/vision/src/maix_image.cpp，发现里面没有这个函数，仔细一看有个components/vision/src/maix_image_find_blobs.cpp，原来是将函数单独写了一个cpp，在里面我们就能看到函数的源代码了。
    • +
+

找到使用 Pybind11 编写的 API

+

如果 MaixCDK 里面找不到，那就可以到 MaixPy/components里面寻找。

+
+

上面的代码你会发现，我们在使用find_blobs时第一个参数是[[...]]这样的参数即list类型，C/C++ 定义第一个参数是std::vector<std::vector<int>>类型，原因是我们使用了pybind11自动将 std::vector 类型转换为了list类型。

+
+

而有一些类型在MaixCDK里面不方便定义，比如numpy的array类型，但是pybind11里面有相关的定义方便我们直接使用，但是又不想 MaixCDK 里面有 pybind11 相关的代码，所以我们在MaixPy/components 里面来写使用了 pybind11 相关的代码，比如maix.image.image2cv方法。

+

如何修改代码

+

在找到代码后，直接修改，然后按照编译文档编译出固件即可。

+

如何增加代码

+

照抄其它 API，写一个函数，然后添加完整的注释，注释中额外添加一个@maixpy maix.xxx.xxx，这里xxx即你想添加到的模块和API名，然后编译出固件即可。

+

可以参考MaixCDK/components/basic/includemaix_api_example.hpp。

+

API 参数和返回值用基础的C++ 类型会自动转换为Python的类型，是不是十分简单.
+具体的类型转换参考pybind11 类型自动转换列表

+

比如我们希望增加一个maix.my_module.my_func，在MaixCDK中合适的地方（最好符合现在的文件夹分类）创建一个头文件，然后添加代码：

+ +
namespace maix::my_module
+{
+    /**
+     * My function, add two integer.
+     * @param a arg a, int type
+     * @param b arg b, int type
+     * @return int type, will a + b
+     * @maixpy maix.my_module.my_func
+     */
+    int my_func(int a, int b);
+}
+
+

然后增加一个cpp文件：

+ +
int my_func(int a, int b)
+{
+    return a + b;
+}
+
+

然后编译 MaixPy 生成whl文件，安装到设备即可使用maix.my_module.my_func函数。

+

如何贡献代码

+

如果你发现 MaixPy 有未完成的 API， 或者有 bug， 欢迎修改后提交 PR（Pull Request）到 MaixPy 仓库，具体提交方法看 贡献文档和代码

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/config.json b/maixpy/doc/zh/config.json new file mode 100644 index 0000000..b44cb82 --- /dev/null +++ b/maixpy/doc/zh/config.json @@ -0,0 +1,4 @@ +{ + "import": "config_zh", + "name": "MaixPy 中文文档" +} diff --git a/maixpy/doc/zh/faq.html b/maixpy/doc/zh/faq.html new file mode 100644 index 0000000..5795a23 --- /dev/null +++ b/maixpy/doc/zh/faq.html @@ -0,0 +1,406 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy FAQ(常见问题) - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy FAQ(常见问题)

+ +
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+
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+
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+ + +
+
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+
+ +

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 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

+

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 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 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

+

请看 MaixCAM FAQ

+

Runtime、MaixPy、系统镜像有什么区别，我应该升级哪个？

+
    +
  • Runtime 是运行时环境，系统很多功能依赖这个，包括 MaixPy 也依赖此环境，遇到无法运行程序的问题首先联网检查更新这个。
    • +
  • 系统镜像包含了基本的操作系统、硬件驱动、内置应用，以及 MaixPy 固件等，是基础环境，最好是保持最新, 特别是在Release页面中版本更新中提到了系统有更新，则强烈建议更新系统，因为有些 MaixPy 功能可能依赖系统里面的驱动。
    • +
+
+

更新系统会格式化所有之前的数据，更新前请备份好设备系统中有用的数据。

+
+
    +
  • MaixPy 是运行 MaixPy 程序的依赖库，如果不需要更新系统功能，以及更新日志中没有提到系统有重要更新比如驱动，那可以单独更新 MaixPy 即可。
    • +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/index.html b/maixpy/doc/zh/index.html new file mode 100644 index 0000000..101a840 --- /dev/null +++ b/maixpy/doc/zh/index.html @@ -0,0 +1,524 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 快速开始 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 快速开始

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+ MaixPy 唯一官网: + + wiki.sipeed.com/maixpy + +
+
+ MaixPy 例程和源码: + + github.com/sipeed/MaixPy + +
+ +
+
+
+

关于 MaixPy 介绍请看 MaixPy 官网首页

+
+

获得 MaixCAM 设备

+ +

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）。

+

强烈建议买带屏幕的套餐，会大大提升开发体验，如果你实际部署到生产环境不需要屏幕，可以先用带屏幕的入门和开发，最后再去掉屏幕或者购买不带屏幕的量产。

+
    +

  • TF 读卡器: 建议备一个用来烧录系统。

    +
    • +

  • USB转串口模块: 如果你想要调试串口通信，建议备一个，淘宝随便买一个就行，也可以直接在 Sipeed 店里一起买，比如这个双串口转USB模块。

    +
    • +
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+

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，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

+

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。
    • +
  • 如果你没有购买 TF 卡套餐，你需要按照升级和烧录系统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。
+如果没有路由器可以用手机开一个热点。

+

设备上点击 设置(Settings)，选择WiFi，有两种方法连接 WiFi 热点：

+
    +
  • 扫描 WiFi 分享码：
      +
    • 使用手机分享WiFi热点二维码，或者到maixhub.com/wifi 生成一个二维码。
      • +
    • 点击扫描二维码按钮，会出现摄像头的画面，扫描前面生成的二维码进行连接。
      • +
    +
    • +
  • 搜索热点：
      +
    • 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。
      • +
    • 输入密码点击连接按钮进行连接。
      • +
    +
    • +
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然后等待获取到 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）。

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    +
  • 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：

+ +

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 。

+

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，可以在MaixHub APP 找到对应的应用介绍查看协议。
+如果应用没有做串口输出结果，你也可以自己基于对应功能的例程，自行按照串口使用文档添加串口输出结果。

+
+

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 中找常见问题。

+
+
+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
    • +
  • 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。
    • +
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开发环境准备

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    +
  • 下载 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 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:

+

+

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。
    • +
+ +
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。
    • +
+

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。

+
+

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 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，会获得现金奖励哦！

+

分享交流

+
    +
  • MaixHub 项目和经验分享 ：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（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
    • +
  • MaixPy 源码问题: MaixPy issue
    • +
  • 商业合作或批量购买请联系 support@sipeed.com 。
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MaixPy 读取温湿度传感器

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简介

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通过给 MaixCAM 外挂一个温湿度传感器模块，可以轻松读取到环境温度和湿度，这里以 Si7021 这款传感器为例，通过 I2C 可以驱动它。

+

完整的代码在MaixPy/examples/sensors/temp_humi_si7021.py

+

注意系统镜像需要 >= 2024.6.3_maixpy_v4.2.1 版本。

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MaixPy ADC 使用介绍

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2024-06-111.0.0iawak9lkm + + 初版文档 + +
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ADC 简介

+

ADC，即模拟信号数字转换器，将一个输入电压信号转换为一个输出的数字信号。由于数字信号本身不具有实际意义，仅仅表示一个相对大小。故任何一个模数转换器都需要一个参考模拟量作为转换的标准，参考标准一般为最大的可转换信号大小。而输出的数字量则表示输入信号相对于参考信号的大小。

+

ADC 外设一般有两个主要参数：分辨率和参考电压。

+
    +
  • 分辨率：ADC 的分辨率以输出二进制（或十进制）数的位数来表示。它说明 A/D 转换器对输入信号的分辨能力。一般来说，n 位输出的 A/D 转换器能区分 2^n 个不同等级的输入模拟电压，能区分输入电压的最小值为满量程输入的 1/(2^n)。在最大输入电压一定时，输出位数愈多，分辨率愈高。
    • +
  • 参考电压：ADC 参考电压是在 AD 转换过程中与已知电压进行比较来找到未知电压的值的电压。参考电压可以认为是最高上限电压，当信号电压较低时，可以降低参考电压来提高分辨率。
    • +
+

通过板子的 ADC，可以采集外部的电压，并让板子检验电压是否达标，或是在检测到特定的电压时执行特定的任务（例如 ADC 检测多个按钮）。

+

MaixPy 中使用 ADC

+

通过 MaixPy 使用 ADC 很简单：

+ +
from maix.peripheral import adc
+from maix import time
+
+a = adc.ADC(0, adc.RES_BIT_12)
+
+raw_data = a.read()
+print(f"ADC raw data:{raw_data}")
+
+time.sleep_ms(50)
+
+vol = a.read_vol()
+print(f"ADC vol:{vol}")
+
+

使用 ADC0，从中读取原始的转换数据，或是直接从中读取电压数据。

+

有关 ADC API 的详细说明请看 ADC API 文档

+

关于 MaixCAM ADC 外设的一些说明

+

MaixCAM 引出一个连接 ADC 的 IO，为 GPIO B3，如下图所示：

+

+

该 IO 默认为 ADC， 无需额外进行配置。

+

MaixCAM ADC 外设采样精度为 12bit，也就是说采样输出范围为 0~4095。采样精度为参考电压的 1/4096。

+

MaixCAM ADC 外设的扫描频率不能高于 320K/s，也就是上述示例中增加延时的原因。

+

MaixCAM ADC 外设内部参考电压Vref为 1.5V，实际使用时会有些许偏差。因为内部参考电压典型值为 1.5V，所以 Soc 的 ADC 量程为 0～1.5V。该量程的 ADC 应用范围较小，故 MaixCAM 额外为 ADC 外设设计了分压电路来增大 ADC 的应用范围，该分压电路如下图所示。由于电路中电阻阻值存在误差、ADC 外设有阻抗、内部参考电压有些许偏差，该分压电路的参考电压 Vin_max 约为 4.6~5.0V。API 中已经选择一个精度较高的默认值，一般情况下无需传递该参数。

+

+

若需要较高的精度，可以通过以下步骤计算出该分压电路的参考电压：

+
    +

  • 先测得 ADC_PIN 的实际输入电压 Vin。

    +
    • +

  • 然后测得 ADC1 处的实际输入电压 Vadc，电阻R10的位置可参考这个 BOM 表。

    +
    • +

  • 保持第一步的电压输入，在shell中执行以下命令：

    + +
    echo 1 > /sys/class/cvi-saradc/cvi-saradc0/device/cv_saradc
+cat /sys/class/cvi-saradc/cvi-saradc0/device/cv_saradc
+
    +

    此时你将获得 ADC 原始数据 adc_data。

    +
    • +

  • 接地电阻为 R10，另一个电阻为 R6, 记录它们的阻值。通常，MaixCAM 的 R6 阻值为 10KΩ（10 000Ω），R10 阻值为 5.1KΩ（5 100Ω）。

    +
    • +

  • 将上述参数传递给以下 python 代码，即可得出 ADC_PIN 端的量程 [0, Vin_max] （闭区间）。

    + +
    def maixcam_get_vin_max(Vin:float, Vadc:float, adc_data:int, r6:int, r10:int, adc_max:int=4095):
+    Vref = (Vadc/adc_data)*(adc_max+1)
+    r3 = Vadc*r6/(Vin-Vadc)
+    Vin_max = (Vref/r3)*(r6+r3)
+    return Vin_max
+
+Vin = 3.3		# step 1
+Vadc = 1.06		# step 2
+adc_data=2700	# step 3
+r6=10000		# step 4
+r10=5100		# step 4
+
+if __name__ == '__main__':
+    print(maixcam_get_vin_max(Vin, Vadc, adc_data, r6, r10))
+
    +

    现在将结果传递给 adc.ADC() 的第三个参数，你将获得一个高精度的 ADC。

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/peripheral/gpio.html b/maixpy/doc/zh/peripheral/gpio.html new file mode 100644 index 0000000..5c31040 --- /dev/null +++ b/maixpy/doc/zh/peripheral/gpio.html @@ -0,0 +1,381 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 使用 GPIO - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

MaixPy 使用 GPIO

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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。

+

注意 MaixCAM 的引脚是 3.3V 耐受，请勿输入 5V 电压。

+

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：

+

+

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。

+ +
from maix import gpio, pinmap, time
+
+pinmap.set_pin_function("A14", "GPIOA14")
+led = gpio.GPIO("GPIOA14", 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

+

GPIO 作为输入模式

+ +
from maix import gpio, pinmap, time
+
+pinmap.set_pin_function("A19", "GPIOA19")
+led = gpio.GPIO("GPIOA19", gpio.Mode.IN)
+
+while 1:
+    print(led.value())
+    time.sleep_ms(1) # sleep to make cpu free
+
+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/peripheral/i2c.html b/maixpy/doc/zh/peripheral/i2c.html new file mode 100644 index 0000000..73d75f3 --- /dev/null +++ b/maixpy/doc/zh/peripheral/i2c.html @@ -0,0 +1,380 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 使用 I2C - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

MaixPy 使用 I2C

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+

注意需要 MaixPy 镜像和固件 >= 4.2.1

+
+

MaixCAM 的 I2C 及对应的 引脚 看图：

+

+

对于 MaixCAM，由于引脚资源比较紧张，引出的 I2C1 I2C3 引脚和 WiFi 模块（SDIO1）重合了，所以 WiFi 和硬件 I2C 只能二选一使用。
+另外还有一个I2C5，是底层驱动软件模拟的，建议使用它，底层已经做好了驱动，使用时和使用硬件I2C一样。

+

默认I2C5的引脚是GPIO，所以使用i2c模块前先用pinmap设置以下引脚功能为I2C5：

+ +
from maix import i2c, pinmap
+
+pinmap.set_pin_function("A15", "I2C5_SCL")
+pinmap.set_pin_function("A27", "I2C5_SDA")
+
+bus1 = i2c.I2C(5, i2c.Mode.MASTER)
+slaves = bus1.scan()
+print("find slaves:", slaves)
+
+
+

更多 API 看 i2c API 文档

+

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，再使用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）

+
+ +
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)
+
+
+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/peripheral/pinmap.html b/maixpy/doc/zh/peripheral/pinmap.html new file mode 100644 index 0000000..023f886 --- /dev/null +++ b/maixpy/doc/zh/peripheral/pinmap.html @@ -0,0 +1,415 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy Pinmap 使用介绍 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy Pinmap 使用介绍

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+ + + + + + 2024-06-11 + + +
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+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-06-111.0.0iawak9lkm + + 初版文档 + +
+
+
+ +
+
+ +

管脚映射简介

+

在系统级芯片（System on Chip, SoC）设计中，一个管脚通常具有多个功能，这种设计方法被称为引脚复用。其原因主要有以下几个方面：

+
    +
  • 节省引脚数量：SoC 集成了大量的功能模块，如 CPU、GPU、内存控制器、I/O 接口、通信模块等。如果每个功能都分配独立的引脚，会导致需要的引脚数量非常庞大，增加封装的复杂性和成本。通过引脚复用，一个引脚可以在不同的模式下支持不同的功能，从而显著减少引脚的总数。
    • +
  • 降低芯片封装和制造成本：减少引脚数量可以选择更小的封装尺寸，从而降低封装和制造成本。小封装不仅降低了材料成本，还减少了芯片在电路板上的占用空间，有利于设计更紧凑的电子产品。
    • +
  • 提高设计灵活性：引脚复用提供了更大的设计灵活性。不同的应用场景可能需要不同的功能组合，通过软件配置可以根据具体需求启用不同的引脚功能。例如，同一个引脚在一个实际应用中可以作为 UART 通信接口，而在另一个实际应用中可以作为 SPI 总线接口。
    • +
  • 简化 PCB 布局：减少引脚数量可以简化印刷电路板（PCB）的布局设计。更少的引脚意味着更少的布线层数和过孔，从而简化了 PCB 设计，降低了生产难度和成本。
    • +
  • 优化性能：在某些情况下，通过复用引脚可以优化信号路径和性能。例如，通过选择适当的引脚功能组合，可以减少信号传输路径上的干扰和噪声，提高系统的整体性能和可靠性。
    • +
+

而 Pinmap 展示和管理芯片各个引脚配置，这些配置通常包括每个引脚的名称及其功能（通常有多个功能）。

+

以 MaixCAM GPIO A28为例子：

+
    +
  • A28 为引脚名称。
    • +
  • GPIOA28/UART2_TX/JTAG_TDI 为引脚功能（可从 SoC 手册查询），同一时间该引脚只能是这三个功能中的其中一个。
    • +
+

通过 Pinmap，可以设定指定的芯片引脚为指定的功能。

+

MaixPy 中使用Pinmap

+

对于 MaixCAM 板子上各个引脚的编号及其功能，可以参考下图：
+

+

或是阅读 SG2002芯片手册 Pinmux 章节了解剩余的引脚的编号及功能。

+

介绍了那么多，其实通过 MaixPy 使用 Pinmap 来管理引脚功能很简单：

+ +
from maix.peripheral import pinmap
+
+print(pinmap.get_pins())
+
+f = pinmap.get_pin_functions("A28")
+print(f"GPIO A28 pin functions:{f}")
+
+print(f"Set GPIO A28 to {f[0]} function")
+pinmap.set_pin_function("A28", f[0])
+
+

先列出了可供管脚映射的所有引脚，然后查询 GPIO A28 可供选择的引脚功能，最后将该引脚设置为该引脚的第一个功能(作为GPIO)。

+

更详细的 Pinmap 的 API 说明请看 Pinmap API 文档

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/peripheral/pwm.html b/maixpy/doc/zh/peripheral/pwm.html new file mode 100644 index 0000000..7499583 --- /dev/null +++ b/maixpy/doc/zh/peripheral/pwm.html @@ -0,0 +1,385 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 使用 PWM - MaixPy + + + + + + + + + + +
+ +
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+ +

MaixPy 使用 PWM

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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:

+

+

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：

+ +
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。

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/peripheral/spi.html b/maixpy/doc/zh/peripheral/spi.html new file mode 100644 index 0000000..0c1d6e3 --- /dev/null +++ b/maixpy/doc/zh/peripheral/spi.html @@ -0,0 +1,493 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy SPI 串行外设接口使用介绍 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy SPI 串行外设接口使用介绍

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+ + + + + + 2024-06-11 + + +
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+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-06-111.0.0iawak9lkm + + 初版文档 + +
+
+
+ +
+
+ +

SPI 简介

+

SPI (Serial Peripheral Interface，即串行外设接口)，是一种同步外设接口，它可以使 SoC 与各种外围设备以串行方式进行通信以交换信息。常见的外围设备有 Flash RAM、网络控制器、LCD显示驱动器和A/D转换器等。

+

SPI 采用主从模式(Master—Slave)架构，支持一个或多个Slave设备。

+

在硬件电路上，SPI 通常由 4 根线组成，它们分别是：

+
    +
  • MISO：即主设备输入从设备输出（Master Output Slave Input），该引脚在从模式下发送数据，在主模式下接收数据。
    • +
  • MOSI：即主设备输出从设备输入（Master Input Slave Output），该引脚在主模式下发送数据，在从模式下接收数据。
    • +
  • SCK：串行总线时钟，由主设备输出，从设备输入。
    • +
  • NSS/CS：从设备选择。它作为片选引脚，让主设备可以单独地与特定从设备通信，避免数据线上的冲突。
    • +
+

在通信协议上，SPI 行为一般如下：

+
    +

  • SPI 支持一主多从，主设备通过片选引脚来选择需要进行通信的从设备，一般情况下，从设备 SPI 接口只需一根片选引脚，而主设备的片选引脚数量等同于设备数量。主设备使能某个从设备的片选信号期间，该从设备会响应主设备的所有请求，其余从设备会忽略总线上的所有数据。

    +
    • +

  • SPI 有四种模式，取决于极性（CPOL）和相位（CPHA）的配置。

    +

    极性，影响 SPI 总线空闲时的时钟信号电平。

    +
      +
    1. CPOL = 1：表示空闲时是高电平
      2. +
    2. CPOL = 0：表示空闲时是低电平
      3. +
    +

    相位，决定 SPI 总线采集数据的跳变沿。

    +
      +
    1. CPHA = 0：表示从第一个跳变沿开始采样
      2. +
    2. CPHA = 1：表示从第二个跳变沿开始采样
      3. +
    +

    极性与相位组合成了 SPI 的四种模式：

    +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ModeCPOLCPHA
000
101
210
311
+
    +

  • SPI 通常支持全双工和半双工通信。

    +
    • +

  • SPI 不规定最大传输速率，没有地址方案；SPI 也没规定通信应答机制，没有规定流控制规则。

    +
    • +
+

SPI 是非常常见的通信接口，通过 SPI 接口，SoC 能控制各式各样的的外围设备。

+

MaixPy 中使用 SPI

+

MaixCAM 的引脚分布如下：

+

+

使用前需要 maix.peripheral.pinmap 完成对 SPI 的管脚映射。

+

注意：MaixCAM 由于其 SPI 外设的限制，只能作为 SPI 主设备使用。MaixCAM 的 SPI 暂时不支持修改硬件 CS 引脚有效电平，所有 SPI 硬件 CS 的有效电平为低电平。如需要使用其他的 CS 有效电平，请在 SPI API 中配置软件 CS 引脚及其有效电平。SPI4 为软件模拟的 SPI，实测最大速率为 1.25MHz，使用方法与硬件 SPI 无异。

+

通过 MaixPy 使用 SPI 很简单：

+ +
from maix import spi, pinmap
+
+pin_function = {
+    "A24": "SPI4_CS",
+    "A23": "SPI4_MISO",
+    "A25": "SPI4_MOSI",
+    "A22": "SPI4_SCK"
+}
+
+for pin, func in pin_function.items():
+    if 0 != pinmap.set_pin_function(pin, func):
+        print(f"Failed: pin{pin}, func{func}")
+        exit(-1)
+
+
+spidev = spi.SPI(4, spi.Mode.MASTER, 1250000)
+
+### Example of full parameter passing.
+# spidev = spi.SPI(id=4,                  # SPI ID
+#                  mode=spi.Mode.MASTER,  # SPI mode
+#                  freq=1250000,          # SPI speed
+#                  polarity=0,            # CPOL 0/1, default is 0
+#                  phase=0,               # CPHA 0/1, default is 0
+#                  bits=8,                # Bits of SPI, default is 8
+#                  cs_enable=True,        # Use soft CS pin? True/False, default is False
+#                  cs='GPIOA19')          # Soft cs pin number, default is 'GPIOA19'
+
+b = bytes(range(0, 8))
+
+res = spidev.write_read(b, len(b))
+if res == b:
+    print("loopback test succeed")
+else:
+    print("loopback test failed")
+    print(f"send:{b}\nread:{res}")
+
+

请先连接该 SPI 的 MOSI 和 MISO。

+

先通过 pinmap 配置所需的引脚，然后启用全双工通信，返回值将等于发送值。

+

更多 SPI API 的详细说明请看 SPI API 文档

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/peripheral/uart.html b/maixpy/doc/zh/peripheral/uart.html new file mode 100644 index 0000000..4e2d548 --- /dev/null +++ b/maixpy/doc/zh/peripheral/uart.html @@ -0,0 +1,504 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy UART 串口使用介绍 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy UART 串口使用介绍

+ +
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+ + + + +
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+ + + +
+
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+ + +
+
+ +
+
+ +

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(默认 Type-C 母口朝前和丝印符合)，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：

+ +
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

+

MaixCAM 串口使用注意点

+

有开发者可能会问：为什么插上 USB 电脑没出现串口设备？
+答： 因为设备的 USB 默认是 虚拟 USB 网卡，没有串口功能，如果要访问设备的终端，请使用 ssh 连接。

+

对于 MaixCAM, 从 Type-C 转接板引出的串口0直连到 A16(TX)和 A17(RX)引脚，可以直接接到其它设备比如单片机的串口引脚；
+如果要和电脑通信，需要使用 USB 转串口小板(比如这个)连接到电脑。

+

需要注意的是， MaixCAM 的串口0 在开机时会打印一部分开机日志， 启动完毕后会打印serial ready字样，如果和单片机通信需要注意丢弃这部分信息，如果出现系统启动出现问题也可以通过查看串口0的开机打印来诊断问题。

+

发送接收数据

+

这里使用了write_str函数来发送字符串，在Python中有str和bytes两种基础数据类型，前者是字符串，后者是原始字节数据，比如:

+
    +
  • "A" 调用encode()方法变成b"A"，反过来b"A"调用decode()方法变成"A"。
    • +
  • str 没法显示一些不可见字符比如 ASCII 码中的值0，在字符串中也是\0一般作为结束符，在bytes类型中就可以用b"\x00"来储存。
    • +
  • 对于非 ASCII 编码的字符串更有用，比如UTF-8编码中中文好是由三个字节\xe5\xa5\xbd来表示的，我们可以通过"好".encode("utf-8")得到b"\xe5\xa5\xbd"，也可以通过b'\xe5\xa5\xbd'.decode("utf-8)得到"好"。
    • +
+

所以如果我们需要发送字节数据，则用write()方法发送即可。

+

所以对于 str 类型，也可以不用write_str，而是使用serial.write(str_content.encode()) 来发送。

+

另外如果你有一个 list 类型的数据，可以通过bytes()方法来构建一个bytes对象，比如

+ +
a = [1, 2, 3]
+serial.write(bytes(a))
+
+

同样，read方法获得的数据也是bytes类型。

+

其它写法

+ +

+from maix import app, uart, time
+import sys
+
+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
+
+

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。

+

使用其它串口

+

每个引脚可能可以对应不同的外设功能，这也叫引脚复用，如下图，每个引脚对应了不同功能，比如A17引脚(板子的丝引标识)对应了GPIOA17 UART0_RX PWM5 这三种功能，默认是UART0_RX。

+

+

默认我们就能像上面直接使用UART0，对于其它串口的引脚默认都不是串口外设功能，所以要使用其它串口，需要先设置一下映射，使用pinmap.set_pin_function来设置。

+

这里以使用UART1 为例，先设置引脚映射选择引脚功能为串口，然后设备编号使用/dev/ttyS1，注意uart.list_devices() 默认不会返回需要手动映射的串口，所以直接手动传参就可以了：

+ +
from maix import app, uart, pinmap, time
+
+pinmap.set_pin_function("A18", "UART1_RX")
+pinmap.set_pin_function("A19", "UART1_TX")
+
+device = "/dev/ttyS1"
+
+serial1 = uart.UART(device, 115200)
+
+

使用串口协议通信

+

基于串口，你可以按照你自己的习惯进行通信，直接发字符串结果，或者可以结合Python的struct库进行编码成二进制协议。

+

另外 MaixPy 也内置了一个通信协议可以直接使用。

+

这里的通信协议即：规定通信双方的以什么样的格式来传输内容，方便双方解析识别信息，是一个二进制协议，包括帧头、数据内容、校验等。
+完整的协议定义在 Maix 串口通信协议标准。
+没有接触过通信协议可能看起来有点困难，结合下面的例子多看几遍就能理解了。

+

比如我们现在有一个物体检测，我们想检测到物体后通过串口发送给其它设备（比如 STM32 单片机或者 Arduino 单片机），告诉其我们检测到了什么物体，坐标是多少。

+

完整的例程：MaixPy/examples/protocol/comm_protocol_yolov5.py

+

首先我们需要检测到物体，参考 yolov5 检测物体的例程即可，这里我们就省略其它细节，来看检测到的结果是什么样

+ +
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)
+
+

可以看到objs是多个检测结果，这里在屏幕上进行画框了，我们也可以在这里想办法把结果通过串口发送出去。
+这里我们不需要手动初始化串口，直接使用内置的maix.comm, maix.protocol模块，调用comm.CommProtoco会自动初始化串口，默认波特率是115200，串口协议的相关可以在设备系统设置->通信协议里面设置。
+系统设置里面可能还有其它通信方式比如tcp，默认是uart，你也可以通过maix.app.get_sys_config_kv("comm", "method")来获取到当前设置的是不是uart。

+ +
from maix import comm, protocol, app
+from maix.err import Err
+import struct
+
+def encode_objs(objs):
+    '''
+        encode objs info to bytes body for protocol
+        2B x(LE) + 2B y(LE) + 2B w(LE) + 2B h(LE) + 2B idx ...
+    '''
+    body = b""
+    for obj in objs:
+        body += struct.pack("<hhHHH", obj.x, obj.y, obj.w, obj.h, obj.class_id)
+    return body
+
+APP_CMD_ECHO = 0x01
+APP_CMD_DETECT_RES = 0x02
+
+p = comm.CommProtocol(buff_size = 1024)
+
+while not app.need_exit():
+    # ...
+    objs = detector.detect(img, conf_th = 0.5, iou_th = 0.45)
+    if len(objs) > 0:
+        body = encode_objs(objs)
+        p.report(APP_CMD_DETECT_RES, body)
+    # ...
+
+

这里通过encode_objs函数将所有检测到的物体信息打包成bytes类型的数据，然后用p.report函数将结果发送出去。

+

这里我们对body内容进行了一个简单的定义，即2B x(LE) + 2B y(LE) + 2B w(LE) + 2B h(LE) + 2B idx ...，
+含义是：

+
    +
  • 这张图中检测到多个物体，在body中按顺序排列，每个目标占用 2+2+2+2+2 = 10 个字节的长度，一共有body_len / 10个物体。
    • +
  • 第1、2个字节代表识别到的物体的左上角的 x 坐标，单位是像素，因为 yolov5 的结果这个坐标值有可能为负数，所以我们用一个short类型的值来表示，这里使用了小端编码（LE）。
    • +
+
+

这里小端即数值的低字节在前，比如坐标 x 为 100, 十六进制为 0x64，我们用两个字节的short来表示就是0x0064，这里小端编码成 bytes 就是0x64在前， 结果就是b'\x64\x00'。

+
+
    +
  • 同理，将后面的数据都依次编码，一个物体得到一个10字节长的bytes类型数据。
    • +
  • 循环将所有物体信息编码并拼接成一个bytes。
    • +
+

在调用report函数时，底层会自动按照协议拼接上协议头、校验和等等，这是在另一端就能收到一帧完整的数据了。

+

在另一端收到信息后也要按照协议进行解码，如果接收端也是用 MaixPy 可以直接：

+ +
while not app.need_exit():
+    msg = p.get_msg()
+    if msg and msg.is_report and msg.cmd == APP_CMD_DETECT_RES:
+        print("receive objs:", decode_objs(msg.get_body()))
+        p.resp_ok(msg.cmd, b'1')
+
+

如果是其它设备比如STM32或者Arduino则可以参考 Maix 串口通信协议标准 附录中的 C 语言函数进行编解码。

+ + +
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+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/peripheral/wdt.html b/maixpy/doc/zh/peripheral/wdt.html new file mode 100644 index 0000000..0623e9d --- /dev/null +++ b/maixpy/doc/zh/peripheral/wdt.html @@ -0,0 +1,361 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 使用看门狗定时器 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 使用看门狗定时器

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+
+ + + +
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+ +

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

+ +
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)
+
+
+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/pro/compile_os.html b/maixpy/doc/zh/pro/compile_os.html new file mode 100644 index 0000000..5dc1b59 --- /dev/null +++ b/maixpy/doc/zh/pro/compile_os.html @@ -0,0 +1,344 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy + + + + + + + + + + +
+ +
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+ +

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+ + + + + + 2024-06-21 + + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/projects/face_tracking.html b/maixpy/doc/zh/projects/face_tracking.html new file mode 100644 index 0000000..8386396 --- /dev/null +++ b/maixpy/doc/zh/projects/face_tracking.html @@ -0,0 +1,452 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 2轴舵机云台人脸追踪 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 2轴舵机云台人脸追踪

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-06-11 + + +
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+ + + +
+
+
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+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-06-111.0.0iawak9lkm + + 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

+

简介

+

基于 MaixCAM 和云台的人脸追踪程序。实际效果如下图所示：

+

+

+

如何使用例程

+
    +

  • 组装好您的云台和MaixCAM。

    +
    • +

  • 修改 main.py 中的参数。

    +

    修改每个舵机使用的 MaixCAM 引脚，指定的引脚必须具备 PWM 功能。servos.Servos 会自行将该引脚配置为 PWM 功能。

    + +
    ROLL_PWM_PIN_NAME = "A17"
+PITCH_PWM_PIN_NAME = "A16"
+
    +

    修改两个舵机的初始位置。

    + +
    init_pitch = 80         # init position, value: [0, 100], means minimum angle to maxmum angle of servo
+init_roll = 50          # 50 means middle
+
    +

    修改两个舵机各自的活动范围的最小最大 PWM 占空比。请注意，某些云台结构中的舵机超出物理限制的最大活动范围时可能会造成不可预期的后果，请务必保证以下设定值对应的舵机运动范围内无阻碍。

    + +
    PITCH_DUTY_MIN  = 3.5   # The minimum duty cycle corresponding to the range of motion of the y-axis servo.
+PITCH_DUTY_MAX  = 9.5   # Maximum duty cycle corresponding to the y-axis servo motion range.
+ROLL_DUTY_MIN   = 2.5   # Minimum duty cycle for x-axis servos.
+ROLL_DUTY_MAX   = 12.5  # Maxmum duty cycle for x-axis servos.
+
    +

    选择舵机的运动方向。

    + +
    pitch_reverse = False                   # reverse out value direction
+roll_reverse = True                     # reverse out value direction
+
    +
    • +

  • 最后执行代码即可。

    +
    • +

  • 想要退出程序按左上角的按钮即可。

    +

    +
    • +
+

常见问题

+
    +

  • 人脸跟踪效果不理想。

    +

    不同的云台使用的 PID 参数不尽相同，您可以通过调节 PID 值来使得追踪效果更丝滑。

    + +
    pitch_pid = [0.3, 0.0001, 0.0018, 0]    # [P I D I_max]
+roll_pid  = [0.3, 0.0001, 0.0018, 0]    # [P I D I_max]
+
    +
    • +

  • 在完成跟踪后，云台对着不动的人脸小幅度左右抖动一段时间。

    +

    通常可以通过调节 PID 来使得该影响尽可能小；但是无法避免云台物理结构带来的抖动。可以尝试调节死区来减小抖动。

    + +
    target_ignore_limit = 0.08
+# when target error < target_err_range*target_ignore_limit , set target error to 0
+
    +
    • +

  • 显示屏显示或终端打印 PIN: XXX does not exist。

    +

    这是因为 MaixCAM 板子上引出的引脚中并不存在该引脚，请在 MaixCAM 上选择一个带 PWM 功能的引脚。

    +
    • +

  • 显示屏显示或终端打印 Pin XXX doesn't have PWM function。

    +

    这是因为 MaixCAM 板子上引出的这个引脚没有 PWM 功能，请选择一个带 PWM 功能的引脚。

    +
    • +
+

如何追踪其他物体

+
    +

  • 在 main.py 中存在一个类 Target，该类用于自定义需要追踪的目标。

    +
    • +

  • 在 __init__ 中，请初始化您需要用到的对象，比如摄像头等。

    +
    • +

  • 在 __get_target() 中，您需要计算出被追踪物体的中心点，如果帧中不存在被追踪物体，请返回 -1,-1 以确保程序在未找到目标时暂时不做动作。同时，您也需要在返回坐标点之前调用 self.__exit_listener(img) 和 self.disp.show(img) 确保程序能够与您正常的完成交互。

    +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/projects/index.html b/maixpy/doc/zh/projects/index.html new file mode 100644 index 0000000..8081f6b --- /dev/null +++ b/maixpy/doc/zh/projects/index.html @@ -0,0 +1,367 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 项目实战 介绍和汇总 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 项目实战 介绍和汇总

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+ + + + +
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+ + +
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+ +

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 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：

+ +

MaixHub 应用分享

+

除了项目分享以外，还可以在MaixHub 应用商店 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：

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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 new file mode 100644 index 0000000..0f91373 --- /dev/null +++ b/maixpy/doc/zh/projects/line_tracking_robot.html @@ -0,0 +1,432 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 小车巡线 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 小车巡线

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+ + + + + + 2024-05-09 + + +
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+ + +
+ + 更新历史 +
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日期版本作者更新内容
2024-05-091.0.0lxowalle + + 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

+

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. +
  2. 实现寻线功能
    3. +
  3. 实现小车控制功能
    4. +
+

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

+

代码实现：

+ +
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

+ + +
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+ +
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+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/sidebar.yaml b/maixpy/doc/zh/sidebar.yaml new file mode 100644 index 0000000..cfd9be8 --- /dev/null +++ b/maixpy/doc/zh/sidebar.yaml @@ -0,0 +1,166 @@ +items: +- file: README.md + label: 快速开始 +- file: faq.md + label: FAQ 常见问题 + +- label: 基础 + 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 + - file: basic/auto_start.md + label: 开机自启 + - file: basic/view_src_code.md + label: 查看 API 对应源码 + +- label: 基础图像和算法 + 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/touchscreen.md + label: 触摸屏使用 + - 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 + - file: vision/opencv.md + label: 使用 OpenCV + +- label: AI 视觉 + 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/v8 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 在线训练 AI 模型 + - file: vision/customize_model_yolov5.md + label: 离线训练 YOLOv5 模型 + - file: vision/customize_model_yolov8.md + label: 离线训练 YOLOv8 模型 + - file: ai_model_converter/maixcam.md + label: ONNX 模型转给 MaixCAM 用 + + +- label: AI 听觉 + 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 + 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_streaming.md + label: RTSP 串流 + - file: video/rtmp_streaming.md + label: RTMP 串流 + +- label: 片上外设 + items: + - file: peripheral/pinmap.md + label: PINMAP 使用 + - 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 + - file: peripheral/adc.md + label: ADC 使用 + +- label: 片外模块 + items: + - file: modules/temp_humi.md + label: 温湿度传感器 + - file: modules/acc.md + label: 加速度计使用 + - 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 + - file: projects/face_tracking.md + label: 人脸追踪2轴云台 + +- label: 进阶 + 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 new file mode 100644 index 0000000..d523056 --- /dev/null +++ b/maixpy/doc/zh/source_code/add_c_module.html @@ -0,0 +1,354 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 给 MaixPy 添加一个 C/C++ 模块 - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

给 MaixPy 添加一个 C/C++ 模块

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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

+

方法一： 直接修改 MaixPy 固件，参考 查看 MaixPy API 源码。

+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/source_code/build.html b/maixpy/doc/zh/source_code/build.html new file mode 100644 index 0000000..0e95b11 --- /dev/null +++ b/maixpy/doc/zh/source_code/build.html @@ -0,0 +1,414 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 开发源代码指南 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 开发源代码指南

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获取源代码

+ +
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）

+ +
cd ~/maix
+git clone https://github.com/sipeed/MaixCDK
+
+

然后需要设置环境变量 MAIXCDK_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：

+ +
export MAIXCDK_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

+ +
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

+ +
maixcdk build
+
+

修改源代码后运行测试

+
    +
  • 首先, 构建源代码
    • +
+ +
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。

+ +
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 目录, 使用 Markdown 格式, 你可以使用 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。

+ +
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

+

如果在使用源代码时遇到任何问题, 请先参考 FAQ。

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参与 MaixPy 文档修改和贡献代码

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参与 MaixPy 文档修改

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  • 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。

+
+
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  • 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。
    • +
+
+

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 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
    • +
  • 在修改代码前最好先创建一个 issue ，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 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。

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MaixPy 源代码常见问题

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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_lockstd::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）

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切换到 MaixCDK 使用 C/C++ 开发应用

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+ +

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。

+

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, 你可以在这里找到 MaixCDK 的代码和文档。

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/video/jpeg_streaming.html b/maixpy/doc/zh/video/jpeg_streaming.html new file mode 100644 index 0000000..2085f32 --- /dev/null +++ b/maixpy/doc/zh/video/jpeg_streaming.html @@ -0,0 +1,510 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 视频流 JPEG 推流 / 发送图片到服务器 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 视频流 JPEG 推流 / 发送图片到服务器

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-05-201.0.1lxowalle + + 更新JPEG-HTTP用法 + +
2024-04-031.0.0neucrack + + 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，这里提供两种方法:

+
    +
  • 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。
    • +
  • 建立一个HTTP服务器, 让PC端可以通过浏览器直接访问
    • +
+

作为客户端推流的方法

+ +
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。

+

作为服务器推流的方法

+ +
from maix import camera, time, app, http
+
+html = """<!DOCTYPE html>
+<html>
+<head>
+    <title>JPG Stream</title>
+</head>
+<body>
+    <h1>MaixPy JPG Stream</h1>
+    <img src="/stream" alt="Stream">
+</body>
+</html>"""
+
+cam = camera.Camera(320, 240)
+stream = http.JpegStreamer()
+stream.set_html(html)
+stream.start()
+
+print("http://{}:{}".format(stream.host(), stream.port()))
+while not app.need_exit():
+    t = time.ticks_ms()
+    img = cam.read()
+    jpg = img.to_jpeg()
+    stream.write(jpg)
+    print(f"time: {time.ticks_ms() - t}ms, fps: {1000 / (time.ticks_ms() - t)}")
+
+

步骤：

+
    +

  1. 导入image、camera和http模块

    + +
    from maix import image, camera, http
+
    +
    2. +

  2. 初始化摄像头

    + +
    cam = camera.Camera(320, 240) # 初始化摄像头，输出分辨率320x240 RGB格式
+
    +
    3. +

  3. 初始化Stream对象

    + +
    stream = http.JpegStreamer()
+stream.start()
+
    +
      +
    • http.JpegStreamer()用来创建一个JpegStreamer对象，这个对象将会启动一个http服务器，用来向客户端发布jpeg图像流
      • +
    • stream.start()用来启动http服务器
      • +
    +
    4. +

  4. 自定义html样式（可选）

    + +
    html = """<!DOCTYPE html>
+<html>
+<head>
+    <title>JPG Stream</title>
+</head>
+<body>
+    <h1>MaixPy JPG Stream</h1>
+    <img src="/stream" alt="Stream">
+</body>
+</html>"""
+
+stream.set_html(html)
+
    +
      +
    • html = xxx是html代码，可以用来定制自己的网页风格。注意核心代码是<img src="/stream" alt="Stream">，一定不要漏了这行代码。
      • +
    • stream.set_html(html)用来设置自定义的html代码，这一步是可选的。默认浏览地址是http://设备的ip:8000。
      • +
    +
    5. +

  5. 从摄像头获取图片并推流

    + +
    while 1:
+    img = cam.read()
+    jpg = img.to_jpeg()
+    stream.write(jpg)
+
    +
      +
    • img = cam.read()从摄像头获取一张图像，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。
      • +
    • jpg = img.to_jpeg()将图像转换为jpeg格式
      • +
    • stream.write(jpg)向服务器写入图像格式，http服务器将会把这个图像发送到http客户端。
      • +
    +
    6. +

  6. 完成，运行上须代码后, 你可以通过浏览器直接看到视频流, 默认地址为http://设备的ip:8000。打开你的浏览器看看吧！

    +
    7. +
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/video/record.html b/maixpy/doc/zh/video/record.html new file mode 100644 index 0000000..d38bd83 --- /dev/null +++ b/maixpy/doc/zh/video/record.html @@ -0,0 +1,505 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 录像 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 录像

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-05-201.0.0lxowalle + + 初版文档 + +
+
+
+ +
+
+ +

简介

+

本文档提供录像功能的使用方法

+

示例一

+

一个录入h265格式视频的示例

+ +
from maix import video, image, camera, app, time
+
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+e = video.Encoder()
+f = open('/root/output.h265', 'wb')
+
+record_ms = 2000
+start_ms = time.ticks_ms()
+while not app.need_exit():
+    img = cam.read()
+    frame = e.encode(img)
+
+    print(frame.size())
+    f.write(frame.to_bytes())
+
+    if time.ticks_ms() - start_ms > record_ms:
+        app.set_exit_flag(True)
+
+

步骤：

+
    +

  1. 导入模块并初始化摄像头

    + +
    from maix import video, image, camera, app, time
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+
    +
      +
    • camera.Camera（）用来初始化摄像头， 这里初始化摄像头分辨率为640x480，注意目前Encoder只支持NV21格式，因此设置图像格式为image.Format.FMT_YVU420SP。
      • +
    +
    2. +

  2. 初始化Encoder模块

    + +
    e = video.Encoder()
+
    +
      +
    • video.Encoder()模块目前只支持处理image.Format.FMT_YVU420SP格式图像，支持h265和h264编码, 默认为h265编码。如果你想使用h264编码，则可以修改初始化参数为video.Encoder(type=video.VideoType.VIDEO_H264_CBR)
      • +
    • 注意，同时只能存在一个编码器
      • +
    +
    3. +

  3. 编码摄像头的图像

    + +
    img = cam.read()
+frame = e.encode(img)
+
    +
      +
    • img = cam.read()读取摄像头图像并保存到img
      • +
    • frame = e.encode(img)对img编码并保存结果到frame
      • +
    +
    4. +

  4. 保存编码结果到文件

    + +
    f = open('/root/output.h265', 'wb')
+f.write(frame.to_bytes(False))
+
    +
      +
    • f = open(xxx)打开并创建一个文件
      • +
    • f.write(frame.to_bytes(False))将编码结果frame转换为bytes类型，然后调用f.write()将数据写入文件中
      • +
    +
    5. +

  5. 定时2s退出

    + +
    record_ms = 2000
+start_ms = time.ticks_ms()
+while not app.need_exit():
+    if time.ticks_ms() - start_ms > record_ms:
+    app.set_exit_flag(True)
+
    +
      +
    • 这里是定时退出的应用逻辑，自己看看吧
      • +
    +
    6. +

  6. 完成

    +
    7. +
+

示例二

+

一个录入h265格式视频的示例

+ +
from maix import video, time, image, camera, app
+
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+e = video.Encoder(capture = True)
+e.bind_camera(cam)
+
+f = open('/root/output.h265', 'wb')
+
+record_ms = 2000
+start_ms = time.ticks_ms()
+while not app.need_exit():
+    frame = e.encode()
+    img = e.capture()
+
+    print(frame.size())
+    f.write(frame.to_bytes(True))
+
+    if time.ticks_ms() - start_ms > record_ms:
+        app.set_exit_flag(True)
+
+

与示例一类似，区别在于调用了Encoder对象的bind_camera方法，Encoder主动取图，这样的优点是可以充分利用硬件特性，增加编码速率

+ +
e = video.Encoder(capture = True)
+e.bind_camera(cam)
+frame = e.encode()
+img = e.capture()
+
+
    +
  • e = video.Encoder(capture = True)使能了capture参数，让编码时可以抓取编码的图像
    • +
  • e.bind_camera(cam)将摄像头绑定到Encoder对象
    • +
  • frame = e.encode()编码时不需要再传入img，而是内部从摄像头取图
    • +
  • img = e.capture()从Encoder对象中抓取编码的图像
    • +
+

转换为MP4格式

+

如果想要录制mp4格式视频，可以先录制好H265视频，再使用系统内的ffmpeg工具转换为mp4格式

+ +
import os
+
+# Pack h265 to mp4
+# /root/output.h265 是h265文件路径
+# /root/output.mp4  是mp4文件路径
+os.system('ffmpeg -loglevel quiet -i /root/output.h265 -c:v copy -c:a copy /root/output.mp4 -y')
+
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/video/rtmp_streaming.html b/maixpy/doc/zh/video/rtmp_streaming.html new file mode 100644 index 0000000..e3b85b5 --- /dev/null +++ b/maixpy/doc/zh/video/rtmp_streaming.html @@ -0,0 +1,488 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 视频流 RTMP 推流 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 视频流 RTMP 推流

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-05-201.0.0lxowalle + + 初版文档 + +
+
+
+ +
+
+ +

简介

+

本文档提供通过RTMP推送H264视频流的方法

+

使用方法

+ +
from maix import camera, time, rtmp, image
+
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+
+# rtmp://192.168.0.30:1935/live/stream
+host = '192.168.0.30'
+port = 1935
+app = 'live'
+stream = 'stream'
+bitrate = 1000_000
+r = rtmp.Rtmp(host, port, app, stream, bitrate)
+r.bind_camera(cam)
+r.start()
+
+while True:
+    time.sleep(1)
+
+

步骤：

+
    +

  1. 导入camera, time, rtmp和image模块

    + +
    from maix import camera, time, rtmp, image
+
    +
    2. +

  2. 初始化摄像头

    + +
    cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP) # 初始化摄像头，输出分辨率640x480 NV21格式
+
    +
      +
    • 注意RTMP模块目前只支持NV21格式， 因此摄像头需要配置为NV21格式输出
      • +
    +
    3. +

  3. 初始化并启动Rtmp对象

    + +
    r = rtmp.Rtmp(host, port, app, stream, bitrate)
+r.bind_camera(cam)
+r.start()
+
    +
      +
    • r = rtmp.Rtmp(host, port, app, stream, bitrate)用来创建一个Rtmp对象，其中host指rtmp服务器的ip地址或者域名，app指rtmp服务器开放的应用名，stream指rtmp流的名称，也可以作为本次推流的密钥
      • +
    • r.bind_camera(cam)用来绑定一个Camera对象， 绑定后原Camera对象将不能再使用
      • +
    • r.start()用来启动rtmp推流
      • +
    +
    4. +

  4. 完成

    +
    5. +
+

向Bilibili推流测试

+

启动bilibili直播

+
    +

  1. 点击直播

    +

    +
    2. +

  2. 点击开播设置

    +
    3. +
+

+
    +
  1. 通过我的直播间链接找到直播地址
    2. +
+

+
    +
  1. 往下翻，选择一个分类，再点击开始直播
    2. +
+

+
    +
  1. 执行步骤4后，可以看到
    2. +
+

+
    +
  • 直播服务器的地址为：rtmp://live-push.bilivideo.com/live-bvc
    • +
  • 串流密钥为：?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1
    • +
+

组合起来的rtmp推流地址就是：rtmp://live-push.bilivideo.com/live-bvc/?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1

+

运行RTMP客户端

+ +
from maix import camera, time, rtmp, image
+
+cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+
+# rtmp://live-push.bilivideo.com/live-bvc/?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1
+host = 'live-push.bilivideo.com'
+port = 1935
+app = 'live-bvc'
+stream = '?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1'
+bitrate = 1000_000
+r = rtmp.Rtmp(host, port, app, stream, bitrate)
+r.bind_camera(cam)
+r.start()
+
+while True:
+    time.sleep(1)
+
+

上面拿到bilibili的推流地址为rtmp://live-push.bilivideo.com/live-bvc/?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1

+

可以拆出

+
    +
  1. 服务器地址为live-push.bilivideo.com
    2. +
  2. 端口号为1935，即没有端口号则默认为1935
    3. +
  3. 应用名为live-bvc
    4. +
  4. 流名称为?streamname=live_xxxx&key=1fbfxxxxxxxxxxxxxffe0&schedule=rtmp&pflag=1
    5. +
+

运行代码，就能在直播间看到maixcam的画面了，如果发现直播没有显示，可以尝试先关闭直播间，再重新打开直播间，再运行代码。

+

动手试试吧～

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/video/rtsp_streaming.html b/maixpy/doc/zh/video/rtsp_streaming.html new file mode 100644 index 0000000..1f2e98e --- /dev/null +++ b/maixpy/doc/zh/video/rtsp_streaming.html @@ -0,0 +1,438 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 视频流 RTSP 推流 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 视频流 RTSP 推流

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-20 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-05-201.0.0lxowalle + + 初版文档 + +
+
+
+ +
+
+ +

简介

+

本文档提供通过RTSP推流摄像头画面的方法

+

使用方法

+ +
from maix import time, rtsp, camera, image
+
+cam = camera.Camera(2560, 1440, image.Format.FMT_YVU420SP)
+server = rtsp.Rtsp()
+server.bind_camera(cam)
+server.start()
+
+print(server.get_url())
+
+while True:
+    time.sleep(1)
+
+

步骤：

+
    +

  1. 导入time、rtsp、camera和image模块

    + +
    from maix import time, rtsp, camera, image
+
    +
    2. +

  2. 初始化摄像头

    + +
    cam = camera.Camera(2560, 1440, image.Format.FMT_YVU420SP) # 初始化摄像头，输出分辨率2560x1440 NV21格式
+
    +
      +
    • 注意RTSP模块目前只支持NV21格式， 因此摄像头需要配置为NV21格式输出
      • +
    +
    3. +

  3. 初始化并启动Rtsp对象

    + +
    server = rtsp.Rtsp()
+server.bind_camera(cam)
+server.start()
+
    +
      +
    • server = rtsp.Rtsp()用来创建一个Rtsp对象
      • +
    • server.bind_camera(cam)用来绑定一个Camera对象， 绑定后原Camera对象将不能再使用
      • +
    • server.start()用来启动rtsp推流
      • +
    +
    4. +

  4. 打印当前RTSP流的URL

    + +
    print(server.get_url())
+
    +
      +
    • server.get_url()用来获取RTSP的播放地址。
      • +
    +
    5. +

  5. 完成，运行上须代码后, 你可以通过VLC软件播放视频流, 已测试的VLC版本是3.0.20. 默认播放地址为rtsp://设备的ip:8554/live

    +
    6. +
+

OSD

+

通过OSD来实现画线与画框

+

TODO

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/ai.html b/maixpy/doc/zh/vision/ai.html new file mode 100644 index 0000000..7a190b4 --- /dev/null +++ b/maixpy/doc/zh/vision/ai.html @@ -0,0 +1,389 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + AI 视觉基本知识 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

AI 视觉基本知识

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
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+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-04-031.0.0neucrack + + 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 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

+

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 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 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。

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/apriltag.html b/maixpy/doc/zh/vision/apriltag.html new file mode 100644 index 0000000..1fed7f9 --- /dev/null +++ b/maixpy/doc/zh/vision/apriltag.html @@ -0,0 +1,503 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 识别Apriltag标签 - MaixPy + + + + + + + + + + +
+ +
+ +
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+
+
+ +

MaixPy 识别Apriltag标签

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+ + + + + + 2024-04-03 + + +
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+ + +
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+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-04-031.0.0lxowalle + + 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

+

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

+ +
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

    + +
    from maix import image, camera, display
+
    +
    2. +

  2. 初始化摄像头和显示

    + +
    cam = camera.Camera()
+disp = display.Display()
+
    +
    3. +

  3. 从摄像头获取图片并显示

    + +
    while 1:
+    img = cam.read()
+    disp.show(img)
+
    +
    4. +

  4. 调用find_apriltags方法识别摄像头图片中的apriltag标签

    + +
    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. +

  5. 处理识别标签的结果并显示到屏幕上

    + +
    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。
      • +
    +
    6. +
+

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
img.find_apriltags(roi=[50, 50, 100, 100])
familiesapriltag标签家族类型扫描TAG36H11家族的标签
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 部分。

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+ +
+ +
+
+
+
+ +

MaixPy 检测人体关键点姿态检测

+ +
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+ + + +
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+ +

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。

+

MaixPy 实现了基于 YOLOv8-Pose 的人体姿态检测，可以检测到人体17个关键点。

+

+

使用

+

使用 MaixPy 的 maix.nn.YOLOv8 类可以轻松实现：

+ +
from maix import camera, display, image, nn, app
+
+detector = nn.YOLOv8(model="/root/models/yolov8n_pose.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, keypoint_th = 0.5)
+    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)
+        detector.draw_pose(img, obj.points, 8 if detector.input_width() > 480 else 4, image.COLOR_RED)
+    dis.show(img)
+
+

另外代码也在MaixPy/examples/vision目录下可以找到。

+

可以看到因为用了YOLOv8-Pose 所以这里直接用了YOLOv8这个类，和YOLOv8物体检测模型只是模型文件不同，然后就是detect函数返回的结果多了points值，是一个int类型的list列表，一共17个点，按次序依次排列，比如第一个值是鼻子的 x 坐标， 第二个值是鼻子的 y 坐标，依次为：

+ +
1. 鼻子（Nose）
+2. 左眼（Left Eye）
+3. 右眼（Right Eye）
+4. 左耳（Left Ear）
+5. 右耳（Right Ear）
+6. 左肩（Left Shoulder）
+7. 右肩（Right Shoulder）
+8. 左肘（Left Elbow）
+9. 右肘（Right Elbow）
+10. 左手腕（Left Wrist）
+11. 右手腕（Right Wrist）
+12. 左髋（Left Hip）
+13. 右髋（Right Hip）
+14. 左膝（Left Knee）
+15. 右膝（Right Knee）
+16. 左脚踝（Left Ankle）
+17. 右脚踝（Right Ankle）
+
+

如果某些部位被遮挡，那么值为-1。

+

更多输入分辨率模型

+

默认的模型是输入是320x224分辨率，如果你希望使用更大分辨率的模型，可以到MaixHub 模型库下载并传输到设备使用。

+

分辨率越大理论上精度越高但是运行速度更低，根据你的使用场景选择，另外如果提供的分辨率不满足你的要求你也可以自己到 YOLOv8-Pose 使用摸新训练源码导出自己的onnx模型，然后转换为 MaixCAM 支持的模型（方法见后面的文章）。

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/camera.html b/maixpy/doc/zh/vision/camera.html new file mode 100644 index 0000000..1aa19ad --- /dev/null +++ b/maixpy/doc/zh/vision/camera.html @@ -0,0 +1,418 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 摄像头使用 - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

MaixPy 摄像头使用

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+ + +
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+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-04-031.0.0neucrack + + 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 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：

+ +
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：

+ +
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：

+ +
from maix import camera, display
+
+cam = camera.Camera(640, 480)
+disp = display.Display()
+
+while 1:
+    img = cam.read()
+    disp.show(img)
+
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/classify.html b/maixpy/doc/zh/vision/classify.html new file mode 100644 index 0000000..91f02d5 --- /dev/null +++ b/maixpy/doc/zh/vision/classify.html @@ -0,0 +1,372 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 使用 AI 模型进行物体分类 - MaixPy + + + + + + + + + + +
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MaixPy 使用 AI 模型进行物体分类

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物体分类概念

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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：

+ +
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:

+ +

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 模块的文档。

+

训练自己的分类模型

+

请到MaixHub 学习并训练分类模型，创建项目时选择分类模型即可。

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+ +
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+ +

请看 MaixCAM 模型转换，以及在左边目录找到你要转换的模型文档，比如自定义 yolov5 模型。

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+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/customize_model_yolov5.html b/maixpy/doc/zh/vision/customize_model_yolov5.html new file mode 100644 index 0000000..f6b1418 --- /dev/null +++ b/maixpy/doc/zh/vision/customize_model_yolov5.html @@ -0,0 +1,437 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 为 MaixPy 离线训练 YOLOv5 模型，自定义检测物体 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

为 MaixPy 离线训练 YOLOv5 模型，自定义检测物体

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-06-21 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-6-20v1.0neucrack + + 编写文档 + +
+
+
+ +
+
+ +

简介

+

默认官方提供了 80 种物体检测，如果不满足你的需求，可以自己训练检测的物体，两种方式：

+
    +
  • 使用 MaixHub 在线训练，方便快捷，无需购买服务器也无需搭建环境，点几下鼠标就完成。
    • +
  • 在自己的电脑或者服务器搭建训练环境训练。
    • +
+

前者好处是简单快速，后者是使用自己电脑，训练图片数量不受限制，但是后者难度会大非常多。

+

注意： 本文讲了如何自定义训练，但是有一些基础知识默认你已经拥有，如果没有请自行学习：

+
    +
  • 本文不会讲解如何安装训练环境，请自行搜索安装（Pytorch 环境安装）测试。
    • +
  • 本文不会讲解机器学习的基本概念、linux相关基础使用知识。
    • +
+

如果你觉得本文哪里需要改进，欢迎点击右上角编辑本文贡献并提交 文档 PR。

+

流程和本文目标

+

要想我们的模型能在 MaixPy (MaixCAM)上使用，需要经历以下过程：

+
    +
  • 搭建训练环境，本文略过，请自行搜索 pytorch 训练环境搭建。
    • +
  • 拉取 yolov5 源码到本地。
    • +
  • 准备数据集，并做成 yolov5 项目需要的格式。
    • +
  • 训练模型，得到一个 onnx 模型文件，也是本文的最终输出文件。
    • +
  • 将onnx模型转换成 MaixPy 支持的 MUD 文件，这个过程在MaixCAM 模型转换 一文种有详细介绍。
    • +
  • 使用 MaixPy 加载模型运行。
    • +
+

参考文章

+

因为是比较通用的操作过程，本文只给一个流程介绍，具体细节可以自行看 YOLOv5 官方代码和文档(推荐)，以及搜索其训练教程，最终导出 onnx 文件即可。

+

这里有 MaixHub 的社区的几篇文章：

+ +

如果你有觉得讲得不错的文章欢迎修改本文并提交 PR。

+

YOLOv5 导出 ONNX 模型文件

+

YOLOv5 提供了导出选项，直接在yolov5目录下执行

+ +
python export.py --weights ../yolov5s.pt --include onnx --img 224 320
+
+

这里加载 pt 参数文件，转换成 onnx， 同时指定分辨率，注意这里 高在前，宽在后。
+模型训练的时候用的640x640，我们重新指定了分辨率方便提升运行速度，这里使用320x224的原因是和 MaixCAM 的屏幕比例比较相近方便显示，具体可以根据你的需求设置就好了。

+

MaixCAM MUD 文件

+

将 onnx 转换为 mud 格式的模型文件时，参照 MaixCAM 模型转换 即可，最终会得到一个mud文件和cvimodel文件，其中 mud 文件内容：

+ +
[basic]
+type = cvimodel
+model = yolov8n.cvimodel
+
+[extra]
+model_type = yolov8
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+labels = person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush
+
+

根据你训练的内容替换参数即可，比如你训练检测0~9数字，那么只需要替换labels=0,1,2,3,4,5,6,7,8,9 即可， 然后运行模型时将两个文件放在同一个目录下加载mud文件即可。

+

上传分享到 MaixHub

+

到 MaixHub 模型库 上传并分享你的模型，可以多提供几个分辨率供大家选择。

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/customize_model_yolov8.html b/maixpy/doc/zh/vision/customize_model_yolov8.html new file mode 100644 index 0000000..7ba8c6f --- /dev/null +++ b/maixpy/doc/zh/vision/customize_model_yolov8.html @@ -0,0 +1,465 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 为 MaixPy 离线训练 YOLOv8 模型，自定义检测物体、关键点检测 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

为 MaixPy 离线训练 YOLOv8 模型，自定义检测物体、关键点检测

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-06-21 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-6-21v1.0neucrack + + 编写文档 + +
+
+
+ +
+
+ +

简介

+

默认官方提供了 80 种物体检测，如果不满足你的需求，可以自己训练检测的物体，可以在自己的电脑或者服务器搭建训练环境训练。

+

YOLOv8 不光支持检测物体，还有 yolov8-pose 支持关键点检测，出了官方的人体关键点，你还可以制作你自己的关键点数据集来训练检测指定的物体和关键点

+

注意： 本文讲了如何自定义训练，但是有一些基础知识默认你已经拥有，如果没有请自行学习：

+
    +
  • 本文不会讲解如何安装训练环境，请自行搜索安装（Pytorch 环境安装）测试。
    • +
  • 本文不会讲解机器学习的基本概念、linux相关基础使用知识。
    • +
+

如果你觉得本文哪里需要改进，欢迎点击右上角编辑本文贡献并提交 文档 PR。

+

流程和本文目标

+

要想我们的模型能在 MaixPy (MaixCAM)上使用，需要经历以下过程：

+
    +
  • 搭建训练环境，本文略过，请自行搜索 pytorch 训练环境搭建。
    • +
  • 拉取 yolov8 源码到本地。
    • +
  • 准备数据集，并做成 yolov5 项目需要的格式。
    • +
  • 训练模型，得到一个 onnx 模型文件，也是本文的最终输出文件。
    • +
  • 将onnx模型转换成 MaixPy 支持的 MUD 文件，这个过程在MaixCAM 模型转换 一文种有详细介绍。
    • +
  • 使用 MaixPy 加载模型运行。
    • +
+

参考文章

+

因为是比较通用的操作过程，本文只给一个流程介绍，具体细节可以自行看 YOLOv8 官方代码和文档(推荐)，以及搜索其训练教程，最终导出 onnx 文件即可。

+

如果你有觉得讲得不错的文章欢迎修改本文并提交 PR。

+

YOLOv8 导出 onnx 模型

+

在 ultralytics 目录下创建一个export_onnx.py 文件

+ +
from ultralytics import YOLO
+import sys
+
+print(sys.path)
+net_name = sys.argv[1] # yolov8n.pt yolov8n-pose.pt # https://docs.ultralytics.com/models/yolov8/#supported-tasks-and-modes
+input_width = int(sys.argv[2])
+input_height = int(sys.argv[3])
+
+# Load a model
+model = YOLO(net_name)  # load an official model
+# model = YOLO("path/to/best.pt")  # load a custom model
+
+# Predict with the model
+results = model("https://ultralytics.com/images/bus.jpg")  # predict on an image
+path = model.export(format="onnx", imgsz=[input_width, input_height])  # export the model to ONNX format
+print(path)
+
+
+

然后执行python export_onnx.py yolov8n.pt 320 224 就能导出 onnx 模型了，这里重新指定了输入分辨率，模型训练的时候用的640x640，我们重新指定了分辨率方便提升运行速度，这里使用320x224的原因是和 MaixCAM 的屏幕比例比较相近方便显示，具体可以根据你的需求设置就好了。

+

转换为 MaixCAM 支持的模型以及 mud 文件

+

MaixPy/MaixCDK 目前支持了 YOLOv8 检测 以及 YOLOv8-pose 人体姿态关键点检测两种（2024.6.21）。

+

按照MaixCAM 模型转换 进行模型转换。

+

注意模型输出节点的选择：

+
    +
  • 对于 YOLOv8， 我们提取 onnx 的 /model.22/dfl/conv/Conv_output_0,/model.22/Sigmoid_output_0 这两个输出；
    • +
  • 对于关键点检测(yolov8-pose)我们提取/model.22/dfl/conv/Conv_output_0,/model.22/Sigmoid_output_0,/model.22/Concat_output_0这三个输出。
    • +
+

+

对于物体检测，mud 文件为

+ +
[basic]
+type = cvimodel
+model = yolov8n.cvimodel
+
+[extra]
+model_type = yolov8
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+labels = person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush
+
+

根据你训练的对象替换labels即可。

+

对于关键点检测(yolov8-pose)， mud 文件为：

+ +
[basic]
+type = cvimodel
+model = yolov8n_pose.cvimodel
+
+[extra]
+model_type = yolov8
+type = pose
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+labels = person
+
+

官方默认的时人体姿态关键点检测，所以labels只有一个 person，根据你检测的物体替换即可。

+

上传分享到 MaixHub

+

到 MaixHub 模型库 上传并分享你的模型，可以多提供几个分辨率供大家选择。

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/display.html b/maixpy/doc/zh/vision/display.html new file mode 100644 index 0000000..04de4fb --- /dev/null +++ b/maixpy/doc/zh/vision/display.html @@ -0,0 +1,457 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 屏幕使用 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 屏幕使用

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-03-31 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-03-311.0.0neucrack + + 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 部分。

+

使用屏幕

+
    +
  • 导入display模块：
    • +
+ +
from maix import display
+
+
    +
  • 创建一个Display对象：
    • +
+ +
disp = display.Display()
+
+
    +
  • 显示图像：
    • +
+ +
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：

+ +
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：

+ +
from maix import image, display
+
+disp = display.Display()
+img = image.Image(320, 240)
+img.draw_rect(0, 0, disp.width(), disp.height(), color=image.Color.from_rgb(255, 0, 0), thickness=-1)
+img.draw_rect(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：

+ +
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：

+ +
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。

+ +
from maix import image
+
+img = image.Image(320, 240)
+img.draw_rect(0, 0, img.width(), img.height(), color=image.Color.from_rgb(255, 0, 0), thickness=-1)
+img.draw_rect(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()
+
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/face_detection.html b/maixpy/doc/zh/vision/face_detection.html new file mode 100644 index 0000000..62151c9 --- /dev/null +++ b/maixpy/doc/zh/vision/face_detection.html @@ -0,0 +1,401 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 人脸检测和关键点检测 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

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

+

MaixPy 中使用人脸检测

+

MaixPy 官方提供了三种人脸检测模型，分别来自开源项目 face detector 1MB with landmark 和 Retinafate 以及 YOLOv8-face。

+

这三种模型都可以用，YOLOv8-face 效果比较好但是速度略微慢一些，可以自己实际测试选择使用。

+

使用YOLOv8-face：（需要 MaixPy 版本 >= 4.3.8）

+ +
from maix import camera, display, image, nn, app
+
+detector = nn.YOLOv8(model="/root/models/yolov8n_face.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, keypoint_th = 0.5)
+    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)
+        detector.draw_pose(img, obj.points, 2, image.COLOR_RED)
+    dis.show(img)
+
+

另外两种模型使用方法：
+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

+ +
from maix import camera, display, image, nn, app
+import math
+
+
+detector = nn.Retinaface(model="/root/models/retinaface.mud")
+# detector = nn.FaceDetector(model="/root/models/face_detector.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)
+
+
+

模型下载和其它分辨率模型

+

下载模型，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：

+ + + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/face_recognition.html b/maixpy/doc/zh/vision/face_recognition.html new file mode 100644 index 0000000..fcaa2e3 --- /dev/null +++ b/maixpy/doc/zh/vision/face_recognition.html @@ -0,0 +1,398 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 人脸识别 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 人脸识别

+ +
+
+
    + +
+
+
+
+ + + + +
+
+ + + +
+
+
+
+ + +
+
+ +
+
+ +

人脸识别简介

+

face_recognize

+

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 下载（筛选选则对应的硬件平台，比如 maixcam）。

+

识别：

+ +
from maix import nn, camera, display, image
+import os
+import math
+
+recognizer = nn.FaceRecognizer(detect_model="/root/models/retinaface.mud", feature_model = "/root/models/face_feature.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, 0.5, 0.45, 0.8)
+    for obj in faces:
+        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)
+        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。

+
+

这里 recognizer.labels[0] 默认就是unknown，后面每添加一个人脸就会自动给 labels 增加一个。

+
+

比如可以在用户按下按键的时候学习人脸：

+ +
faces = recognizer.recognize(img, 0.5, 0.45, True)
+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， obj.class_id 为 0 代表是没有录入的人脸
+    # 这里写你自己的逻辑
+    #   比如可以在这里根据 face 的 class_id 和坐标决定要不要添加到库里面，以及可以做用户交互逻辑，比如按下按钮才录入等
+    recognizer.add_face(face, label) # label 是要给人脸取的标签（名字）
+recognizer.save_faces("/root/faces.bin")
+
+

完整例程

+

这里提供一个按键录入未知人脸，以及人脸识别的例程，可以在MaixPy 的 example 目录 找到nn_face_recognize.py。

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/find_blobs.html b/maixpy/doc/zh/vision/find_blobs.html new file mode 100644 index 0000000..a9f149f --- /dev/null +++ b/maixpy/doc/zh/vision/find_blobs.html @@ -0,0 +1,552 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 寻找色块 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 寻找色块

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-04-031.0.0neucrack + + 初版文档 + +
2024-04-031.0.1lxowalle + + 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

+

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

+ +
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

    + +
    from maix import image, camera, display
+
    +
    2. +

  2. 初始化摄像头和显示

    + +
    cam = camera.Camera(320, 240)	# 初始化摄像头，输出分辨率320x240 RGB格式
+disp = display.Display()
+
    +
    3. +

  3. 从摄像头获取图片并显示

    + +
    while 1:
+    img = cam.read()
+    disp.show(img)
+
    +
    4. +

  4. 调用find_blobs方法寻找摄像头图片中的色块，并画到屏幕上

    + +
    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
      • +
    +
    5. +
+

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：
亮度范围为[l_min, l_max]|
绿色到红色的分量范围为[a_min, a_max]
蓝色到黄色的分量范围为[b_min, b_max]
可同时设置多个阈值		设置两个阈值来检测红色和绿色
img.find_blobs(threshold=[[0, 80, 40, 80, 10, 80], [0, 80, -120, -10, 0, 30]])
红色阈值为[0, 80, 40, 80, 10, 80]
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
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
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
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
img.find_blobs(pixels_threshold=1000)
+

本文介绍常用方法，更多 API 请看 API 文档的 image 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。

+

+

详细说明

+

APP界面参考如下：

+

+

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. +
  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. +
  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。
    4. +
+
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. +

  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. +

  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. +

  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。

    +
    5. +
+

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：

+ +
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. +
  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. +
  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。
    4. +
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/image_ops.html b/maixpy/doc/zh/vision/image_ops.html new file mode 100644 index 0000000..384ebbe --- /dev/null +++ b/maixpy/doc/zh/vision/image_ops.html @@ -0,0 +1,643 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 图像基础操作 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 图像基础操作

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-04-031.0.0neucrack + + 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 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：

+ +
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：

+ +
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：

+ +
from maix import image
+
+img = image.load("/root/image.jpg")
+if img is None:
+    raise Exception(f"load image failed")
+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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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。

+

中文支持和自定义字体

+

image 模块支持加载ttf/otf字体，默认字体只支持英文，如果要显示中文或者自定义字体可以先下载字体文件到设备上，然后加载字体。
+系统也内置了几个字体，在/maixapp/share/font目录下面，代码示例：

+ +
from maix import image, display, app, time
+
+image.load_font("sourcehansans", "/maixapp/share/font/SourceHanSansCN-Regular.otf", size = 32)
+print("fonts:", image.fonts())
+image.set_default_font("sourcehansans")
+
+disp = display.Display()
+
+img = image.Image(disp.width(), disp.height())
+img.draw_string(2, 2, "你好！Hello, world!", image.Color.from_rgba(255, 0, 0))
+
+disp.show(img)
+while not app.need_exit():
+    time.sleep(1)
+
+

加载字体文件，然后设置默认的字体，也可以不设置默认的字体，在写字的函数参数设置:

+ +
img.draw_string(2, 2, "你好！Hello, world!", image.Color.from_rgba(255, 0, 0), font="sourcehansans")
+
+

注意 string_size方法也会使用设置的默认字体计算大小，也可以通过font参数单独设置要计算大小的字体。

+

画线

+

image.Image提供了draw_line方法，可以在图像上画线：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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：

+ +
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 模块的文档。

+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/line_tracking.html b/maixpy/doc/zh/vision/line_tracking.html new file mode 100644 index 0000000..0e84f92 --- /dev/null +++ b/maixpy/doc/zh/vision/line_tracking.html @@ -0,0 +1,572 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 寻找直线 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 寻找直线

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-05-09 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-05-091.0.0lxowalle + + 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

+

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

+ +
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

    + +
    from maix import image, camera, display
+
    +
    2. +

  2. 初始化摄像头和显示

    + +
    cam = camera.Camera(320, 240)	# 初始化摄像头，输出分辨率320x240 RGB格式
+disp = display.Display()
+
    +
    3. +

  3. 从摄像头获取图片并显示

    + +
    while 1:
+    img = cam.read()
+    disp.show(img)
+
    +
    4. +

  4. 调用get_regression方法寻找摄像头图片中的直线，并画到屏幕上

    + +
    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. +

  5. 通过maixvision运行代码，就可以寻线啦，看看效果吧

    +

    image-20240509110204007

    +
    6. +
+

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：
亮度范围为[l_min, l_max]|
绿色到红色的分量范围为[a_min, a_max]
蓝色到黄色的分量范围为[b_min, b_max]
可同时设置多个阈值		设置两个阈值来检测红色和绿色
img.find_blobs(threshold=[[0, 80, 40, 80, 10, 80], [0, 80, -120, -10, 0, 30]])
红色阈值为[0, 80, 40, 80, 10, 80]
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
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
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
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
img.find_blobs(pixels_threshold=1000)
+

本文介绍常用方法，更多 API 请看 API 文档的 image 部分。

+

提升巡线的速度

+

这里提供几个提升巡线速度的方法

+
    +

  1. 选择合适的分辨率

    +

    越大的分辨率计算速度越慢，可以根据识别距离和精度的要求来选择更合适的分辨率

    +
    2. +

  2. 使用灰度图识别

    +

    使用灰度图识别时，算法只会处理一个通道，有更快的识别速度，在颜色单一的环境会很有用。注意此时向get_regression传入thresholds时，只有l_min和l_max有效。

    +

    获取灰度图的方法：

    + +
    # 方法1
+cam = camera.Camera(320, 240， image.Format.FMT_GRAYSCALE)    # MaixPy v4.2.1后支持
+gray_img = cam.read()										# 获取灰度图
+
+# 方法2
+cam = camera.Camera(320, 240)
+img = cam.read()
+gray_img = img.to_format(image.Format.FMT_GRAYSCALE)			# 获取灰度图
+
    +
    3. +
+

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. +
  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. +
  3. 点击左侧（界面中L A B下方的颜色）需要检测的颜色
    4. +
  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。
    5. +
+

演示

+

+

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. +

  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. +

  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. +

  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。

    +
    5. +
+

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：

+ +
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

    +
    • +
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/maixhub_train.html b/maixpy/doc/zh/vision/maixhub_train.html new file mode 100644 index 0000000..8a0af95 --- /dev/null +++ b/maixpy/doc/zh/vision/maixhub_train.html @@ -0,0 +1,405 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 使用 MaixHub 在线训练 AI 模型给 MaixPy 使用 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

使用 MaixHub 在线训练 AI 模型给 MaixPy 使用

+ +
+
+
    + +
+
+
+
+ + + + + + 2024-04-03 + + +
+
+ + + +
+
+
+
+ + +
+
+ + +
+ + 更新历史 +
+ + + + + + + + + + + + + + + + + + + +
日期版本作者更新内容
2024-04-031.0.0neucrack + + 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 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。

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+ +
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+ +

MaixPy 实现 OCR 图片文字提取

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TODO:

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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/opencv.html b/maixpy/doc/zh/vision/opencv.html new file mode 100644 index 0000000..0a3dd20 --- /dev/null +++ b/maixpy/doc/zh/vision/opencv.html @@ -0,0 +1,426 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 使用 OpenCV - MaixPy + + + + + + + + + + +
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使用 OpenCV

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简介

+

对于 MaixCAM，因为使用了 Linux， 并且性能基本能够支撑使用Python版本的OpenCV，所以除了使用maix模块，你也可以直接使用cv2模块。

+

本文例程以及更多可以在MaixPy/examples/vision/opencv 中找到。

+

注意 OpenCV 的函数基本都是 CPU 计算的，能使用 maix 的模块尽量不使用 OpenCV，因为 maix 有很多函数都是经过硬件加速过的。

+

加载一张图片

+ +
import cv2
+
+file_path = "/maixapp/share/icon/detector.png"
+img = cv2.imread(file_path)
+print(img)
+
+

因为cv2模块比较臃肿，import cv2可能会需要一点时间。

+

显示图像到屏幕

+

但是由于直接使用了官方的 OpenCV，没有对接显示，所以要显示到屏幕上需要转换成maix.image.Image对象后再用display来显示：

+ +
from maix import display, image, time
+import cv2
+
+disp = display.Display()
+
+file_path = "/maixapp/share/icon/detector.png"
+img = cv2.imread(file_path)
+
+img_show = image.cv2image(img)
+disp.show(img_show)
+
+while not app.need_exit():
+    time.sleep(1)
+
+

使用 OpenCV 函数

+

以边缘检测为例：

+

基于上面的代码，使用cv2.Canny函数即可：

+ +
from maix import image, display, app, time
+import cv2
+
+file_path = "/maixapp/share/icon/detector.png"
+img0 = cv2.imread(file_path)
+
+disp = display.Display()
+
+while not app.need_exit():
+    img = img0.copy()
+
+    # canny method
+    t = time.ticks_ms()
+    edged = cv2.Canny(img, 180, 60)
+    t2 = time.ticks_ms() - t
+
+    # show by maix.display
+    t = time.ticks_ms()
+    img_show = image.cv2image(edged)
+    print(f"edge time: {t2}ms, convert time: {time.ticks_ms() - t}ms")
+    disp.show(img_show)
+
+

使用摄像头

+

在 PC 上， 我们使用 OpenCV 的VideoCapture类来读取摄像头，对于 MaixCAM, OpenCV 没有适配，我们可以用maix.camera 模块来读取摄像头，然后给OpenCV使用。

+

通过image.image2cv函数将maix.image.Image对象转为numpy.ndarray对象给OpenCV使用：

+ +
from maix import image, display, app, time, camera
+import cv2
+
+disp = display.Display()
+cam = camera.Camera(320, 240)
+
+while not app.need_exit():
+    img = cam.read()
+
+    # convert maix.image.Image object to numpy.ndarray object
+    t = time.ticks_ms()
+    img = image.image2cv(img)
+    print("time: ", time.ticks_ms() - t)
+
+    # canny method
+    edged = cv2.Canny(img, 180, 60)
+
+    # show by maix.display
+    img_show = image.cv2image(edged)
+    disp.show(img_show)
+
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/qrcode.html b/maixpy/doc/zh/vision/qrcode.html new file mode 100644 index 0000000..2471a60 --- /dev/null +++ b/maixpy/doc/zh/vision/qrcode.html @@ -0,0 +1,467 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 二维码识别 - MaixPy + + + + + + + + + + +
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MaixPy 二维码识别

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+ + 更新历史 +
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日期版本作者更新内容
2024-04-031.0.0lxowalle + + 初版文档 + +
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+ +
+
+ +

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

+

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

+ +
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

    + +
    from maix import image, camera, display
+
    +
    2. +

  2. 初始化摄像头和显示

    + +
    cam = camera.Camera(320, 240) # 初始化摄像头，输出分辨率320x240 RGB格式
+disp = display.Display()
+
    +
    3. +

  3. 从摄像头获取图片并显示

    + +
    while 1:
+    img = cam.read()
+    disp.show(img)
+
    +
    4. +

  4. 调用find_qrcodes方法识别摄像头中的二维码

    + +
    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. +

  5. 处理识别二维码的结果并显示到屏幕上

    + +
    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
      • +
    +
    6. +
+

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
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 部分。

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MaixPy 自学习分类器

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MaixPy 自学习分类器介绍

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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

+

默认镜像自带了 自学习分类 APP，可以直接尝试使用熟悉使用流程。

+

+

步骤：

+
    +
  • 点击+ Class 按钮， 采集 n 张分类(class)图，采集图时物体需要在屏幕的白色框中。
    • +
  • 点击+ Sample按钮，采集 m 张样本图，每个分类都采集一些，顺序无所谓，张数也比较随意，最好是在各个角度拍一点，不要差距过大。
    • +
  • 点击Learn按钮，启动学习，会自动根据采集的分类图和样本图进行分类学习，得到分类的特征。
    • +
  • 屏幕中央对准物体，识别图像输出结果，可以看到屏幕显示了所属的分类，以及和这个分类的相似距离，相似距离越近则越相似。
    • +
  • 此 APP 学习后的特征值会存到/root/my_classes.bin，所以退出应用或者重启了仍然会自动加载上一次的。
    • +
+

简洁版本代码，完整版本请看例程里面的完整代码。

+ +
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)
+
+

储存和加载学习到的特征值

+

使用 save 函数进行储存，会得到一个二进制文件，里面存了物体的特征值。
+再使用时用load函数进行加载即可。

+ +
classifier.save("/root/my_classes.bin")
+classifier.load("/root/my_classes.bin")
+
+

如果你给每一个分类命名了，比如存到了labels变量，也可以使用：

+ +
classifier.save("/root/my_classes.bin", labels = labels)
+labels = classifier.load("/root/my_classes.bin")
+
+ + +
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+ +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/self_learn_detector.html b/maixpy/doc/zh/vision/self_learn_detector.html new file mode 100644 index 0000000..847eefe --- /dev/null +++ b/maixpy/doc/zh/vision/self_learn_detector.html @@ -0,0 +1,350 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 自学习检测器 - MaixPy + + + + + + + + + + +
+ +
+ +
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+
+ +

MaixPy 自学习检测器

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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：

+ + +
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+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/touchscreen.html b/maixpy/doc/zh/vision/touchscreen.html new file mode 100644 index 0000000..4fe84e9 --- /dev/null +++ b/maixpy/doc/zh/vision/touchscreen.html @@ -0,0 +1,435 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy / MaixCAM 触摸屏使用方法 - MaixPy + + + + + + + + + + +
+ +
+ +
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+ +

MaixPy / MaixCAM 触摸屏使用方法

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简介

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对于 MaixCAM 自带了一个触摸屏，写应用时配合触摸屏可以实现很多有趣应用，我们可以通过 API 读取到触摸屏的点按操作。

+

MaixPy 读取触摸

+

MaixPy 提供了一个简单的maix.touchscreen.TouchScreen 类来读取，举例：

+ +
from maix import touchscreen, app, time
+
+ts = touchscreen.TouchScreen()
+
+pressed_already = False
+last_x = 0
+last_y = 0
+last_pressed = False
+while not app.need_exit():
+    x, y, pressed = ts.read()
+    if x != last_x or y != last_y or pressed != last_pressed:
+        print(x, y, pressed)
+        last_x = x
+        last_y = y
+        last_pressed = pressed
+    if pressed:
+        pressed_already = True
+    else:
+        if pressed_already:
+            print(f"clicked, x: {x}, y: {y}")
+            pressed_already = False
+    time.sleep_ms(1)  # sleep some time to free some CPU usage
+
+

配合屏幕实现交互

+

配合屏幕可以做出一些用户交互的内容，更多可以看MaixPy/examples/vision/touchscreen 目录下例程。

+

如前面的文章介绍的，我们要往屏幕显示内容，一般是得到一个maix.image.Image对象，然后调用disp.show(img)来显示这张图像。
+实现一个按钮的最原始和简单的方法就是在这个图像上画一个按钮，然后判断用户触摸到这个区域就算是触发了按下事件，注意图像的大小要和屏幕的大小保持一致：

+ +
from maix import touchscreen, app, time, display, image
+
+ts = touchscreen.TouchScreen()
+disp = display.Display()
+
+img = image.Image(disp.width(), disp.height())
+
+# draw exit button
+exit_label = "< Exit"
+size = image.string_size(exit_label)
+exit_btn_pos = [0, 0, 8*2 + size.width(), 12 * 2 + size.height()]
+img.draw_string(8, 12, exit_label, image.COLOR_WHITE)
+img.draw_rect(exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3],  image.COLOR_WHITE, 2)
+
+def is_in_button(x, y, btn_pos):
+    return x > btn_pos[0] and x < btn_pos[0] + btn_pos[2] and y > btn_pos[1] and y < btn_pos[1] + btn_pos[3]
+
+while not app.need_exit():
+    x, y, pressed = ts.read()
+    if is_in_button(x, y, exit_btn_pos):
+        app.set_exit_flag(True)
+    img.draw_circle(x, y, 1, image.Color.from_rgb(255, 255, 255), 2)
+    disp.show(img)
+
+

屏幕和图像大小不一样时如何处理

+

上面的例子可以看到 img 大小和屏幕大小一样，如果你的img和屏幕大小不一样怎么办（比如上面使用img = image.Image(240, 240)，比如屏幕是640x480， 图像是240x240，disp.show(img)的默认行为是image.Fit.FIT_CONTAIN， 即把图片放大到480x480然后边上填充黑色，如果你在240x240的图上画了按钮，比如坐标(0, 0, 60, 40)，那么按钮也会自动被放大，所以触摸判断的坐标就不能用(0, 0, 60, 40)，需要用((640 - 480) / 2, 0, 480/240*60, 480/240*40)， 即(80, 0, 120, 80)。

+

这里为了方便缩放图像时，快速计算源图像的点或者矩形框 在 缩放后的目标图像的位置和大小，提供了image.resize_map_pos函数来进行此计算过程。

+ +
from maix import touchscreen, app, time, display, image
+
+ts = touchscreen.TouchScreen()
+disp = display.Display()
+
+img = image.Image(240, 240)
+img.draw_rect(0, 0, img.width(), img.height(), image.COLOR_WHITE)
+
+# draw exit button
+exit_label = "< Exit"
+size = image.string_size(exit_label)
+exit_btn_pos = [0, 0, 8*2 + size.width(), 12 * 2 + size.height()]
+img.draw_string(8, 12, exit_label, image.COLOR_WHITE)
+img.draw_rect(exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3],  image.COLOR_WHITE, 2)
+# 图像按键坐标映射到屏幕上的坐标
+exit_btn_disp_pos = image.resize_map_pos(img.width(), img.height(), disp.width(), disp.height(), image.Fit.FIT_CONTAIN, exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3])
+
+def is_in_button(x, y, btn_pos):
+    return x > btn_pos[0] and x < btn_pos[0] + btn_pos[2] and y > btn_pos[1] and y < btn_pos[1] + btn_pos[3]
+
+while not app.need_exit():
+    x, y, pressed = ts.read()
+    if is_in_button(x, y, exit_btn_disp_pos):
+        app.set_exit_flag(True)
+    # 屏幕的坐标映射回图像上对应的坐标，然后在图像上画点
+    x, y = image.resize_map_pos_reverse(img.width(), img.height(), disp.width(), disp.height(), image.Fit.FIT_CONTAIN, x, y)
+    img.draw_circle(x, y, 1, image.Color.from_rgb(255, 255, 255), 2)
+    disp.show(img, fit=image.Fit.FIT_CONTAIN)
+
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/doc/zh/vision/yolov5.html b/maixpy/doc/zh/vision/yolov5.html new file mode 100644 index 0000000..f56cbf6 --- /dev/null +++ b/maixpy/doc/zh/vision/yolov5.html @@ -0,0 +1,480 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MaixPy 使用 YOLOv5 / YOLOv8 模型进行目标检测 - MaixPy + + + + + + + + + + +
+ +
+ +
+
+
+
+ +

MaixPy 使用 YOLOv5 / YOLOv8 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 和 YOLOv8 模型，可以直接使用：

+
+

YOLOv8 需要 MaixPy >= 4.3.0。

+
+ +
from maix import camera, display, image, nn, app
+
+detector = nn.YOLOv5(model="/root/models/yolov5s.mud")
+# detector = nn.YOLOv8(model="/root/models/yolov8n.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:

+
+
+

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。

+

以及这里 替换YOLOv5 和YOLOv8即可实现v5/v8切换，注意模型文件路径也要修改。

+

模型支持的 80 种物体列表请看本文附录。

+

更多 API 使用参考 maix.nn 模块的文档。

+

更多输入分辨率

+

默认的模型输入是320x224分辨率，因为这个分辨率比例和默认提供的屏幕分辨率接近，你也可以手动下载其它分辨率的模型替换：

+

YOLOv5: https://maixhub.com/model/zoo/365
+YOLOv8: https://maixhub.com/model/zoo/400

+

分辨率越大精度越高，但是运行耗时越长，根据你的应用场景选择合适的即可。

+

YOLOv5 和 YOLOv8 用哪个？

+

这里提供的 YOLOv5s 和 YOLOv8n 两种模型，前者模型更大，后者速度快一点点， 前者精度略微高一点点但差别不是很大，可以实际测试根据自己的实际情况选择。

+

另外你也可以尝试YOLOv8s，帧率会低一些（比如 yolov8s_320x224 比 yolov8n_320x224 慢 10ms），准确率会比前两个都高，模型可以在上面提到的模型库下载到。

+

摄像头分辨率和模型分辨率不同可以吗

+

上面使用detector.detect(img)函数进行检测时，如果 img 的分辨率和模型分辨率不同，这个函数内部会自动调用img.resize将图像缩放成和模型输入分辨率相同的，resize默认使用image.Fit.FIT_CONTAIN 方法，即保持宽高比缩放，周围填充黑色的方式，检测到的坐标也会自动映射到原img的坐标上。

+

MaixHub 在线训练自己的目标检测模型

+

默认提供的 80 分类检测模型，如果你需要检测特定的物体，请到MaixHub 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，参考MaixHub 在线训练文档。

+

或者到MaixHub 模型库 找社区成员分享的模型。

+

离线训练自己的目标检测模型

+

强烈建议先使用 MaixHub 在线训练模型，此种方式难度比较大，不建议新手一来就碰这个方式。
+此种方式有些许默认你知道的知识文中不会提，遇到问题多上网搜索学习。
+请看 离线训练YOLOv5模型。

+

附录：80分类

+

COCO 数据集的 8 种物体分别为：

+ +
person
+bicycle
+car
+motorcycle
+airplane
+bus
+train
+truck
+boat
+traffic light
+fire hydrant
+stop sign
+parking meter
+bench
+bird
+cat
+dog
+horse
+sheep
+cow
+elephant
+bear
+zebra
+giraffe
+backpack
+umbrella
+handbag
+tie
+suitcase
+frisbee
+skis
+snowboard
+sports ball
+kite
+baseball bat
+baseball glove
+skateboard
+surfboard
+tennis racket
+bottle
+wine glass
+cup
+fork
+knife
+spoon
+bowl
+banana
+apple
+sandwich
+orange
+broccoli
+carrot
+hot dog
+pizza
+donut
+cake
+chair
+couch
+potted plant
+bed
+dining table
+toilet
+tv
+laptop
+mouse
+remote
+keyboard
+cell phone
+microwave
+oven
+toaster
+sink
+refrigerator
+book
+clock
+vase
+scissors
+teddy bear
+hair drier
+toothbrush
+
+ + +
+
+ +
+
+
+
+
+ +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/en/config.json b/maixpy/en/config.json new file mode 100644 index 0000000..04d94f8 --- /dev/null +++ b/maixpy/en/config.json @@ -0,0 +1,5 @@ +{ + "import": "config_en", + "class": "md_page", + "name": "MaixPy Pages" +} diff --git a/maixpy/en/index.html b/maixpy/en/index.html new file mode 100644 index 0000000..3053ae3 --- /dev/null +++ b/maixpy/en/index.html @@ -0,0 +1,766 @@ + + + + + + + + + + + + + + + + + + MaixPy - MaixPy + + + + + + + + + + +
+
+
+ +
+ +
+ +
+
+ MaixPy Banner +
+

MaixPy (v4)

+

Easily create AI projects with Python on edge device

+
+ +
+

GitHub Repo starsApache 2.0PyPIPyPI - DownloadsGitHub repo size Build MaixCAMTrigger wiki

+
+
+

English | 中文

+
+
+
+

MaixPy-v1 (Maix-I K210) refer to MaixPy-v1 doc。 MaixPy v4 not support Maix-I Maix-II, please upgrade to MaixCAM 硬件平台。
+Give a star ⭐️ to MaixPy source code on GitHub to let us known you love it, and encourage us to add more features.

+
+
+
+
+

Easy-to-use API, AI vision classify in 10 lines

+ +
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)
+
+
+ +
+ +
+

Hardware peripheral control:

+
+
+

Serial send and receive:

+ +
from maix import uart
+
+dvices = uart.list_devices()
+
+serial = uart.UART(devices[0], 115200)
+serial.write_str("hello world")
+print("received:", serial.read(timeout = 2000))
+
+
+
+

I2C send and receive:

+ +
from maix import i2c
+
+devices = i2c.list_devices()
+dev1 = i2c.I2C(devices[0], freq=100000)
+slaves = dev1.scan()
+print("find slaves:", slaves)
+dev1.writeto(0x12, b'hello')
+print("received:", dev1.readfrom(0x12, 5))
+
+
+
+
+ + +

MaixVision Workstation

+

Simplify the development environment, make development easier and faster:

+ +

Online AI training platform MaixHub

+

One-click training AI model and deployment to MaixCAM even you have no AI knowledge and expensive training equipment.

+ + +

Powerful MaixCAM hardware platform

+

MaixCAM

+
+
    +
  • CPU: 1GHz RISC-V(Linux)/ARM A53 + 700MHz RISC-V(RTOS) + 25~300MHz 8051(Low Power)
    • +
+
+

Big core can choose one of RISC-V and ARM A53.

+
+
    +
  • NPU: 1Tops@INT8 NPU, support BF16, support YOLOv5 YOLOv8 etc.
    • +
  • Memory: 256MB DDR3.
    • +
  • Connecting: USB2.0/WiFi6/BLE5.4.
    • +
  • Peripheral: IIC/PWM/SPI/UART/WDT/ADC
    • +
  • MultiMedia: 4M Camera, 2.3" 552x368 Touchscreen, H.264/H.265/MJPEG codec.
    • +
  • Price: 169/249 RMB (out of stock, please consult the store)
    • +
+

More detalils: MaixCAM

+
+

Attention, only MaixCAM is supported, other boards with the same chip are not supported, including Sipeed's boards with the same chip, please be careful not to waste time and money by buying the wrong one.

+
+ +
+

Features

+

Below are some of the features, for more please see the documentation, app store or community sharing MaixHub.

+
+
+
+ +

Python + MaixVision IDE

+

Simple API, with hardware acceleration, including many libraries, such as numpy, opencv, MaixVision IDE programming

+
+
+
+
+
+
+ +

C++ Version

+

MaixCDK C++ version SDK，API the same as MaixPy's

+
+
+
+
+
+
+ +

As a serial module

+

Other MCU control by serial command

+
+
+
+
+
+
+ +

App Store

+

Share your APP to community, and one-click install APPs.

+
+
+
+
+
+
+ +

MaixPy-v1 compatible package

+

Quickly migrate from MaixPy-v1(K210) to MaixPy-v4

+
+
+
+
+
+
+ +

AI Classifier

+

Classify object type

+
+
+
+
+
+
+ +

AI Object Detection

+

Classify object type and position

+
+
+
+
+
+
+ +

AI Face Recognition

+

Recognize different face

+
+
+
+
+
+
+ +

AI Body Keypoint Detection

+

Pose recognition, body sense game

+
+
+
+
+
+
+ +

AI Self Learning Classifier

+

No need to train on PC, learning any object on device in a flash

+
+
+
+
+
+
+ +

AI Self Learning Detector

+

No need to train on PC, learning any object on device in a flash

+
+
+
+
+
+
+ +

AI Object Tracking

+

Trajectory tracking, traffic statistics

+
+
+
+
+
+
+ +

AI Monitor, Stream

+

Security monitor, can stream, even can live to platforms like Bilibili.com

+
+
+
+
+
+
+ +

Find Blobs

+

Find color blobs

+
+
+
+
+
+
+ +

Line Tracking

+

Car line tracking, logistics handling

+
+
+
+
+
+
+ +

QR Code and AprilTag

+

Recognize QR code and AprilTag

+
+
+
+
+
+
+ +

OCR

+

Recognize characters in the image, digitize old items

+
+
+
+
+
+
+ +

Speech Recognition

+

Real-time continuous speech recognition

+
+
+
+
+
+
+ +

Desktop Monitor

+

Monitor PC information, such as CPU, memory, network, etc.

+
+
+
+
+
+
+ +

Weather Station

+

Monitor weather information, such as temperature, humidity, etc.

+
+
+
+
+
+
+ +

Thermal Camera

+

Optional camera, temprature image capture/measure

+
+
+
+
+
+
+ +

HDMI Capture Video

+

Optional, Capture HDMI image, as server monitor(KVM), external AI, streaming device etc.

+
+
+
+
+
+
+

Who are using MaixPy?

+
    +
  • AI Algorithm Engineer who want to deploy your AI model to embedded devices.
    • +
+
+

MaixPy provide easy-to-use API to access NPU, and docs to help you develop your AI model.

+
+
    +
  • STEM teacher who want to teach AI and embeded to students.
    • +
+
+

MaixPy provide easy-to-use API, PC tools, online AI train service ... Let you focus on teaching AI, not the hardware and complicated software usage.

+
+
    +
  • Maker who want to make some cool projects but don't want to learn complicated hardware and software.
    • +
+
+

MaixPy provide Python API, so all you need is learn basic Python syntax, and MaixPy's API is so easy to use, you can make your project even in a few minutes.

+
+
    +
  • Engineer who want to make some projects but want a prototype as soon as possible.
    • +
+
+

MaixPy is easy to build projects, and provide corresponding C++ SDK, so you can directly use MaixPy to deploy or transfer Python code to C++ in a few minutes.

+
+
    +
  • Students who want to learn AI, embedded development.
    • +
+
+

We provide many docs and tutorials, and lot of open source code, to help you find learning route, and grow up step by step. From simple Python programming to Vision, AI, Audio, Linux, RTOS etc.

+
+
    +
  • Enterprise who want to develop AI vision products but have no time or engineers to develop complicated embedded system.
    • +
+
+

Use MaixPy even graphic programming to develop your products with no more employees and time. For example, add a AI QA system to your production line, or add a AI security monitor to your office as your demand.

+
+
    +
  • Contestants who want to win the competition.
    • +
+
+

MaixPy integrate many functions and easy to use, fasten your work to win the competition in limited time. There are already many contestants win the competition with MaixPy.

+
+

Performance comparison

+

K210 and v831 are outdated, they have many limitations in memory, performance, NPU operators missing etc.

+No matter you are using them or new comer, it's recommended to upgrade to MaixCAM and MaixPy v4.

+

Here's the comparison between them:

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
FeatureMaix-I K210Maix-II v831MaixCAM
CPU400MHz RISC-V x2800MHz ARM71GHz RISC-V(Linux)
700MHz RISC-V(RTOS)
25~300MHz 8051(Low Power)
Memory6MB SRAM64MB DDR2256MB DDR3
NPU0.25Tops@INT8
official says 1T but...		0.25Tops@INT81Tops@INT8
Encoder✖1080p@30fps2K@30fps
Screen2.4" 320x2401.3" 240x2402.28" 552x368 / 5" 1280x720 / 7" 1280x800 / 10“ 1280x800
TouchScreen✖✖2.3" 552x368
Camera30W200W500W
WiFi2.4G2.4GWiFi6 2.4G/5G
USB✖USB2.0USB2.0
Eth✖100M(Optional)100M(Optional)
SD InterfaceSPISDIOSDIO
BLE✖✖BLE5.4
OSRTOSTina LinuxLinux + RTOS
LanguageC / C++ / MicroPythonC / C++ / Python3C / C++ / Python3
SoftwareMaixPyMaixPy3MaixCDK + MaixPy v4 + opencv + numpy + ...
PC softwareMaixPy IDEMaixPy3 IDEMaixVision Workstation
Docs⭐️⭐️⭐️⭐️⭐️⭐️⭐️🌟🌟🌟🌟🌟
Online AI train⭐️⭐️⭐️⭐️⭐️⭐️⭐️🌟🌟🌟🌟🌟
Official APPs⭐️⭐️⭐️⭐️⭐️🌟🌟🌟🌟🌟
AI classify(224x224)MobileNetv1 50fps
MobileNetv2 ✖
Resnet ✖		MobileNet ✖
Resnet18 20fps
Resnet50 ✖		MobileNetv2 130fps
Resnet18 62fps
Resnet50 28fps
AI detectYOLOv2(224x224) 15fpsYOLOv2(224x224) 15fpsYOLOv5s(224x224) 100fps
YOLOv5s(320x256) 70fps
YOLOv5s(640x640) 15fps
YOLOv8n(640x640) 23fps
Ease of use⭐️⭐️⭐️⭐️⭐️⭐️⭐️🌟🌟🌟🌟🌟
+

Maix ecosystem

+

+

What difference between MaixPy v1, MaixPy3 and MaixPy v4?

+
    +
  • MaixPy v1 use MicroPython programming language, only support Sipeed Maix-I K210 series hardware, have limited third-party packages.
    • +
  • MaixPy3 is designed for Sipeed Maix-II-Dock v831, not a long-term support version.
    • +
  • MaixPy v4 use Python programming language, so there's much package we can use directly. MaixPy v4 support new hardware platforms of Sipeed, it's a long-term support version, the future's hardware platforms will support this version. MaixPy v4 have a MaixPy-v1 compatible API, so you can quickly migrate your MaixPy v1 project to MaixPy v4.
    • +
+

(MaixPy v4 Will not support Maix-I K210 series, if you are using Maix-I K210 series, it's recommended to upgrade hardware platform to use this to get more features and better performance.)

+

License

+

All files in this repository are under the terms of the Apache License 2.0 Sipeed Ltd. except the third-party libraries or have their own license.

+

Community

+ + + +
+
+ +
+ +
+
+ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/maixpy/en/no_translate.html b/maixpy/en/no_translate.html new file mode 100644 index 0000000..c10df97 --- /dev/null +++ b/maixpy/en/no_translate.html @@ -0,0 +1,175 @@ + + + + + + + + + + + + + + + + + + no translation - MaixPy + + + + + + + + + + +
+
+
+ +
+
This page not translated yet
+
+ Please visit + +
+
+ +
+ + +
+
+ +
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MaixPy (v4)

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快速落地 AI 视觉、听觉应用

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GitHub Repo starsApache 2.0PyPIPyPI - DownloadsGitHub repo size Build MaixCAMTrigger wiki

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English | 中文

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MaixPy-v1 (Maix-I K210) 用户请查看 MaixPy-v1 文档。 MaixPy v4 不支持 Maix-I Maix-II 系列硬件，请更新到 MaixCAM 硬件平台。
+喜欢 MaixPy 请到 GitHub 给 MaixPy 源码 点个 Star ⭐️ 以鼓励我们开发更多功能。

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简易的 API 设计， 10 行代码进行 AI 图像识别：

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from maix import camera, display, image, nn
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+classifier = nn.Classifier(model="/root/models/mobilenetv2.mud")
+cam = camera.Camera(classifier.input_width(), classifier.input_height(), classifier.input_format())
+dis = display.Display()
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+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)
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硬件外设控制，不在话下：

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串口收发：

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from maix import uart
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+devices = uart.list_devices()
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+serial = uart.UART(devices[0], 115200)
+serial.write_str("hello world")
+print("received:", serial.read(timeout = 2000))
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I2C 收发：

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from maix import i2c
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+devices = i2c.list_devices()
+dev1 = i2c.I2C(devices[0], freq=100000)
+slaves = dev1.scan()
+print("find slaves:", slaves)
+dev1.writeto(0x12, b'hello')
+print("received:", dev1.readfrom(0x12, 5))
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便捷的 MaixVision 工作站

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简化开发环境，让开发更简单快速：

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在线 AI 训练平台 MaixHub

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无需 AI 基础和昂贵的训练设备，一键训练模型，一键部署到 MaixCAM。

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性能强劲 MaixCAM 硬件平台

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MaixCAM

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  • CPU: 1GHz RISC-V(Linux)/ARM A53 + 700MHz RISC-V(RTOS) + 25~300MHz 8051(Low Power)
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大核 RISC-V 和 ARM A53 二选一运行，MaixPy 使用 RISC-V 核心。

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  • NPU: 1Tops@INT8 NPU, 支持 BF16，支持 YOLOv5 YOLOv8 等。
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  • 内存: 256MB DDR3。
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  • 通信: USB2.0/WiFi6/BLE5.4。
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  • 外设: IIC/PWM/SPI/UART/WDT/GPIO/ADC
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  • 多媒体：4M 摄像头，2.3" 552x368 高清电容触摸屏，H.264/H.265/MJPEG 2K 硬件编解码。
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  • 价格: 169 元 / 249 元。 （缺货时咨询店家）
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更多细节看: MaixCAM

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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。

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特性介绍

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以下为部分功能简介，更多请看文档、应用商店 或者社区分享MaixHub。

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Python + MaixVision IDE

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简单的API，带有硬件加速，包含许多库，如numpy，opencv，MaixVision IDE 编程

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C++版本

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MaixCDK C++版本的SDK，与MaixPy的API相同

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作为串口模块

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其它 MCU 通过串口命令控制

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APP商店

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将您的APP分享给社区，并一键安装APPs。

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提供 MaixPy-v1 兼容 API

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快速从MaixPy-v1(K210)迁移到MaixPy-v4

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AI 分类

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识别物体类别

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AI 对象检测

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识别物体类别和坐标

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AI 人脸识别

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识别不同人脸特征

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AI 人体关键点检测

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姿态识别、体感游戏

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AI 自学习分类器

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无需在PC上训练，在设备上瞬间学习任意物体

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AI 自学习检测器

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无需在PC上训练，在设备上瞬间学习任意物体

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AI 物体轨迹跟踪

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轨迹追踪，流量统计

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AI 监控，串流

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安防监控，可串流，甚至可以向直播平台 比如 Bilibili.com 直播

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查找颜色

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查找颜色斑点

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巡线

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小车巡线，物流搬运

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QR码和AprilTag

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识别QR码和AprilTag

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OCR

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识别图片中的字符，旧物数字化

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语音识别

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实时连续语音识别

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桌面监视器

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监视PC信息，如CPU，内存，网络等。

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天气站

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监视天气信息，如温度，湿度等。

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热红外摄像头

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选配摄像头，温度图像获取/测量

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HDMI 捕获视频

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选配，通过 HDMI 捕获图像，作为服务器监控（KVM）、外挂 AI、推流设备等

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谁在用 MaixPy？

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  • AI 算法工程师： 轻松将你的 AI 模型部署到嵌入式设备。
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MaixPy 提供了易于使用的 API 来访问 NPU，以及帮助你开发 AI 模型的文档。

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  • STEM：想要教学生 AI 和嵌入式开发的老师。
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MaixPy 提供了易于使用的 API，PC 工具，在线 AI 训练服务... 让你专注于教授 AI，而不是硬件和复杂的软件使用。

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  • 创客: 想要制作一些酷炫的项目，但不想学习复杂的硬件和软件。
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MaixPy 提供了 Python API，所以你需要做的就是学习基础 Python 语法，而 MaixPy 的 API 非常易于使用，你甚至可以在几分钟内完成你的项目。

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  • 工程师: 想要做一些项目，但希望尽快有一个原型。
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MaixPy 易于构建项目，并提供相应的 C++ SDK，所以你可以直接使用 MaixPy 来部署或在几分钟内将 Python 代码转换为 C++。

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  • 学生： 想要学习 AI，嵌入式开发。
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我们提供了许多文档和教程，以及大量开源代码，帮助你找到学习路线，并逐步成长。从简单的 Python 编程到视觉，AI，音频，Linux，RTOS等。

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  • 企业: 想要开发 AI 视觉产品，但没有时间或工程师来开发复杂的嵌入式系统。
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使用 MaixPy 甚至图形编程来开发你的产品，不需要更多的员工和时间。例如，向你的生产线添加一个 AI QA 系统，或者根据你的需求向你的办公室添加一个 AI 安全监控器。

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  • 竞赛者: 想要赢得比赛的比赛人们。
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MaixPy 集成了许多功能，易于使用，加快你作品产出速度，以在有限的时间内赢得比赛，国内常见比赛都有很多同学使用 MaixPy 赢得比赛。

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性能对比

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相比上两代 Maix 系列产品有限的 NPU 算子支持和内存限制，MaixCAM 在保持超高性价比的同时，性能和体验有了很大的提升，强烈建议升级到最新的 MaixCAM 以及 MaixPy v4。

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
特征Maix-I K210Maix-II v831MaixCAM
CPU400MHz RISC-V x2800MHz ARM71GHz RISC-V(Linux)
700MHz RISC-V(RTOS)
25~300MHz 8051(Low Power)
内存6MB SRAM64MB DDR2256MB DDR3
NPU0.25Tops@INT8
official says 1T but...		0.25Tops@INT81Tops@INT8
Encoder✖1080p@30fps2K@30fps
屏幕2.4" 320x2401.3" 240x2402.28" 552x368 / 5" 1280x720 / 7" 1280x800 / 10“ 1280x800
触摸屏✖✖2.3" 552x368
摄像头30W200W500W
WiFi2.4G2.4GWiFi6 2.4G/5G
USB✖USB2.0USB2.0
以太网✖100M(选配)100M(选配)
SD 卡接口SPISDIOSDIO
BLE✖✖BLE5.4
操作系统RTOSTina LinuxLinux + RTOS
编程语言C / C++ / MicroPythonC / C++ / Python3C / C++ / Python3
SoftwareMaixPyMaixPy3MaixCDK + MaixPy v4 + opencv + numpy + ...
PC 软件MaixPy IDEMaixPy3 IDEMaixVision Workstation
文档⭐️⭐️⭐️⭐️⭐️⭐️⭐️🌟🌟🌟🌟🌟
在线 AI 训练⭐️⭐️⭐️⭐️⭐️⭐️⭐️🌟🌟🌟🌟🌟
官方应用⭐️⭐️⭐️⭐️⭐️🌟🌟🌟🌟🌟
AI 分类(224x224)MobileNetv1 50fps
MobileNetv2 ✖
Resnet ✖		MobileNet ✖
Resnet18 20fps
Resnet50 ✖		MobileNetv2 130fps
Resnet18 62fps
Resnet50 28fps
AI 检测YOLOv2(224x224) 15fpsYOLOv2(224x224) 15fpsYOLOv5s(224x224) 100fps
YOLOv5s(320x256) 70fps
YOLOv5s(640x640) 15fps
YOLOv8n(640x640) 23fps
易用性⭐️⭐️⭐️⭐️⭐️⭐️⭐️🌟🌟🌟🌟🌟
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Maix 生态

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MaixPy v1, MaixPy3 and MaixPy v4 有什么区别？

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  • MaixPy v1 使用 MicroPython 编程语言，仅支持 Sipeed Maix-I K210 系列硬件，有限的第三方包。
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  • MaixPy3 专为 Sipeed Maix-II-Dock v831 设计，不是长期支持版本。
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  • MaixPy v4 使用 Python 编程语言，因此我们可以直接使用许多包。MaixPy v4 支持 Sipeed 的新硬件平台，这是一个长期支持版本，未来的硬件平台将支持这个版本。MaixPy v4 有一个 MaixPy-v1 兼容的 API，所以你可以快速将你的 MaixPy v1 项目迁移到 MaixPy v4。
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(MaixPy v4 不支持 Maix-I K210 系列，如果你正在使用 Maix-I K210 系列，建议升级硬件平台以使用此版本，以获得更多功能和更好的性能。)

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开源协议

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所有在本仓库中的文件都遵循 Apache License 2.0 Sipeed Ltd. 协议，除了第三方库或者有自己的协议。

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社区

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+ 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/peripheral.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/index.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/touchscreen.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/err.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/rtsp.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/http.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/display.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/i18n.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/nn/F.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/camera.html + 2024-06-21 + weekly + 1.0 + + + https://wiki.sipeed.com/maixpy/api/maix/network.html + 2024-06-21 + weekly + 1.0 + + + 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#search_result_name li:hover { + margin-right: 0; +} +#search_result li:hover { + box-shadow: 0px 5px 14px #868686; +} +.dark #search_result li:hover{ + box-shadow: 0px 5px 14px #1d1d1d; +} + +#search_result code { + background-color: #4caf7d; + color: white; + border-radius: 0.2em; + padding: 0.1em; +} +#search_result .loading_hint { + color: red; +} +#search_curr_result { + margin-top: 0; + padding-bottom: 3em; + border: 1px solid #4caf7d; + border-radius: 5px; +} +#search_others_result { + padding-bottom: 3em; + border: 1px solid #bdbdbd; + border-radius: 5px; +} +.dark #search_curr_result { + border: 1px solid #1b4c33; +} +.dark #search_others_result { + border: 1px solid #696969; +} +#search_curr_result:first-child, +#search_others_result:first-child { + border-radius: 5px; +} +#search_result .hint { + height: 2em; + color: white; + font-size: 1.5em; + display: flex; + justify-content: center; + flex-direction: column; + text-align: center; + border-top: none; + box-shadow: 0 6px 7px rgba(76, 175, 125, 0.38); + background: #4caf7d; +} +.dark #search_result .hint { + background: #1b4c33; +} +#search_curr_result > .hint { + background-color: #4caf7d; +} +#search_curr_result .searching { + background-color: #ff9800; +} +.search_highlight { + background-color: #FFEB3B; + border-radius: 0.2em; + padding: 0.1em; + +} +.dark .search_highlight{ + color: #1b1b1b; +} +.selected_highlight { + background-color: #ff9823; +} + +#search_ctrl_btn { + position: fixed; + top: 2em; + right: 1em; + display: flex; + flex-direction: row; + z-index: 999; + user-select: none; +} +#search_ctrl_btn > div { + border-radius: 0.2em; + min-width: 5em; + min-height: 2.5em; + background-color: #fae94e; + margin: 0.2em; + display: flex; + flex-direction: row; + align-items: center; + justify-content: center; + padding: 0.2em; + cursor: pointer; + box-shadow: 0 0 12px 0 rgb(0, 0, 0, 0.06); + transition: 0.4s; + color: #8b7000; +} +#search_ctrl_btn > div:hover { + box-shadow: 0 0 12px 0 rgb(0, 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t=nl.parse(e.params);t=this.normalize(t),t=this.remove(t,e.params),t=this.add(t,e.params),t=this.cleanBrackets(t),e.params=nl.stringify(t)}disabled(e){if(!this.all.options.grid&&(e.prop==="display"&&e.value.includes("grid")||e.prop.includes("grid")||e.prop==="justify-items"))return!0;if(this.all.options.flexbox===!1){if(e.prop==="display"&&e.value.includes("flex"))return!0;let t=["order","justify-content","align-items","align-content"];if(e.prop.includes("flex")||t.includes(e.prop))return!0}return!1}};mg.exports=hg});var bg=v((W4,wg)=>{l();var yg=class{constructor(e,t){this.prefix=t,this.prefixed=e.prefixed(this.prefix),this.regexp=e.regexp(this.prefix),this.prefixeds=e.possible().map(r=>[e.prefixed(r),e.regexp(r)]),this.unprefixed=e.name,this.nameRegexp=e.regexp()}isHack(e){let t=e.parent.index(e)+1,r=e.parent.nodes;for(;t{l();var{list:MA}=me(),BA=bg(),FA=Vt(),NA=ct(),LA=ue(),vg=class extends FA{constructor(e,t,r){super(e,t,r);this.regexpCache=new Map}check(e){return 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a/maixpy/static/css/theme_default/dark.css b/maixpy/static/css/theme_default/dark.css new file mode 100644 index 0000000..8b51025 --- /dev/null +++ b/maixpy/static/css/theme_default/dark.css @@ -0,0 +1,169 @@ +/** + teedoc light theme css + @author neucrack + @copyright (c) neucrack CZD666666@gmail.com with MIT License + @changes 2021.1.27 add basic attrributes + */ + + /* + use .dark class to cover light theme style + */ + +/* global template */ +.dark body { + color: #d1d1d1; + background-color: #1b1b1b; +} +.dark a { + color: #8a8a8a; +} +.dark a:visited { + color: #8a8a8a; +} +.dark code { + background-color: #2a2a2a; +} +.dark pre[class*="language-"].line-numbers > code { + background: none; + padding: 0; +} +.dark #navbar .sub_items ul { + box-shadow: 0 0 9px 0px #000000; + background-color: #232323; +} +.dark #sidebar .active > a, +.dark #navbar .active > a { + background-color: #2d2d2d; + color: #c33d45; +} +.dark #sidebar .active > a, +.dark #navbar .active > a, +.dark #navbar .active_parent > a { + background-color: #2d2d2d; +} +.dark #sidebar li > a:hover, +.dark #sidebar li.active_parent > a:hover, +.dark #navbar li > a:hover, +.dark #navbar .sub_items > a:hover { + background-color: #2d2d2d; +} +.dark #sidebar ul .active_parent > a { + background-color: #232323; +} +.dark .gutter.gutter-horizontal { + background-color: #484848; +} +.dark *::-webkit-scrollbar-track { + background: #484848; +} +.dark *::-webkit-scrollbar-thumb { + background-color: #6b6b6b; +} +.dark #article #toc { + background-color: #1b1b1b; +} +.dark #to_top { + background-color: #2d2d2d; + box-shadow: 8px 8px 20px #000000; +} +.dark #to_top:hover { + box-shadow: 8px 8px 28px #000000; +} +.dark #to_top:active { + box-shadow: 0px 0px 20px #000000; +} +.dark blockquote { + background-color: #2d2d2d; +} +.dark blockquote.spoiler { + border-left: 5px solid #FF9800; + background-color: #6e5200; + color: white; +} +.dark td { + background-color: #373737; + border: 2px solid #555555; +} +.dark th { + font-weight: 700; + background-color: #0f5943; + color: white; + border: 2px solid #006f4f; +} +.dark sup a { + background-color: #2d2d2d; +} +.dark a:hover { + background-color: #424242; +} +.dark #doc_footer { + background-color: #2d2d2d; + border-top: 1px solid #2d2d2d; +} +.dark #page_footer { + background-color: #2d2d2d; + border-top: 1px solid #2d2d2d; +} +.dark #footer a:hover { + background-color: #404040; +} +.dark #previous_next { + border-top: 1px solid #525252; +} +.dark #previous_next a { + background-color: #2d2d2d; +} + +/* google translate */ +.dark #navbar #google_translate_element .goog-te-gadget-simple { + background-color: #1b1b1b; +} +.dark #navbar #google_translate_element .goog-te-gadget-simple .goog-te-menu-value { + color: #8a8a8a; +} + +/* tabset */ +.dark .tabset { + border: 0.2em solid #4c4c4c; +} +.dark .tabset-text-container { + background-color: #212121; +} +.dark .tabset-tab-active { + background-color: #212121; +} + +/* details */ +.dark details { + border: 0.2em solid #4c4c4c; +} +.dark details > .details-content { + background-color: #212121; +} + +/* markdown */ +.dark #mermaid-1662893106119 .messageText { + fill: #6f6f6f; + stroke: #6f6f6f; +} +#mermaid-1662893106119 .loopText, #mermaid-1662893106119 .loopText>tspan { + fill: #a99b1a; + stroke: none; +} + +@media screen and (max-width: 900px) { + .dark #menu_wrapper.m_menu_fixed { + background-color: rgb(27, 27, 27, 0.9); + box-shadow: 0px 1px 10px 0px rgb(0, 0, 0, 0.32); + } + .dark #sidebar_wrapper { + background-color: #1b1b1b; + } + .dark #navbar { + display: block; + border-bottom: 1px solid #383838; + z-index: 89; + } +} + + diff --git a/maixpy/static/css/theme_default/light.css b/maixpy/static/css/theme_default/light.css new file mode 100644 index 0000000..4d56f09 --- /dev/null +++ b/maixpy/static/css/theme_default/light.css @@ -0,0 +1,1349 @@ +/** + teedoc light theme css + @author neucrack + @copyright (c) neucrack CZD666666@gmail.com with MIT License + @changes 2021.1.26 add basic attrributes + */ + +/* global template */ +body { + color: #606975; + background-color: white; + transition: 0.4s; + margin: 0; + display: flex; + flex-direction: column; + justify-content: space-between; + min-height: 100vh; + letter-spacing: 0.03em; + font-family: "Microsoft YaHei",Helvetica,"Meiryo UI","Malgun Gothic","Segoe UI","Trebuchet MS",Monaco,monospace,Tahoma,STXihei,"华文细黑",STHeiti,"Helvetica Neue","Droid Sans","wenquanyi micro hei",FreeSans,Arimo,Arial,SimSun,"宋体",Heiti,"黑体",sans-serif; +} +a { + color: #606975; + text-decoration: none; +} +a:visited { + color: #606975; +} +a:hover { + background-color: #d8d8d8; + border-radius: 5px; + transition: 0.4s; +} +h1 { + text-align: center; + font-size: 2.2em; +} +h2 { + font-size: 2em; +} +h3 { + font-size: 1.5em; +} +h4 { + font-size: 1.17em; +} +h5 { + font-size: 1em; +} +h6 { + font-size: 0.83em; +} + +p { + /* text-align: justify; */ + line-height: 2em; +} +blockquote { + border-left: 4px solid #c33d45; + margin: 0 0 1em 2px; + padding: 1px; + padding-left: 1em; + background-color: #f1f1f1; + border-radius: 0 5px 5px 0; + transition: 0.4s; +} +blockquote.spoiler { + border-left: 5px solid #FF9800; + background-color: #ffd65b; +} +*::-webkit-scrollbar { + width : 0.8rem; + height: 0.8rem; + min-width: 0.8rem; + min-height: 0.6rem; +} +#sidebar ul::-webkit-scrollbar { + width : 0.45rem; + height: 0.8rem; + min-width: 0.45rem; + min-height: 0.6rem; +} +*::-webkit-scrollbar-thumb { + border-radius : 0.6rem; + background-color: #b8b8b8; +} +*::-webkit-scrollbar-track { + background : #ededed; + border-radius: 10px; +} +sup a { + font-size: 1.1em; + background-color: #f1f1f1; + padding: 4px; + border-left: 1px solid #c33d45; + border-right: 1px solid #c33d45; +} +dl > dt { + font-weight: bold; +} +table { + border-collapse: collapse; + border-spacing: 0; + display: block; + width: 100%; + overflow: auto; + word-break: keep-all; + border-color: transparent; +} +tr { + background-color: #f1f1f1; + border-top: 1px solid #ccc; +} +td, th { + padding: 6px 13px; + transition: 0.4s; +} +th { + font-weight: 700; + color: white; + filter: brightness(110%); + border: 2px solid #c33d45; + background-color: #c33d45; +} +td { + background-color: #fbfbfb; + border: 2px solid #f1f1f1; +} +code { + background-color: #f1f1f1; + border-radius: 0.2em; + transition: 0.4s; + font-family: Menlo, Consolas, "DejaVu Sans Mono", Bitstream Vera Sans Mono, Courier New, monospace, Monaco, 'Andale Mono', 'Ubuntu Mono', "Microsoft YaHei"; + font-size: 85%; + padding: 0.2em 0.4em; + color: #c33d45; +} +pre[class*="language-"].line-numbers > code { + background: none; + padding: 0; +} +.btn, +#page_content .btn, +#content_body .btn { + color: white; + border-radius: 5px; + transition: 0.2s; + padding: 1em; + cursor: pointer; + transition: 0.2s; + background: #c33d45; + box-shadow: 1px 1px 2px 0px #c33d45; +} +.btn:hover, +#page_content .btn:hover, +#content_body .btn:hover { + background: #c33d45; + box-shadow: 1px 1px 8px 0px #c33d45; +} +.btn:visited, +#page_content .btn:visited, +#content_body .btn:visited { + color: white; +} + +/* wrapper */ +.type_doc #wrapper { + margin-top: 1.5em; +} +#wrapper { + display: flex; + flex-grow: 1; +} +#page_wrapper { + display: flex; + flex-grow: 1; + flex-direction: column; + justify-content: space-between; + text-align: center; +} + +/* page */ +#page_content { + width: 100%; + flex-grow: 1; + display: flex; + flex-direction: row; +} +#page_content > div { + flex-grow: 1; + align-self: center; +} +#page_content a { + color: #c33a3a; +} + +/* navbar */ +#navbar { + display: flex; + justify-content: start; + z-index: 100; +} +#navbar * { + display: flex; + align-items: center; +} +#navbar_menu_btn { + display: none; +} +#navbar #navbar_items { + display: flex; + flex-grow: 1; + justify-content: space-between; + padding-right: 1em; + word-break: keep-all; +} +#navbar h2 { + color: #c33d45; +} +#navbar a{ + margin: 5px; + padding: 10px 15px; + cursor: pointer; +} +#navbar a.site_title{ + padding: 0; +} +#navbar a.site_title:hover{ + background-color: transparent; +} +#navbar .site_logo { + max-height: 60px; +} +#navbar ul { + list-style: none; + padding-inline-start: 10px; +} +#navbar .sub_items { + position: relative; + display: block; +} +#navbar .sub_items > a { + margin: 5px; + padding: 10px 15px; +} +#navbar .sub_items > a:hover + ul { + visibility: visible; +} +#navbar .sub_items ul { + display: block; + position: absolute; + left: 0; + box-shadow: 0 0 9px 0px #dadada; + border-radius: 5px; + padding: 0; + width: max-content; + min-width: 100%; + background-color: white; + visibility: hidden; + margin-top: -5px; + z-index: 101; + transition: 0.2s; +} +#navbar .sub_items ul:hover { + visibility: visible; +} +#navbar .sub_items ul li { + display: block; +} + +#navbar .sub_items ul ul { + left: 100%; + top: 0; +} + + +/* sidebar */ +#sidebar_wrapper { + width: 300px; +} +/* sidebar splitter */ +.gutter_icon { + background-image: url(data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAUAAAAeCAYAAADkftS9AAAAIklEQVQoU2M4c+bMfxAGAgYYmwGrIIiDjrELjpo5aiZeMwF+yNnOs5KSvgAAAABJRU5ErkJggg==); + width: 3px; + height: 2em; + background-repeat: no-repeat; + position: fixed; + top: 50%; +} +.gutter { + background-color: #eee; + background-repeat: no-repeat; + background-position: 50%; + transition: 0.2s; + border-radius: 5px; + display: block; +} + +.gutter.gutter-horizontal { + /* background-image: url('data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAUAAAAeCAYAAADkftS9AAAAIklEQVQoU2M4c+bMfxAGAgYYmwGrIIiDjrELjpo5aiZeMwF+yNnOs5KSvgAAAABJRU5ErkJggg=='); */ + cursor: col-resize; +} + +#sidebar { + /* width: 300px; + min-width: 200px; + position: sticky; + top: 0; + overflow-x: hidden; */ + /* min-width: 200px; */ + /* position: sticky; */ + /* top: 0; */ + /* overflow-x: hidden; */ + display: flex; + flex-direction: column; + height: 100vh; + position: -webkit-sticky; + position: sticky; + top: 0; + padding-top: var(--ifm-navbar-height); + /* width: var(--doc-sidebar-width); */ + transition: opacity 50ms; + padding-top: 0; + z-index: 1; +} +#sidebar ul { + padding-inline-start: 20px; + display: none; +} +#sidebar > ul { + padding-inline-start: 0; + padding: .5rem; + display: block; + padding-bottom: 3em; + margin: 0; + overflow-y: auto; + overflow-x: hidden; +} +#sidebar ul .show{ + /* display: block; */ /* js instead, just reserve this item*/ +} +#sidebar ul .active_parent { + display: block; +} +#sidebar ul .active_parent > ul{ + display: block; +} +#sidebar ul.collapsed, #sidebar ul .active_parent > ul.collapsed{ + /* display: none; */ /* js instead, just reserve this item*/ +} +#sidebar ul .active_parent > a{ + background-color: #f1f1f1; + border-radius: 5px; + transition: 0.4s; +} +#sidebar li { + list-style: none; + margin: 2px 0; + position: relative; +} +#sidebar li > a { + display: flex; + justify-content: space-between; + padding: 0; + font-size: 0.9em; +} +#sidebar a:hover { + cursor: pointer; +} +#sidebar .active > a, #navbar .active > a, #navbar .active_parent > a{ + background-color: #f1f1f1; + border-radius: 5px; + color: #c33d45; + transition: 0.4s; +} +#navbar .sub_items .active > a { + transition: 0s; +} +#sidebar .active > a { + transition: 0.4s; +} +#sidebar li > a > .label { + padding: 10px; + display: inline-block; + white-space: nowrap; + width: 100%; + overflow: hidden; + text-overflow: ellipsis; +} + +#sidebar li > a:hover, +#sidebar li.active_parent > a:hover, +#navbar li > a:hover, +#navbar .sub_items > a:hover{ + background-color: #d8d8d8; + border-radius: 5px; + transition: 0.4s; +} +#sidebar .sub_indicator { + transition: transform 0.4s linear; + background: url("/maixpy/static/image/theme_default/indicator.svg"); + background-size: contain; + background-repeat: no-repeat; + background-position: center; + align-self: center; + height: 1.25rem; + width: 1.25rem; + -ms-transform: rotate(-45deg); + -moz-transform: rotate(-45deg); + -webkit-transform: rotate(-45deg); + transform: rotate(-45deg); + transition: 0.2s; +} + +#sidebar .sub_indicator:hover, +#sidebar li.no_link > a:hover > .sub_indicator, +#sidebar li.no_link > a.sub_indicator:hover, +#sidebar li.no_link > a.sub_indicator{ + height: 1.6em; + width: 1.6em; +} +#sidebar .sub_indicator_collapsed { + -ms-transform: rotate(0deg); + -moz-transform: rotate(0deg); + -webkit-transform: rotate(0deg); + transform: rotate(0deg); +} +#sidebar li.sidebar_category { + font-size: 0.9em; + color: #9e9e9e; + margin: 1em 0 0.1em 0; +} +#sidebar .tip { + position: fixed; + color: white; + left: 300px; + top: 18%; + box-shadow: 0px 0px 8px 0px rgba(0, 0, 0, 0.19); + border-radius: 0.2em; + padding: 1em; + display: flex; + flex-direction: column; + width: max-content; + transition: 0.4s; + visibility: hidden; + opacity: 0; + background: #c33d45; +} +#sidebar li > a:hover+.tip, #sidebar .tip:hover { + visibility: visible; + opacity: 1; +} +.blog_info > span { + margin: 0.4em; +} +.blog_tags { + text-align: center; + margin-top: 1em; +} +.blog_tags > span { + border-radius: 0.2em; + padding: 0.2em; + margin: 0.4em; + filter: brightness(120%); + border: 1px solid #c33d45; +} +#blog_list > ul { + padding-left: 0; +} +#blog_list > ul > li { + list-style: none; + box-shadow: 0px 0px 7px #00000033; + margin: 2em 1em; + padding: 2em; + border-radius: 0.4em; +} +#blog_list > ul > li a, #blog_list > ul > li a:visited { + padding: 0; + color: #c33d45; +} +html[lang^=zh] #article_content #blog_list h2:before { + content: ""; +} +#blog_list .blog_tags { + text-align: left; +} +#blog_list .blog_info { + color: #ababab; +} +#blog_list .blog_brief { + color: #828282; +} +.blog_cover { + text-align: center; + margin-top: 1em; +} +.blog_cover > img { + width: 100%; +} +#menu_wrapper { + width: 2%; +} +#menu { + background: url("/maixpy/static/image/theme_default/menu.svg"); + background-size: contain; + background-repeat: no-repeat; + background-position: center; + border-radius: 5px; + min-height: 2rem; + min-width: 2rem; + transition: 0.2s; + cursor: pointer; + position: sticky; + top: 1em; + z-index: 99; + margin-left: 0.2em; +} + +/* article */ +#article { + display: flex; + width: 98%; + margin: auto; + justify-content: space-evenly; +} +#toc_wrapper { + width: 25%; +} +#article #toc { + background-color: white; + position: sticky; + transition: 0.4s; + top: 15%; + max-height: calc(100vh - 15vh); + overflow-y: auto; +} +#article #toc a{ + padding: 0.2em 0.0em; + display: block; + font-size: 0.9em; +} +#article #toc ul, #article #toc ol { + list-style: none; + padding-left: 1.5em; +} +#article #toc > div > ul, #article #toc > div > ol { + padding-left: 1em; +} + +/* add numbers for toc */ +#toc {counter-reset: toc_l1;} +#toc #toc_content {counter-reset: toc_l2;} +#toc a.node-name--H1 { + counter-reset: toc_l2; +} +#toc a.node-name--H2 { + counter-reset: toc_l3; +} +#toc a.node-name--H1:before { + counter-increment: toc_l1; +} +#toc a.node-name--H2:before { + counter-increment: toc_l2; + content: counter(toc_l2, decimal) ".\00a0"; +} +html[lang^=zh] #toc a.node-name--H2:before { + counter-increment: toc_l2; + content: counter(toc_l2, simp-chinese-informal) "、"; +} +#toc a.node-name--H3:before { + counter-increment: toc_l3; + content: counter(toc_l2, decimal) "." counter(toc_l3, decimal) ".\00a0"; +} +.heading_no_counter #toc a.node-name--H2:before { + content: ""; +} +.heading_no_counter #toc a.node-name--H3:before { + content: ""; +} +html[lang^=zh].heading_no_counter #toc a.node-name--H2:before { + content: ""; +} +/* add numbers for titles toc*/ + + +/* article content */ +#content_wrapper { + flex-grow: 1; + justify-content: space-between; + flex-direction: column; + display: flex; + width: 65%; +} +#content_body { + max-width: 50em; + width: 90%; + display: flex; + flex-direction: column; + justify-content: space-between; + line-height: 2em; + margin: auto; +} +#content_body h1 { + line-height: initial; +} +#content_body a, #content_body a:visited { + color: #c33a3a; + padding: 0.2em; +} +#content_body a:hover { + background-color: #fde1e1; + padding: 0.2em; + border-radius: 0.2em; +} +#content_body img { + max-width: 100%; + object-fit: contain; + cursor: zoom-in; +} + +/* add numbers for titles */ +#article_content { + /* counter-reset: h2section h3section h4section; */ + min-height: 50vh; + word-break: break-word; +} +#article_content h1 { + /* counter-reset: h2section h3section h4section; */ + line-height: 1.3em; +} +#article_content h2 { + /* counter-reset: h3section h4section; */ + line-height: 1.3em; +} +/* #article_content h3 { + counter-reset: h4section; +} +#article_content h2:before +{ + counter-increment: h2section; + content: counter(h2section, upper-roman) "、"; +} +#article_content h3:before +{ + counter-increment: h3section; + content: counter(h2section, decimal) "." counter(h3section, decimal) "、"; +} +#article_content h4:before +{ + counter-increment: h4section; + content: counter(h2section, decimal) "." counter(h3section, decimal) "." counter(h4section, decimal) "、"; +} +html[lang^=zh] #article_content h2:before { + content: counter(h2section, simp-chinese-informal) "、"; +} +html[lang^=zh] #article_content h3:before { + content: counter(h2section, decimal) "." counter(h3section, decimal) "、"; +} +html[lang^=zh] #article_content h4:before { + content: counter(h2section, decimal) "." counter(h3section, decimal) "." counter(h4section, decimal) "、"; +} +.heading_no_counter #article_content h2:before { + content: ""; +} +.heading_no_counter #article_content h3:before { + content: ""; +} +.heading_no_counter #article_content h4:before { + content: ""; +} +html[lang^=zh].heading_no_counter #article_content h2:before { + content: ""; +} +html[lang^=zh].heading_no_counter #article_content h3:before { + content: ""; +} +html[lang^=zh].heading_no_counter #article_content h4:before { + content: ""; +} */ +/* add numbers for titles end*/ + +#article_head { + margin-bottom: 2em; +} +#article_tags ul { + list-style: none; + display: flex; + align-items: baseline; + justify-content: flex-end; + padding: 0 +} +#article_tags ul li{ + margin: 5px; + padding: 8px; + border-radius: 5px; + color: #ffffffcc; + font-size: 0.9em; + background-color: #c33d45; +} +#article_info { + display: flex; + flex-direction: row; + justify-content: space-between; +} +#article_info > div { + align-self: center; + display: flex; + flex-direction: row; + align-items: center; +} +#article_info > div > div { + margin: 2px; +} +#article_info #print_page { + height: 1em; + width: 1em; + cursor: pointer; + background-repeat: no-repeat; + background-size: contain; + background-image: url("/maixpy/static/image/theme_default/print.svg"); +} +#article_info>div>span { + padding: 0.2em; + color: #c33d45; +} +#source_link { + display: flex; + flex-direction: row; + justify-content: flex-end; +} + +/* cover prism.css */ + +:not(pre) > code[class*="language-"], pre[class*="language-"] { + background: #2d2d2d; + border-radius: 5px; +} +div.code-toolbar > .toolbar a, div.code-toolbar > .toolbar button, div.code-toolbar > .toolbar span { + color: #fff; + font-size: .8em; + padding: 1em; + background: #f5f2f0; + background: rgba(224, 224, 224, 0.2); + box-shadow: 0 2px 0 0 rgba(0,0,0,0.2); + border-radius: .5em; + cursor: pointer; +} +div.code-toolbar > .toolbar a:hover, div.code-toolbar > .toolbar a:focus, div.code-toolbar > .toolbar button:hover, div.code-toolbar > .toolbar button:focus, div.code-toolbar > .toolbar span:hover, div.code-toolbar > .toolbar span:focus { + color: #a9ffe0; + text-decoration: none; +} + +/* back to top button */ +/* #to_top_wrapper { +} */ +#to_top { + background: url("/maixpy/static/image/theme_default/to-top.svg"); + background-size: 2em; + background-repeat: no-repeat; + background-position: center; + align-self: flex-end; + position: sticky; + bottom: 6em; + right: 3em; + margin: 1em; + height: 3rem; + width: 3rem; + cursor: pointer; + transition: 0.4s; + z-index: 97; + border-radius: 100%; + padding: 2px; + background-color: #f1f1f1; + box-shadow: 8px 8px 20px rgba(0,0,0,0.13); +} +#to_top:hover { + background-size: 2.5em; + box-shadow: 8px 8px 20px rgba(0,0,0,0.24); +} +#to_top:active { + box-shadow: 0px 0px 20px rgba(0,0,0,0.05); +} + + +/* footer article */ +#previous_next { + min-height: 3em; + margin-top: 2em; + display: flex; + border-top: 1px solid #f1f1f1; + padding: 1em; + transition: 0.4s; + display: flex; + justify-content: space-between; +} +#previous_next > div { + margin: 1em; +} +#previous_next a{ + padding: 1em; + border-radius: 5px; + display: flex; + align-items: center; + background-color: #f1f1f1; + justify-content: flex-start; +} +#previous_next a:hover { + background-color: #dedede; +} +#previous_next #previous a > .label{ + flex-grow: 1; + text-align: center; + padding-right: 2.5em; +} +#previous_next #previous a > .icon{ + transition: transform 0.4s linear; + background: url("/maixpy/static/image/theme_default/to-top.svg"); + background-size: 2em; + background-repeat: no-repeat; + background-position: center; + min-height: 2.5rem; + min-width: 2.5rem; + -ms-transform: rotate(-90deg); + -moz-transform: rotate(-90deg); + -webkit-transform: rotate(-90deg); + transform: rotate(-90deg); + padding-right: 2em; + padding: 0; +} +#previous_next #next a { + justify-content: flex-end; +} +#previous_next #next a > .label{ + flex-grow: 1; + text-align: center; + padding-left: 2.5em; +} +#previous_next #next a > .icon{ + transition: transform 0.4s linear; + background: url("/maixpy/static/image/theme_default/to-top.svg"); + background-size: 2em; + background-repeat: no-repeat; + background-position: center; + min-height: 2.5rem; + min-width: 2.5rem; + -ms-transform: rotate(90deg); + -moz-transform: rotate(90deg); + -webkit-transform: rotate(90deg); + transform: rotate(90deg); + padding-left: 2em; + padding: 0; +} +.footnotes { + margin-top: 5em; +} +#doc_footer { + min-height: 2em; + display: flex; + background-color: #2d2d2d; + border-top: 1px solid #2d2d2d; + padding: 1em; + transition: 0.4s; +} +#page_footer { + min-height: 2em; + /* margin-top: 5em; */ + display: flex; + padding: 1em; + transition: 0.4s; + background-color: #292929; +} +#footer { + display: flex; + flex-direction: column; + align-items: center; + width: 100%; + line-height: 1em; +} +#footer ul { + list-style: none; + padding: 0; + margin: 0; +} +#footer a, #footer a:visited{ + color: #848fa0; + display: flex; + padding: 0.2em; + font-size: 0.9em; +} +#footer a:hover { + background-color: #e6e6e6; + border-radius: 0.1em; + padding: 0.2em; +} +#footer_top { + width: 100%; +} +#footer_top > ul { + display: flex; + justify-content: space-around; + flex-direction: row; +} +#footer_top > ul > li > a { + color: #cecece; + font-weight: 700; + margin: 1em 0 0.5em 0; +} +#footer_top > ul > li > a:hover { + background-color: transparent; +} +#footer_bottom { + margin-top: 2em; +} +#footer_bottom a { + justify-content: center; +} + +/* TOC */ +.anchor { + opacity: 0; + transition: 0.4s; +} +h2:hover > .anchor, h3:hover > .anchor, h4:hover > .anchor, h5:hover > .anchor { + opacity: 1; +} +.anchor:hover { + opacity: 1; +} +.anchor-link { + display: none; +} +#toc_content>.toc-list { + overflow: hidden; + position: relative +} + +#toc_content>.toc-list li { + list-style: none +} + +.toc-list { + margin: 0; + padding-left: 10px +} +#toc_content > .toc-list > .toc-list-item { + border-left: 2px solid #f1f1f1; + padding: 0.1em 0.1em; + line-height: 1.2em; +} + +a.toc-link { + color: currentColor; + height: 100% +} + +.is-collapsible { + /* max-height: 1000px; */ + overflow: hidden; + transition: all 300ms ease-in-out +} + +.is-collapsed { + max-height: 0 +} + +.is-position-fixed { + position: fixed !important; + top: 0 +} + +.is-active-link { + font-weight: 700 +} + +.toc-link::before { + content: ' '; + display: inline-block; + height: inherit; + left: 0; + margin-top: -1px; + padding-left: 6px; + margin-left: -2px; +} + +.is-active-link::before { + border-left: 2px solid #c33d45; +} + +/* class template */ +.md_page #page_content > div { + width: 90%; + max-width: 50em; + margin: auto; + line-height: 2em; +} + +/* jupyter notebook parser */ +.jp-InputArea { + display: flex; + flex-direction: row; +} +.jp-InputPrompt { + word-break: keep-all; + margin-right: 0.2em; + font-size: 0.8em; +} +.jp-CodeMirrorEditor { + flex-grow: 1; + overflow: auto; +} +.jp-OutputArea-child { + display: flex; + flex-direction: row; +} +.jp-OutputPrompt { + word-break: keep-all; + margin-right: 0.2em; + font-size: 0.8em; + min-width: 2.7em; +} +.jp-OutputArea-output { + flex-grow: 1; + overflow: auto; + background: #2d2d2d; +} + +/* google translate */ +#navbar #google_translate_element { + padding: 0; +} +#navbar #google_translate_element .goog-te-gadget-simple { + border-radius: 5px; + transition: 0.4s; +} +#navbar #google_translate_element .goog-te-gadget-simple .goog-te-menu-value { + transition: 0.4s; +} + +/* tabset */ +.tabset { + display: flex; + flex-direction: column; + align-items: normal; + border: 0.2em solid #ebedf0; + border-radius: 0.5em; + margin: 0.5em 0; +} +.tabset-title { + font-size: medium; + font-weight: 500; + padding: 0.5em 1em; +} +.tabset-content { + display: flex; + flex-direction: column; + align-items: normal; +} +.tabset-tab { + display: flex; + flex-direction: row; + padding: 0 1em; +} +.tabset-tab-label { + cursor: pointer; + font-size: large; + font-weight: 700; + padding: 0.5em 1em; + border-top-left-radius: 0.2em; + border-top-right-radius: 0.2em; +} +.tabset-tab-label:hover { + background-color: #0000000d; +} +.tabset-tab-active { + background-color: #0000000d; + border-bottom: 0.2em solid #c33d45; + color: #c33d45; +} +.tabset-text-container { + padding: 1em; + background-color: #0000000d; +} +.tabset-text-container > div { + display: none; +} +.tabset-text-container > div.tabset-text-active { + display: block; +} + +/* details */ +details { + display: flex; + flex-direction: column; + align-items: normal; + border: 0.2em solid #ebedf0; + border-radius: 0.5em; + margin: 0.5em 0; + transition: 0.4s; +} +details > summary { + font-size: medium; + font-weight: 500; + padding: 0.5em 1em; + cursor: pointer; +} +details > summary { + list-style-type:none; + position: relative; + padding-left: 2em; +} +details > summary:before { + display:inline-block; + content: url("/maixpy/static/image/theme_default/array.svg"); + transform:rotate(90deg); + transition: 0.4s; + left: 0.5em; + position: absolute; + top: 0.45rem; +} +details[open] > summary:before { + transform:rotate(180deg); + top: 0.35rem; +} +details[open] summary ~ * { + animation: sweep .4s ease-in-out; + } +@keyframes sweep { +0% {opacity: 0; margin-left: -10px} +100% {opacity: 1; margin-left: 0px} +} +details > .details-content, details > div { + padding: 1em; + background-color: #0000000d; +} + +#update_history { + overflow-x: auto; +} +#update_history details > div { + padding: 0; +} +#update_history details { + width: fit-content; +} + +/* mobile phone */ +@media screen and (max-width: 900px) { + #navbar { + display: block; + border-bottom: 1px solid #f1f1f1; + z-index: 89; + } + #navbar * { + display: block; + } + #navbar a.site_title { + display: flex; + } + #navbar_menu { + display: flex; + justify-content: space-between; + } + #navbar ul { + padding-left: 0; + } + #navbar_menu_btn { + background: url("/maixpy/static/image/theme_default/menu.svg"); + background-size: contain; + background-repeat: no-repeat; + background-position: center; + border-radius: 5px; + cursor: pointer; + width: 1em; + height: 1em; + display: block; + } + #navbar #navbar_items { + display: none; + padding-right: 0; + } + #navbar .sub_items ul { + left: 0; + right: auto; + } + #navbar .sub_items ul ul { + left: 0; + top: 3em; + } + #sidebar_wrapper { + position: fixed; + top: 0; + left: 0; + bottom: 0; + background-color: white; + box-shadow: 0 0 20px 0px #bbbbbb; + width: 100%; + z-index: 98; + display: none; + } + #sidebar { + position: relative; + width: 100%; + } + .gutter { + display: none; + } + #sidebar > ul { + padding-top: 4em; + } + #menu_wrapper { + z-index: 99; + } + #menu_wrapper.m_menu_fixed { + position: fixed; + left: 0; + top: 0; + width: 100%; + height: 4em; + background-color: rgb(255, 255, 255, 0.9); + box-shadow: 0px 1px 10px 0px rgb(0, 0, 0, 0.06); + } + #menu_wrapper.m_menu_fixed > #menu { + position: fixed; + left: 0.2em; + top: 1em; + } + #menu.close { + background: url("/maixpy/static/image/theme_default/back.svg"); + background-size: contain; + background-repeat: no-repeat; + background-position: center; + border-radius: 5px; + min-height: 2em; + min-width: 2em; + } + #content_body { + width: 90%; + } + #toc_wrapper { + display: none; + position: fixed; + width: 100vh; + height: 100vh; + top: 0; + left: 0; + background-color: rgb(0, 0, 0, 0.5); + z-index: 999; + transition: 0.4s; + } + #toc_wrapper.show { + display: block; + } + #article #toc{ + position: fixed; + top: 4em; + right: 0; + z-index: 200; + width: 90%; + padding: 1em 0 1em 0; + border-radius: 0.3em 0 0 0.3em; + } + #previous_next { + flex-direction: column; + } + + .m_hide { + display: none; + } + #footer_top > ul { + flex-direction: column; + } + #article_tools { + width: 100%; + display: flex; + flex-direction: column; + align-items: flex-end; + position: -webkit-sticky; + position: sticky; + top: 1em; + z-index: 97; + } + #toc_btn { + background: url("/maixpy/static/image/theme_default/anchor.svg"); + background-size: contain; + background-repeat: no-repeat; + background-position: center; + border-radius: 5px; + min-height: 2em; + min-width: 2em; + -ms-transform: rotate(12deg); + -moz-transform: rotate(12deg); + -webkit-transform: rotate(12deg); + transform: rotate(12deg); + } +} + + +/* special */ + +#themes{ + padding: 2px 5px; + cursor: pointer; +} +#navbar .light, #navbar .dark:hover { + background: url("/maixpy/static/image/theme_default/light_mode.svg"); + background-size: contain; + background-repeat: no-repeat; + background-position: center; + min-height: 1rem; + min-width: 1rem; +} +#navbar .dark, #navbar .light:hover { + background: url("/maixpy/static/image/theme_default/dark_mode.svg"); + background-size: contain; + background-repeat: no-repeat; + background-position: center; + min-height: 1rem; + min-width: 1rem; +} + + +@media print { + code[class*="language-"], pre[class*="language-"] { + white-space: pre-wrap; + } + pre[class*="language-"].line-numbers { + border: 1px solid #2d2d2d; + } + #navbar, + #sidebar_wrapper, .gutter, #menu_wrapper, + #toc, #to_top, #doc_footer, + #previous_next, + #source_link, #print_page, + #comments-container { + display: none; + } + #article { + width: 100%; + } + #content_body { + max-width: 100%; + width: 100%; + } + /* .line-numbers-rows { + display: none; + } */ + .gutter { + display: none; + } +} diff --git a/maixpy/static/css/theme_default/prism.min.css b/maixpy/static/css/theme_default/prism.min.css new file mode 100644 index 0000000..c087ba9 --- /dev/null +++ b/maixpy/static/css/theme_default/prism.min.css @@ -0,0 +1,261 @@ +/* PrismJS 1.23.0 +https://prismjs.com/download.html#themes=prism-tomorrow&languages=markup+css+clike+javascript+bash+c+cpp+cmake+coffeescript+docker+go+ini+java+json+json5+kotlin+latex+less+lua+makefile+markdown+markup-templating+objectivec+php+powershell+python+jsx+tsx+ruby+rust+sass+scss+shell-session+sql+swift+textile+typescript+yaml&plugins=line-numbers+highlight-keywords+toolbar+copy-to-clipboard+match-braces */ +/** + * prism.js tomorrow night eighties for JavaScript, CoffeeScript, CSS and HTML + * Based on https://github.com/chriskempson/tomorrow-theme + * @author Rose Pritchard + */ + +code[class*="language-"], +pre[class*="language-"] { + color: #ccc; + background: none; + font-family: Consolas, Monaco, 'Andale Mono', 'Ubuntu Mono', monospace; + font-size: 1em; + text-align: left; + white-space: pre; + word-spacing: normal; + word-break: normal; + word-wrap: normal; + line-height: 1.5; + + -moz-tab-size: 4; + -o-tab-size: 4; + tab-size: 4; + + -webkit-hyphens: none; + -moz-hyphens: none; + -ms-hyphens: none; + hyphens: none; + +} + +/* Code blocks */ +pre[class*="language-"] { + padding: 1em; + margin: .5em 0; + overflow: auto; +} + +:not(pre) > code[class*="language-"], +pre[class*="language-"] { + background: #2d2d2d; +} + +/* Inline code */ +:not(pre) > code[class*="language-"] { + padding: .1em; + border-radius: .3em; + white-space: normal; +} + +.token.comment, +.token.block-comment, +.token.prolog, +.token.doctype, +.token.cdata { + color: #999; +} + +.token.punctuation { + color: #ccc; +} + +.token.tag, +.token.attr-name, +.token.namespace, +.token.deleted { + color: #e2777a; +} + +.token.function-name { + color: #6196cc; +} + +.token.boolean, +.token.number, +.token.function { + color: #f08d49; +} + +.token.property, +.token.class-name, +.token.constant, +.token.symbol { + color: #f8c555; +} + +.token.selector, +.token.important, +.token.atrule, +.token.keyword, +.token.builtin { + color: #cc99cd; +} + +.token.string, +.token.char, +.token.attr-value, +.token.regex, +.token.variable { + color: #7ec699; +} + +.token.operator, +.token.entity, +.token.url { + color: #67cdcc; +} + +.token.important, +.token.bold { + font-weight: bold; +} +.token.italic { + font-style: italic; +} + +.token.entity { + cursor: help; +} + +.token.inserted { + color: green; +} + +pre[class*="language-"].line-numbers { + position: relative; + padding-left: 3.8em; + counter-reset: linenumber; +} + +pre[class*="language-"].line-numbers > code { + position: relative; + white-space: inherit; +} + +.line-numbers .line-numbers-rows { + position: absolute; + pointer-events: none; + top: 0; + font-size: 100%; + left: -3.8em; + width: 3em; /* works for line-numbers below 1000 lines */ + letter-spacing: -1px; + border-right: 1px solid #999; + + -webkit-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + +} + + .line-numbers-rows > span { + display: block; + counter-increment: linenumber; + } + + .line-numbers-rows > span:before { + content: counter(linenumber); + color: #999; + display: block; + padding-right: 0.8em; + text-align: right; + } + +div.code-toolbar { + position: relative; +} + +div.code-toolbar > .toolbar { + position: absolute; + top: .3em; + right: .2em; + transition: opacity 0.3s ease-in-out; + opacity: 0; +} + +div.code-toolbar:hover > .toolbar { + opacity: 1; +} + +/* Separate line b/c rules are thrown out if selector is invalid. + IE11 and old Edge versions don't support :focus-within. */ +div.code-toolbar:focus-within > .toolbar { + opacity: 1; +} + +div.code-toolbar > .toolbar .toolbar-item { + display: inline-block; +} + +div.code-toolbar > .toolbar a { + cursor: pointer; +} + +div.code-toolbar > .toolbar button { + background: none; + border: 0; + color: inherit; + font: inherit; + line-height: normal; + overflow: visible; + padding: 0; + -webkit-user-select: none; /* for button */ + -moz-user-select: none; + -ms-user-select: none; +} + +div.code-toolbar > .toolbar a, +div.code-toolbar > .toolbar button, +div.code-toolbar > .toolbar span { + color: #bbb; + font-size: .8em; + padding: 0 .5em; + background: #f5f2f0; + background: rgba(224, 224, 224, 0.2); + box-shadow: 0 2px 0 0 rgba(0,0,0,0.2); + border-radius: .5em; +} + +div.code-toolbar > .toolbar a:hover, +div.code-toolbar > .toolbar a:focus, +div.code-toolbar > .toolbar button:hover, +div.code-toolbar > .toolbar button:focus, +div.code-toolbar > .toolbar span:hover, +div.code-toolbar > .toolbar span:focus { + color: inherit; + text-decoration: none; +} + +.token.punctuation.brace-hover, +.token.punctuation.brace-selected { + outline: solid 1px; +} + +.rainbow-braces .token.punctuation.brace-level-1, +.rainbow-braces .token.punctuation.brace-level-5, +.rainbow-braces .token.punctuation.brace-level-9 { + color: #E50; + opacity: 1; +} +.rainbow-braces .token.punctuation.brace-level-2, +.rainbow-braces .token.punctuation.brace-level-6, +.rainbow-braces .token.punctuation.brace-level-10 { + color: #0B3; + opacity: 1; +} +.rainbow-braces .token.punctuation.brace-level-3, +.rainbow-braces .token.punctuation.brace-level-7, +.rainbow-braces .token.punctuation.brace-level-11 { + color: #26F; + opacity: 1; +} +.rainbow-braces .token.punctuation.brace-level-4, +.rainbow-braces .token.punctuation.brace-level-8, +.rainbow-braces .token.punctuation.brace-level-12 { + color: #E0E; + opacity: 1; +} + diff --git a/maixpy/static/css/theme_default/prism.min.js b/maixpy/static/css/theme_default/prism.min.js new file mode 100644 index 0000000..debc932 --- /dev/null +++ b/maixpy/static/css/theme_default/prism.min.js @@ -0,0 +1,46 @@ +/* PrismJS 1.23.0 +https://prismjs.com/download.html#themes=prism-tomorrow&languages=markup+css+clike+javascript+bash+c+cpp+cmake+coffeescript+docker+go+ini+java+json+json5+kotlin+latex+less+lua+makefile+markdown+markup-templating+objectivec+php+powershell+python+jsx+tsx+ruby+rust+sass+scss+shell-session+sql+swift+textile+typescript+yaml&plugins=line-numbers+highlight-keywords+toolbar+copy-to-clipboard+match-braces */ +var _self="undefined"!=typeof window?window:"undefined"!=typeof WorkerGlobalScope&&self instanceof WorkerGlobalScope?self:{},Prism=function(u){var c=/\blang(?:uage)?-([\w-]+)\b/i,n=0,M={manual:u.Prism&&u.Prism.manual,disableWorkerMessageHandler:u.Prism&&u.Prism.disableWorkerMessageHandler,util:{encode:function e(n){return n instanceof W?new W(n.type,e(n.content),n.alias):Array.isArray(n)?n.map(e):n.replace(/&/g,"&").replace(/=l.reach);y+=m.value.length,m=m.next){var k=m.value;if(r.length>n.length)return;if(!(k instanceof W)){var b,x=1;if(h){if(!(b=z(p,y,n,f)))break;var 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e=/("|')(?:\\(?:\r\n|[\s\S])|(?!\1)[^\\\r\n])*\1/;s.languages.css={comment:/\/\*[\s\S]*?\*\//,atrule:{pattern:/@[\w-](?:[^;{\s]|\s+(?![\s{]))*(?:;|(?=\s*\{))/,inside:{rule:/^@[\w-]+/,"selector-function-argument":{pattern:/(\bselector\s*\(\s*(?![\s)]))(?:[^()\s]|\s+(?![\s)])|\((?:[^()]|\([^()]*\))*\))+(?=\s*\))/,lookbehind:!0,alias:"selector"},keyword:{pattern:/(^|[^\w-])(?:and|not|only|or)(?![\w-])/,lookbehind:!0}}},url:{pattern:RegExp("\\burl\\((?:"+e.source+"|(?:[^\\\\\r\n()\"']|\\\\[^])*)\\)","i"),greedy:!0,inside:{function:/^url/i,punctuation:/^\(|\)$/,string:{pattern:RegExp("^"+e.source+"$"),alias:"url"}}},selector:RegExp("[^{}\\s](?:[^{};\"'\\s]|\\s+(?![\\s{])|"+e.source+")*(?=\\s*\\{)"),string:{pattern:e,greedy:!0},property:/(?!\s)[-_a-z\xA0-\uFFFF](?:(?!\s)[-\w\xA0-\uFFFF])*(?=\s*:)/i,important:/!important\b/i,function:/[-a-z0-9]+(?=\()/i,punctuation:/[(){};:,]/},s.languages.css.atrule.inside.rest=s.languages.css;var 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+!function(e){var t=/#(?!\{).+/,n={pattern:/#\{[^}]+\}/,alias:"variable"};e.languages.coffeescript=e.languages.extend("javascript",{comment:t,string:[{pattern:/'(?:\\[\s\S]|[^\\'])*'/,greedy:!0},{pattern:/"(?:\\[\s\S]|[^\\"])*"/,greedy:!0,inside:{interpolation:n}}],keyword:/\b(?:and|break|by|catch|class|continue|debugger|delete|do|each|else|extend|extends|false|finally|for|if|in|instanceof|is|isnt|let|loop|namespace|new|no|not|null|of|off|on|or|own|return|super|switch|then|this|throw|true|try|typeof|undefined|unless|until|when|while|window|with|yes|yield)\b/,"class-member":{pattern:/@(?!\d)\w+/,alias:"variable"}}),e.languages.insertBefore("coffeescript","comment",{"multiline-comment":{pattern:/###[\s\S]+?###/,alias:"comment"},"block-regex":{pattern:/\/{3}[\s\S]*?\/{3}/,alias:"regex",inside:{comment:t,interpolation:n}}}),e.languages.insertBefore("coffeescript","string",{"inline-javascript":{pattern:/`(?:\\[\s\S]|[^\\`])*`/,inside:{delimiter:{pattern:/^`|`$/,alias:"punctuation"},script:{pattern:/[\s\S]+/,alias:"language-javascript",inside:e.languages.javascript}}},"multiline-string":[{pattern:/'''[\s\S]*?'''/,greedy:!0,alias:"string"},{pattern:/"""[\s\S]*?"""/,greedy:!0,alias:"string",inside:{interpolation:n}}]}),e.languages.insertBefore("coffeescript","keyword",{property:/(?!\d)\w+(?=\s*:(?!:))/}),delete e.languages.coffeescript["template-string"],e.languages.coffee=e.languages.coffeescript}(Prism); +!function(e){var r="(?:[ \t]+(?![ \t])(?:)?|)".replace(//g,function(){return"\\\\[\r\n](?:\\s|\\\\[\r\n]|#.*(?!.))*(?![\\s#]|\\\\[\r\n])"}),n="\"(?:[^\"\\\\\r\n]|\\\\(?:\r\n|[^]))*\"|'(?:[^'\\\\\r\n]|\\\\(?:\r\n|[^]))*'",t="--[\\w-]+=(?:|(?![\"'])(?:[^\\s\\\\]|\\\\.)+)".replace(//g,function(){return n}),o={pattern:RegExp(n),greedy:!0},i={pattern:/(^[ \t]*)#.*/m,lookbehind:!0,greedy:!0};function a(e,n){return e=e.replace(//g,function(){return t}).replace(//g,function(){return r}),RegExp(e,n)}e.languages.docker={instruction:{pattern:/(^[ 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+Prism.languages.go=Prism.languages.extend("clike",{string:{pattern:/(["'`])(?:\\[\s\S]|(?!\1)[^\\])*\1/,greedy:!0},keyword:/\b(?:break|case|chan|const|continue|default|defer|else|fallthrough|for|func|go(?:to)?|if|import|interface|map|package|range|return|select|struct|switch|type|var)\b/,boolean:/\b(?:_|iota|nil|true|false)\b/,number:/(?:\b0x[a-f\d]+|(?:\b\d+(?:\.\d*)?|\B\.\d+)(?:e[-+]?\d+)?)i?/i,operator:/[*\/%^!=]=?|\+[=+]?|-[=-]?|\|[=|]?|&(?:=|&|\^=?)?|>(?:>=?|=)?|<(?:<=?|=|-)?|:=|\.\.\./,builtin:/\b(?:bool|byte|complex(?:64|128)|error|float(?:32|64)|rune|string|u?int(?:8|16|32|64)?|uintptr|append|cap|close|complex|copy|delete|imag|len|make|new|panic|print(?:ln)?|real|recover)\b/}),delete Prism.languages.go["class-name"]; +Prism.languages.ini={comment:/^[ \t]*[;#].*$/m,selector:/^[ \t]*\[.*?\]/m,constant:/^[ \t]*[^\s=]+?(?=[ \t]*=)/m,"attr-value":{pattern:/=.*/,inside:{punctuation:/^[=]/}}}; +!function(e){var t=/\b(?:abstract|assert|boolean|break|byte|case|catch|char|class|const|continue|default|do|double|else|enum|exports|extends|final|finally|float|for|goto|if|implements|import|instanceof|int|interface|long|module|native|new|non-sealed|null|open|opens|package|permits|private|protected|provides|public|record|requires|return|sealed|short|static|strictfp|super|switch|synchronized|this|throw|throws|to|transient|transitive|try|uses|var|void|volatile|while|with|yield)\b/,n="(^|[^\\w.])(?:[a-z]\\w*\\s*\\.\\s*)*(?:[A-Z]\\w*\\s*\\.\\s*)*",a={pattern:RegExp(n+"[A-Z](?:[\\d_A-Z]*[a-z]\\w*)?\\b"),lookbehind:!0,inside:{namespace:{pattern:/^[a-z]\w*(?:\s*\.\s*[a-z]\w*)*(?:\s*\.)?/,inside:{punctuation:/\./}},punctuation:/\./}};e.languages.java=e.languages.extend("clike",{"class-name":[a,{pattern:RegExp(n+"[A-Z]\\w*(?=\\s+\\w+\\s*[;,=())])"),lookbehind:!0,inside:a.inside}],keyword:t,function:[e.languages.clike.function,{pattern:/(\:\:\s*)[a-z_]\w*/,lookbehind:!0}],number:/\b0b[01][01_]*L?\b|\b0x(?:\.[\da-f_p+-]+|[\da-f_]+(?:\.[\da-f_p+-]+)?)\b|(?:\b\d[\d_]*(?:\.[\d_]*)?|\B\.\d[\d_]*)(?:e[+-]?\d[\d_]*)?[dfl]?/i,operator:{pattern:/(^|[^.])(?:<<=?|>>>?=?|->|--|\+\+|&&|\|\||::|[?:~]|[-+*/%&|^!=<>]=?)/m,lookbehind:!0}}),e.languages.insertBefore("java","string",{"triple-quoted-string":{pattern:/"""[ \t]*[\r\n](?:(?:"|"")?(?:\\.|[^"\\]))*"""/,greedy:!0,alias:"string"}}),e.languages.insertBefore("java","class-name",{annotation:{pattern:/(^|[^.])@\w+(?:\s*\.\s*\w+)*/,lookbehind:!0,alias:"punctuation"},generics:{pattern:/<(?:[\w\s,.&?]|<(?:[\w\s,.&?]|<(?:[\w\s,.&?]|<[\w\s,.&?]*>)*>)*>)*>/,inside:{"class-name":a,keyword:t,punctuation:/[<>(),.:]/,operator:/[?&|]/}},namespace:{pattern:RegExp("(\\b(?:exports|import(?:\\s+static)?|module|open|opens|package|provides|requires|to|transitive|uses|with)\\s+)(?!)[a-z]\\w*(?:\\.[a-z]\\w*)*\\.?".replace(//g,function(){return t.source})),lookbehind:!0,inside:{punctuation:/\./}}})}(Prism); +Prism.languages.json={property:{pattern:/(^|[^\\])"(?:\\.|[^\\"\r\n])*"(?=\s*:)/,lookbehind:!0,greedy:!0},string:{pattern:/(^|[^\\])"(?:\\.|[^\\"\r\n])*"(?!\s*:)/,lookbehind:!0,greedy:!0},comment:{pattern:/\/\/.*|\/\*[\s\S]*?(?:\*\/|$)/,greedy:!0},number:/-?\b\d+(?:\.\d+)?(?:e[+-]?\d+)?\b/i,punctuation:/[{}[\],]/,operator:/:/,boolean:/\b(?:true|false)\b/,null:{pattern:/\bnull\b/,alias:"keyword"}},Prism.languages.webmanifest=Prism.languages.json; +!function(n){var e=/("|')(?:\\(?:\r\n?|\n|.)|(?!\1)[^\\\r\n])*\1/;n.languages.json5=n.languages.extend("json",{property:[{pattern:RegExp(e.source+"(?=\\s*:)"),greedy:!0},{pattern:/(?!\s)[_$a-zA-Z\xA0-\uFFFF](?:(?!\s)[$\w\xA0-\uFFFF])*(?=\s*:)/,alias:"unquoted"}],string:{pattern:e,greedy:!0},number:/[+-]?\b(?:NaN|Infinity|0x[a-fA-F\d]+)\b|[+-]?(?:\b\d+(?:\.\d*)?|\B\.\d+)(?:[eE][+-]?\d+\b)?/})}(Prism); +!function(e){e.languages.kotlin=e.languages.extend("clike",{keyword:{pattern:/(^|[^.])\b(?:abstract|actual|annotation|as|break|by|catch|class|companion|const|constructor|continue|crossinline|data|do|dynamic|else|enum|expect|external|final|finally|for|fun|get|if|import|in|infix|init|inline|inner|interface|internal|is|lateinit|noinline|null|object|open|operator|out|override|package|private|protected|public|reified|return|sealed|set|super|suspend|tailrec|this|throw|to|try|typealias|val|var|vararg|when|where|while)\b/,lookbehind:!0},function:[{pattern:/(?:`[^\r\n`]+`|\w+)(?=\s*\()/,greedy:!0},{pattern:/(\.)(?:`[^\r\n`]+`|\w+)(?=\s*\{)/,lookbehind:!0,greedy:!0}],number:/\b(?:0[xX][\da-fA-F]+(?:_[\da-fA-F]+)*|0[bB][01]+(?:_[01]+)*|\d+(?:_\d+)*(?:\.\d+(?:_\d+)*)?(?:[eE][+-]?\d+(?:_\d+)*)?[fFL]?)\b/,operator:/\+[+=]?|-[-=>]?|==?=?|!(?:!|==?)?|[\/*%<>]=?|[?:]:?|\.\.|&&|\|\||\b(?:and|inv|or|shl|shr|ushr|xor)\b/}),delete e.languages.kotlin["class-name"],e.languages.insertBefore("kotlin","string",{"raw-string":{pattern:/("""|''')[\s\S]*?\1/,alias:"string"}}),e.languages.insertBefore("kotlin","keyword",{annotation:{pattern:/\B@(?:\w+:)?(?:[A-Z]\w*|\[[^\]]+\])/,alias:"builtin"}}),e.languages.insertBefore("kotlin","function",{label:{pattern:/\w+@|@\w+/,alias:"symbol"}});var n=[{pattern:/\$\{[^}]+\}/,inside:{delimiter:{pattern:/^\$\{|\}$/,alias:"variable"},rest:e.languages.kotlin}},{pattern:/\$\w+/,alias:"variable"}];e.languages.kotlin.string.inside=e.languages.kotlin["raw-string"].inside={interpolation:n},e.languages.kt=e.languages.kotlin,e.languages.kts=e.languages.kotlin}(Prism); +!function(a){var e=/\\(?:[^a-z()[\]]|[a-z*]+)/i,n={"equation-command":{pattern:e,alias:"regex"}};a.languages.latex={comment:/%.*/m,cdata:{pattern:/(\\begin\{((?:verbatim|lstlisting)\*?)\})[\s\S]*?(?=\\end\{\2\})/,lookbehind:!0},equation:[{pattern:/\$\$(?:\\[\s\S]|[^\\$])+\$\$|\$(?:\\[\s\S]|[^\\$])+\$|\\\([\s\S]*?\\\)|\\\[[\s\S]*?\\\]/,inside:n,alias:"string"},{pattern:/(\\begin\{((?:equation|math|eqnarray|align|multline|gather)\*?)\})[\s\S]*?(?=\\end\{\2\})/,lookbehind:!0,inside:n,alias:"string"}],keyword:{pattern:/(\\(?:begin|end|ref|cite|label|usepackage|documentclass)(?:\[[^\]]+\])?\{)[^}]+(?=\})/,lookbehind:!0},url:{pattern:/(\\url\{)[^}]+(?=\})/,lookbehind:!0},headline:{pattern:/(\\(?:part|chapter|section|subsection|frametitle|subsubsection|paragraph|subparagraph|subsubparagraph|subsubsubparagraph)\*?(?:\[[^\]]+\])?\{)[^}]+(?=\}(?:\[[^\]]+\])?)/,lookbehind:!0,alias:"class-name"},function:{pattern:e,alias:"selector"},punctuation:/[[\]{}&]/},a.languages.tex=a.languages.latex,a.languages.context=a.languages.latex}(Prism); +Prism.languages.less=Prism.languages.extend("css",{comment:[/\/\*[\s\S]*?\*\//,{pattern:/(^|[^\\])\/\/.*/,lookbehind:!0}],atrule:{pattern:/@[\w-](?:\((?:[^(){}]|\([^(){}]*\))*\)|[^(){};\s]|\s+(?!\s))*?(?=\s*\{)/,inside:{punctuation:/[:()]/}},selector:{pattern:/(?:@\{[\w-]+\}|[^{};\s@])(?:@\{[\w-]+\}|\((?:[^(){}]|\([^(){}]*\))*\)|[^(){};@\s]|\s+(?!\s))*?(?=\s*\{)/,inside:{variable:/@+[\w-]+/}},property:/(?:@\{[\w-]+\}|[\w-])+(?:\+_?)?(?=\s*:)/i,operator:/[+\-*\/]/}),Prism.languages.insertBefore("less","property",{variable:[{pattern:/@[\w-]+\s*:/,inside:{punctuation:/:/}},/@@?[\w-]+/],"mixin-usage":{pattern:/([{;]\s*)[.#](?!\d)[\w-].*?(?=[(;])/,lookbehind:!0,alias:"function"}}); +Prism.languages.lua={comment:/^#!.+|--(?:\[(=*)\[[\s\S]*?\]\1\]|.*)/m,string:{pattern:/(["'])(?:(?!\1)[^\\\r\n]|\\z(?:\r\n|\s)|\\(?:\r\n|[^z]))*\1|\[(=*)\[[\s\S]*?\]\2\]/,greedy:!0},number:/\b0x[a-f\d]+(?:\.[a-f\d]*)?(?:p[+-]?\d+)?\b|\b\d+(?:\.\B|(?:\.\d*)?(?:e[+-]?\d+)?\b)|\B\.\d+(?:e[+-]?\d+)?\b/i,keyword:/\b(?:and|break|do|else|elseif|end|false|for|function|goto|if|in|local|nil|not|or|repeat|return|then|true|until|while)\b/,function:/(?!\d)\w+(?=\s*(?:[({]))/,operator:[/[-+*%^&|#]|\/\/?|<[<=]?|>[>=]?|[=~]=?/,{pattern:/(^|[^.])\.\.(?!\.)/,lookbehind:!0}],punctuation:/[\[\](){},;]|\.+|:+/}; +Prism.languages.makefile={comment:{pattern:/(^|[^\\])#(?:\\(?:\r\n|[\s\S])|[^\\\r\n])*/,lookbehind:!0},string:{pattern:/(["'])(?:\\(?:\r\n|[\s\S])|(?!\1)[^\\\r\n])*\1/,greedy:!0},builtin:/\.[A-Z][^:#=\s]+(?=\s*:(?!=))/,symbol:{pattern:/^(?:[^:=\s]|[ \t]+(?![\s:]))+(?=\s*:(?!=))/m,inside:{variable:/\$+(?:(?!\$)[^(){}:#=\s]+|(?=[({]))/}},variable:/\$+(?:(?!\$)[^(){}:#=\s]+|\([@*%<^+?][DF]\)|(?=[({]))/,keyword:[/-include\b|\b(?:define|else|endef|endif|export|ifn?def|ifn?eq|include|override|private|sinclude|undefine|unexport|vpath)\b/,{pattern:/(\()(?:addsuffix|abspath|and|basename|call|dir|error|eval|file|filter(?:-out)?|findstring|firstword|flavor|foreach|guile|if|info|join|lastword|load|notdir|or|origin|patsubst|realpath|shell|sort|strip|subst|suffix|value|warning|wildcard|word(?:s|list)?)(?=[ \t])/,lookbehind:!0}],operator:/(?:::|[?:+!])?=|[|@]/,punctuation:/[:;(){}]/}; +!function(u){function n(n){return n=n.replace(//g,function(){return"(?:\\\\.|[^\\\\\n\r]|(?:\n|\r\n?)(?!\n|\r\n?))"}),RegExp("((?:^|[^\\\\])(?:\\\\{2})*)(?:"+n+")")}var e="(?:\\\\.|``(?:[^`\r\n]|`(?!`))+``|`[^`\r\n]+`|[^\\\\|\r\n`])+",t="\\|?__(?:\\|__)+\\|?(?:(?:\n|\r\n?)|(?![^]))".replace(/__/g,function(){return e}),a="\\|?[ \t]*:?-{3,}:?[ \t]*(?:\\|[ \t]*:?-{3,}:?[ \t]*)+\\|?(?:\n|\r\n?)";u.languages.markdown=u.languages.extend("markup",{}),u.languages.insertBefore("markdown","prolog",{"front-matter-block":{pattern:/(^(?:\s*[\r\n])?)---(?!.)[\s\S]*?[\r\n]---(?!.)/,lookbehind:!0,greedy:!0,inside:{punctuation:/^---|---$/,"font-matter":{pattern:/\S+(?:\s+\S+)*/,alias:["yaml","language-yaml"],inside:u.languages.yaml}}},blockquote:{pattern:/^>(?:[\t ]*>)*/m,alias:"punctuation"},table:{pattern:RegExp("^"+t+a+"(?:"+t+")*","m"),inside:{"table-data-rows":{pattern:RegExp("^("+t+a+")(?:"+t+")*$"),lookbehind:!0,inside:{"table-data":{pattern:RegExp(e),inside:u.languages.markdown},punctuation:/\|/}},"table-line":{pattern:RegExp("^("+t+")"+a+"$"),lookbehind:!0,inside:{punctuation:/\||:?-{3,}:?/}},"table-header-row":{pattern:RegExp("^"+t+"$"),inside:{"table-header":{pattern:RegExp(e),alias:"important",inside:u.languages.markdown},punctuation:/\|/}}}},code:[{pattern:/((?:^|\n)[ \t]*\n|(?:^|\r\n?)[ \t]*\r\n?)(?: {4}|\t).+(?:(?:\n|\r\n?)(?: {4}|\t).+)*/,lookbehind:!0,alias:"keyword"},{pattern:/``.+?``|`[^`\r\n]+`/,alias:"keyword"},{pattern:/^```[\s\S]*?^```$/m,greedy:!0,inside:{"code-block":{pattern:/^(```.*(?:\n|\r\n?))[\s\S]+?(?=(?:\n|\r\n?)^```$)/m,lookbehind:!0},"code-language":{pattern:/^(```).+/,lookbehind:!0},punctuation:/```/}}],title:[{pattern:/\S.*(?:\n|\r\n?)(?:==+|--+)(?=[ \t]*$)/m,alias:"important",inside:{punctuation:/==+$|--+$/}},{pattern:/(^\s*)#.+/m,lookbehind:!0,alias:"important",inside:{punctuation:/^#+|#+$/}}],hr:{pattern:/(^\s*)([*-])(?:[\t ]*\2){2,}(?=\s*$)/m,lookbehind:!0,alias:"punctuation"},list:{pattern:/(^\s*)(?:[*+-]|\d+\.)(?=[\t ].)/m,lookbehind:!0,alias:"punctuation"},"url-reference":{pattern:/!?\[[^\]]+\]:[\t ]+(?:\S+|<(?:\\.|[^>\\])+>)(?:[\t ]+(?:"(?:\\.|[^"\\])*"|'(?:\\.|[^'\\])*'|\((?:\\.|[^)\\])*\)))?/,inside:{variable:{pattern:/^(!?\[)[^\]]+/,lookbehind:!0},string:/(?:"(?:\\.|[^"\\])*"|'(?:\\.|[^'\\])*'|\((?:\\.|[^)\\])*\))$/,punctuation:/^[\[\]!:]|[<>]/},alias:"url"},bold:{pattern:n("\\b__(?:(?!_)|_(?:(?!_))+_)+__\\b|\\*\\*(?:(?!\\*)|\\*(?:(?!\\*))+\\*)+\\*\\*"),lookbehind:!0,greedy:!0,inside:{content:{pattern:/(^..)[\s\S]+(?=..$)/,lookbehind:!0,inside:{}},punctuation:/\*\*|__/}},italic:{pattern:n("\\b_(?:(?!_)|__(?:(?!_))+__)+_\\b|\\*(?:(?!\\*)|\\*\\*(?:(?!\\*))+\\*\\*)+\\*"),lookbehind:!0,greedy:!0,inside:{content:{pattern:/(^.)[\s\S]+(?=.$)/,lookbehind:!0,inside:{}},punctuation:/[*_]/}},strike:{pattern:n("(~~?)(?:(?!~))+?\\2"),lookbehind:!0,greedy:!0,inside:{content:{pattern:/(^~~?)[\s\S]+(?=\1$)/,lookbehind:!0,inside:{}},punctuation:/~~?/}},url:{pattern:n('!?\\[(?:(?!\\]))+\\](?:\\([^\\s)]+(?:[\t ]+"(?:\\\\.|[^"\\\\])*")?\\)|[ \t]?\\[(?:(?!\\]))+\\])'),lookbehind:!0,greedy:!0,inside:{operator:/^!/,content:{pattern:/(^\[)[^\]]+(?=\])/,lookbehind:!0,inside:{}},variable:{pattern:/(^\][ \t]?\[)[^\]]+(?=\]$)/,lookbehind:!0},url:{pattern:/(^\]\()[^\s)]+/,lookbehind:!0},string:{pattern:/(^[ \t]+)"(?:\\.|[^"\\])*"(?=\)$)/,lookbehind:!0}}}}),["url","bold","italic","strike"].forEach(function(e){["url","bold","italic","strike"].forEach(function(n){e!==n&&(u.languages.markdown[e].inside.content.inside[n]=u.languages.markdown[n])})}),u.hooks.add("after-tokenize",function(n){"markdown"!==n.language&&"md"!==n.language||!function n(e){if(e&&"string"!=typeof e)for(var t=0,a=e.length;t=d.length);t++){var a=n[t];if("string"==typeof a||a.content&&"string"==typeof a.content){var r=d[m],o=p.tokenStack[r],c="string"==typeof a?a:a.content,i=v(k,r),u=c.indexOf(i);if(-1]?|\+\+?|!=?|<>?=?|==?|&&?|\|\|?|[~^%?*\/@]/}),delete Prism.languages.objectivec["class-name"],Prism.languages.objc=Prism.languages.objectivec; +!function(a){var e=/\/\*[\s\S]*?\*\/|\/\/.*|#(?!\[).*/,t=[{pattern:/\b(?:false|true)\b/i,alias:"boolean"},{pattern:/(::\s*)\b[a-z_]\w*\b(?!\s*\()/i,greedy:!0,lookbehind:!0},{pattern:/(\b(?:case|const)\s+)\b[a-z_]\w*(?=\s*[;=])/i,greedy:!0,lookbehind:!0},/\b(?:null)\b/i,/\b[A-Z_][A-Z0-9_]*\b(?!\s*\()/],i=/\b0b[01]+(?:_[01]+)*\b|\b0o[0-7]+(?:_[0-7]+)*\b|\b0x[\da-f]+(?:_[\da-f]+)*\b|(?:\b\d+(?:_\d+)*\.?(?:\d+(?:_\d+)*)?|\B\.\d+)(?:e[+-]?\d+)?/i,n=/|\?\?=?|\.{3}|\??->|[!=]=?=?|::|\*\*=?|--|\+\+|&&|\|\||<<|>>|[?~]|[/^|%*&<>.+-]=?/,s=/[{}\[\](),:;]/;a.languages.php={delimiter:{pattern:/\?>$|^<\?(?:php(?=\s)|=)?/i,alias:"important"},comment:e,variable:/\$+(?:\w+\b|(?={))/i,package:{pattern:/(namespace\s+|use\s+(?:function\s+)?)(?:\\?\b[a-z_]\w*)+\b(?!\\)/i,lookbehind:!0,inside:{punctuation:/\\/}},"class-name-definition":{pattern:/(\b(?:class|enum|interface|trait)\s+)\b[a-z_]\w*(?!\\)\b/i,lookbehind:!0,alias:"class-name"},keyword:[{pattern:/(\(\s*)\b(?:bool|boolean|int|integer|float|string|object|array)\b(?=\s*\))/i,alias:"type-casting",greedy:!0,lookbehind:!0},{pattern:/([(,?]\s*)\b(?:bool|int|float|string|object|array(?!\s*\()|mixed|self|static|callable|iterable|(?:null|false)(?=\s*\|))\b(?=\s*\$)/i,alias:"type-hint",greedy:!0,lookbehind:!0},{pattern:/([(,?]\s*[a-z0-9_|]\|\s*)(?:null|false)\b(?=\s*\$)/i,alias:"type-hint",greedy:!0,lookbehind:!0},{pattern:/(\)\s*:\s*(?:\?\s*)?)\b(?:bool|int|float|string|object|void|array(?!\s*\()|mixed|self|static|callable|iterable|(?:null|false)(?=\s*\|))\b/i,alias:"return-type",greedy:!0,lookbehind:!0},{pattern:/(\)\s*:\s*(?:\?\s*)?[a-z0-9_|]\|\s*)(?:null|false)\b/i,alias:"return-type",greedy:!0,lookbehind:!0},{pattern:/\b(?:bool|int|float|string|object|void|array(?!\s*\()|mixed|iterable|(?:null|false)(?=\s*\|))\b/i,alias:"type-declaration",greedy:!0},{pattern:/(\|\s*)(?:null|false)\b/i,alias:"type-declaration",greedy:!0,lookbehind:!0},{pattern:/\b(?:parent|self|static)(?=\s*::)/i,alias:"static-context",greedy:!0},/\b(?:__halt_compiler|abstract|and|array|as|break|callable|case|catch|class|clone|const|continue|declare|default|die|do|echo|else|elseif|empty|enddeclare|endfor|endforeach|endif|endswitch|endwhile|enum|eval|exit|extends|final|finally|for|foreach|function|global|goto|if|implements|include|include_once|instanceof|insteadof|interface|isset|list|namespace|match|new|or|parent|print|private|protected|public|require|require_once|return|self|static|switch|throw|trait|try|unset|use|var|while|xor|yield)\b/i],"argument-name":{pattern:/([(,]\s+)\b[a-z_]\w*(?=\s*:(?!:))/i,lookbehind:!0},"class-name":[{pattern:/(\b(?:extends|implements|instanceof|new(?!\s+self|\s+static))\s+|\bcatch\s*\()\b[a-z_]\w*(?!\\)\b/i,greedy:!0,lookbehind:!0},{pattern:/(\|\s*)\b[a-z_]\w*(?!\\)\b/i,greedy:!0,lookbehind:!0},{pattern:/\b[a-z_]\w*(?!\\)\b(?=\s*\|)/i,greedy:!0},{pattern:/(\|\s*)(?:\\?\b[a-z_]\w*)+\b/i,alias:"class-name-fully-qualified",greedy:!0,lookbehind:!0,inside:{punctuation:/\\/}},{pattern:/(?:\\?\b[a-z_]\w*)+\b(?=\s*\|)/i,alias:"class-name-fully-qualified",greedy:!0,inside:{punctuation:/\\/}},{pattern:/(\b(?:extends|implements|instanceof|new(?!\s+self\b|\s+static\b))\s+|\bcatch\s*\()(?:\\?\b[a-z_]\w*)+\b(?!\\)/i,alias:"class-name-fully-qualified",greedy:!0,lookbehind:!0,inside:{punctuation:/\\/}},{pattern:/\b[a-z_]\w*(?=\s*\$)/i,alias:"type-declaration",greedy:!0},{pattern:/(?:\\?\b[a-z_]\w*)+(?=\s*\$)/i,alias:["class-name-fully-qualified","type-declaration"],greedy:!0,inside:{punctuation:/\\/}},{pattern:/\b[a-z_]\w*(?=\s*::)/i,alias:"static-context",greedy:!0},{pattern:/(?:\\?\b[a-z_]\w*)+(?=\s*::)/i,alias:["class-name-fully-qualified","static-context"],greedy:!0,inside:{punctuation:/\\/}},{pattern:/([(,?]\s*)[a-z_]\w*(?=\s*\$)/i,alias:"type-hint",greedy:!0,lookbehind:!0},{pattern:/([(,?]\s*)(?:\\?\b[a-z_]\w*)+(?=\s*\$)/i,alias:["class-name-fully-qualified","type-hint"],greedy:!0,lookbehind:!0,inside:{punctuation:/\\/}},{pattern:/(\)\s*:\s*(?:\?\s*)?)\b[a-z_]\w*(?!\\)\b/i,alias:"return-type",greedy:!0,lookbehind:!0},{pattern:/(\)\s*:\s*(?:\?\s*)?)(?:\\?\b[a-z_]\w*)+\b(?!\\)/i,alias:["class-name-fully-qualified","return-type"],greedy:!0,lookbehind:!0,inside:{punctuation:/\\/}}],constant:t,function:/\w+\s*(?=\()/,property:{pattern:/(->)[\w]+/,lookbehind:!0},number:i,operator:n,punctuation:s};var l={pattern:/{\$(?:{(?:{[^{}]+}|[^{}]+)}|[^{}])+}|(^|[^\\{])\$+(?:\w+(?:\[[^\r\n\[\]]+\]|->\w+)*)/,lookbehind:!0,inside:a.languages.php},r=[{pattern:/<<<'([^']+)'[\r\n](?:.*[\r\n])*?\1;/,alias:"nowdoc-string",greedy:!0,inside:{delimiter:{pattern:/^<<<'[^']+'|[a-z_]\w*;$/i,alias:"symbol",inside:{punctuation:/^<<<'?|[';]$/}}}},{pattern:/<<<(?:"([^"]+)"[\r\n](?:.*[\r\n])*?\1;|([a-z_]\w*)[\r\n](?:.*[\r\n])*?\2;)/i,alias:"heredoc-string",greedy:!0,inside:{delimiter:{pattern:/^<<<(?:"[^"]+"|[a-z_]\w*)|[a-z_]\w*;$/i,alias:"symbol",inside:{punctuation:/^<<<"?|[";]$/}},interpolation:l}},{pattern:/`(?:\\[\s\S]|[^\\`])*`/,alias:"backtick-quoted-string",greedy:!0},{pattern:/'(?:\\[\s\S]|[^\\'])*'/,alias:"single-quoted-string",greedy:!0},{pattern:/"(?:\\[\s\S]|[^\\"])*"/,alias:"double-quoted-string",greedy:!0,inside:{interpolation:l}}];a.languages.insertBefore("php","variable",{string:r}),a.languages.insertBefore("php","variable",{attribute:{pattern:/#\[(?:[^"'\/#]|\/(?![*/])|\/\/.*$|#(?!\[).*$|\/\*(?:[^*]|\*(?!\/))*\*\/|"(?:\\[\s\S]|[^\\"])*"|'(?:\\[\s\S]|[^\\'])*')+\](?=\s*[a-z$#])/im,greedy:!0,inside:{"attribute-content":{pattern:/^(#\[)[\s\S]+(?=]$)/,lookbehind:!0,inside:{comment:e,string:r,"attribute-class-name":[{pattern:/([^:]|^)\b[a-z_]\w*(?!\\)\b/i,alias:"class-name",greedy:!0,lookbehind:!0},{pattern:/([^:]|^)(?:\\?\b[a-z_]\w*)+/i,alias:["class-name","class-name-fully-qualified"],greedy:!0,lookbehind:!0,inside:{punctuation:/\\/}}],constant:t,number:i,operator:n,punctuation:s}},delimiter:{pattern:/^#\[|]$/,alias:"punctuation"}}}}),a.hooks.add("before-tokenize",function(e){if(/<\?/.test(e.code)){a.languages["markup-templating"].buildPlaceholders(e,"php",/<\?(?:[^"'/#]|\/(?![*/])|("|')(?:\\[\s\S]|(?!\1)[^\\])*\1|(?:\/\/|#(?!\[))(?:[^?\n\r]|\?(?!>))*(?=$|\?>|[\r\n])|#\[|\/\*(?:[^*]|\*(?!\/))*(?:\*\/|$))*?(?:\?>|$)/gi)}}),a.hooks.add("after-tokenize",function(e){a.languages["markup-templating"].tokenizePlaceholders(e,"php")})}(Prism); +!function(e){var i=Prism.languages.powershell={comment:[{pattern:/(^|[^`])<#[\s\S]*?#>/,lookbehind:!0},{pattern:/(^|[^`])#.*/,lookbehind:!0}],string:[{pattern:/"(?:`[\s\S]|[^`"])*"/,greedy:!0,inside:{function:{pattern:/(^|[^`])\$\((?:\$\([^\r\n()]*\)|(?!\$\()[^\r\n)])*\)/,lookbehind:!0,inside:{}}}},{pattern:/'(?:[^']|'')*'/,greedy:!0}],namespace:/\[[a-z](?:\[(?:\[[^\]]*]|[^\[\]])*]|[^\[\]])*]/i,boolean:/\$(?:true|false)\b/i,variable:/\$\w+\b/,function:[/\b(?:Add|Approve|Assert|Backup|Block|Checkpoint|Clear|Close|Compare|Complete|Compress|Confirm|Connect|Convert|ConvertFrom|ConvertTo|Copy|Debug|Deny|Disable|Disconnect|Dismount|Edit|Enable|Enter|Exit|Expand|Export|Find|ForEach|Format|Get|Grant|Group|Hide|Import|Initialize|Install|Invoke|Join|Limit|Lock|Measure|Merge|Move|New|Open|Optimize|Out|Ping|Pop|Protect|Publish|Push|Read|Receive|Redo|Register|Remove|Rename|Repair|Request|Reset|Resize|Resolve|Restart|Restore|Resume|Revoke|Save|Search|Select|Send|Set|Show|Skip|Sort|Split|Start|Step|Stop|Submit|Suspend|Switch|Sync|Tee|Test|Trace|Unblock|Undo|Uninstall|Unlock|Unprotect|Unpublish|Unregister|Update|Use|Wait|Watch|Where|Write)-[a-z]+\b/i,/\b(?:ac|cat|chdir|clc|cli|clp|clv|compare|copy|cp|cpi|cpp|cvpa|dbp|del|diff|dir|ebp|echo|epal|epcsv|epsn|erase|fc|fl|ft|fw|gal|gbp|gc|gci|gcs|gdr|gi|gl|gm|gp|gps|group|gsv|gu|gv|gwmi|iex|ii|ipal|ipcsv|ipsn|irm|iwmi|iwr|kill|lp|ls|measure|mi|mount|move|mp|mv|nal|ndr|ni|nv|ogv|popd|ps|pushd|pwd|rbp|rd|rdr|ren|ri|rm|rmdir|rni|rnp|rp|rv|rvpa|rwmi|sal|saps|sasv|sbp|sc|select|set|shcm|si|sl|sleep|sls|sort|sp|spps|spsv|start|sv|swmi|tee|trcm|type|write)\b/i],keyword:/\b(?:Begin|Break|Catch|Class|Continue|Data|Define|Do|DynamicParam|Else|ElseIf|End|Exit|Filter|Finally|For|ForEach|From|Function|If|InlineScript|Parallel|Param|Process|Return|Sequence|Switch|Throw|Trap|Try|Until|Using|Var|While|Workflow)\b/i,operator:{pattern:/(\W?)(?:!|-(?:eq|ne|gt|ge|lt|le|sh[lr]|not|b?(?:and|x?or)|(?:Not)?(?:Like|Match|Contains|In)|Replace|Join|is(?:Not)?|as)\b|-[-=]?|\+[+=]?|[*\/%]=?)/i,lookbehind:!0},punctuation:/[|{}[\];(),.]/},r=i.string[0].inside;r.boolean=i.boolean,r.variable=i.variable,r.function.inside=i}(); +Prism.languages.python={comment:{pattern:/(^|[^\\])#.*/,lookbehind:!0},"string-interpolation":{pattern:/(?:f|rf|fr)(?:("""|''')[\s\S]*?\1|("|')(?:\\.|(?!\2)[^\\\r\n])*\2)/i,greedy:!0,inside:{interpolation:{pattern:/((?:^|[^{])(?:{{)*){(?!{)(?:[^{}]|{(?!{)(?:[^{}]|{(?!{)(?:[^{}])+})+})+}/,lookbehind:!0,inside:{"format-spec":{pattern:/(:)[^:(){}]+(?=}$)/,lookbehind:!0},"conversion-option":{pattern:/![sra](?=[:}]$)/,alias:"punctuation"},rest:null}},string:/[\s\S]+/}},"triple-quoted-string":{pattern:/(?:[rub]|rb|br)?("""|''')[\s\S]*?\1/i,greedy:!0,alias:"string"},string:{pattern:/(?:[rub]|rb|br)?("|')(?:\\.|(?!\1)[^\\\r\n])*\1/i,greedy:!0},function:{pattern:/((?:^|\s)def[ 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+!function(o){var t=o.util.clone(o.languages.javascript),e="(?:\\{*\\.{3}(?:[^{}]|)*\\})";function n(t,n){return t=t.replace(//g,function(){return"(?:\\s|//.*(?!.)|/\\*(?:[^*]|\\*(?!/))\\*/)"}).replace(//g,function(){return"(?:\\{(?:\\{(?:\\{[^{}]*\\}|[^{}])*\\}|[^{}])*\\})"}).replace(//g,function(){return 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n=[],e=0;e"===a.content[a.content.length-1].content||n.push({tagName:i(a.content[0].content[1]),openedBraces:0}):0]|<(?:[^<>]|<[^<>]*>)*>)*>)?/,lookbehind:!0,greedy:!0,inside:null},keyword:/\b(?:abstract|as|asserts|async|await|break|case|catch|class|const|constructor|continue|debugger|declare|default|delete|do|else|enum|export|extends|finally|for|from|function|get|if|implements|import|in|instanceof|interface|is|keyof|let|module|namespace|new|null|of|package|private|protected|public|readonly|return|require|set|static|super|switch|this|throw|try|type|typeof|undefined|var|void|while|with|yield)\b/,builtin:/\b(?:string|Function|any|number|boolean|Array|symbol|console|Promise|unknown|never)\b/}),delete e.languages.typescript.parameter;var n=e.languages.extend("typescript",{});delete 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t=a.languages.tsx.tag;t.pattern=RegExp("(^|[^\\w$]|(?=\\\\]|\\\\[^])*>[gim]{0,3}"].join("|")+")"),greedy:!0,inside:{interpolation:n}},{pattern:/(^|[^/])\/(?!\/)(?:\[[^\r\n\]]+\]|\\.|[^[/\\\r\n])+\/[gim]{0,3}(?=\s*(?:$|[\r\n,.;})]))/,lookbehind:!0,greedy:!0}],variable:/[@$]+[a-zA-Z_]\w*(?:[?!]|\b)/,symbol:{pattern:/(^|[^:]):[a-zA-Z_]\w*(?:[?!]|\b)/,lookbehind:!0},"method-definition":{pattern:/(\bdef\s+)[\w.]+/,lookbehind:!0,inside:{function:/\w+$/,rest:e.languages.ruby}}}),e.languages.insertBefore("ruby","number",{builtin:/\b(?:Array|Bignum|Binding|Class|Continuation|Dir|Exception|FalseClass|File|Stat|Fixnum|Float|Hash|Integer|IO|MatchData|Method|Module|NilClass|Numeric|Object|Proc|Range|Regexp|String|Struct|TMS|Symbol|ThreadGroup|Thread|Time|TrueClass)\b/,constant:/\b[A-Z]\w*(?:[?!]|\b)/}),e.languages.ruby.string=[{pattern:RegExp("%[qQiIwWxs]?(?:"+["([^a-zA-Z0-9\\s{(\\[<])(?:(?!\\1)[^\\\\]|\\\\[^])*\\1","\\((?:[^()\\\\]|\\\\[^])*\\)","\\{(?:[^#{}\\\\]|#(?:\\{[^}]+\\})?|\\\\[^])*\\}","\\[(?:[^\\[\\]\\\\]|\\\\[^])*\\]","<(?:[^<>\\\\]|\\\\[^])*>"].join("|")+")"),greedy:!0,inside:{interpolation:n}},{pattern:/("|')(?:#\{[^}]+\}|#(?!\{)|\\(?:\r\n|[\s\S])|(?!\1)[^\\#\r\n])*\1/,greedy:!0,inside:{interpolation:n}}],e.languages.rb=e.languages.ruby}(Prism); 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a});a=a.replace(//g,function(){return"[^\\s\\S]"}),e.languages.rust={comment:[{pattern:RegExp("(^|[^\\\\])"+a),lookbehind:!0,greedy:!0},{pattern:/(^|[^\\:])\/\/.*/,lookbehind:!0,greedy:!0}],string:{pattern:/b?"(?:\\[\s\S]|[^\\"])*"|b?r(#*)"(?:[^"]|"(?!\1))*"\1/,greedy:!0},char:{pattern:/b?'(?:\\(?:x[0-7][\da-fA-F]|u\{(?:[\da-fA-F]_*){1,6}\}|.)|[^\\\r\n\t'])'/,greedy:!0,alias:"string"},attribute:{pattern:/#!?\[(?:[^\[\]"]|"(?:\\[\s\S]|[^\\"])*")*\]/,greedy:!0,alias:"attr-name",inside:{string:null}},"closure-params":{pattern:/([=(,:]\s*|\bmove\s*)\|[^|]*\||\|[^|]*\|(?=\s*(?:\{|->))/,lookbehind:!0,greedy:!0,inside:{"closure-punctuation":{pattern:/^\||\|$/,alias:"punctuation"},rest:null}},"lifetime-annotation":{pattern:/'\w+/,alias:"symbol"},"fragment-specifier":{pattern:/(\$\w+:)[a-z]+/,lookbehind:!0,alias:"punctuation"},variable:/\$\w+/,"function-definition":{pattern:/(\bfn\s+)\w+/,lookbehind:!0,alias:"function"},"type-definition":{pattern:/(\b(?:enum|struct|union)\s+)\w+/,lookbehind:!0,alias:"class-name"},"module-declaration":[{pattern:/(\b(?:crate|mod)\s+)[a-z][a-z_\d]*/,lookbehind:!0,alias:"namespace"},{pattern:/(\b(?:crate|self|super)\s*)::\s*[a-z][a-z_\d]*\b(?:\s*::(?:\s*[a-z][a-z_\d]*\s*::)*)?/,lookbehind:!0,alias:"namespace",inside:{punctuation:/::/}}],keyword:[/\b(?:abstract|as|async|await|become|box|break|const|continue|crate|do|dyn|else|enum|extern|final|fn|for|if|impl|in|let|loop|macro|match|mod|move|mut|override|priv|pub|ref|return|self|Self|static|struct|super|trait|try|type|typeof|union|unsafe|unsized|use|virtual|where|while|yield)\b/,/\b(?:[ui](?:8|16|32|64|128|size)|f(?:32|64)|bool|char|str)\b/],function:/\b[a-z_]\w*(?=\s*(?:::\s*<|\())/,macro:{pattern:/\w+!/,alias:"property"},constant:/\b[A-Z_][A-Z_\d]+\b/,"class-name":/\b[A-Z]\w*\b/,namespace:{pattern:/(?:\b[a-z][a-z_\d]*\s*::\s*)*\b[a-z][a-z_\d]*\s*::(?!\s*<)/,inside:{punctuation:/::/}},number:/\b(?:0x[\dA-Fa-f](?:_?[\dA-Fa-f])*|0o[0-7](?:_?[0-7])*|0b[01](?:_?[01])*|(?:(?:\d(?:_?\d)*)?\.)?\d(?:_?\d)*(?:[Ee][+-]?\d+)?)(?:_?(?:[iu](?:8|16|32|64|size)?|f32|f64))?\b/,boolean:/\b(?:false|true)\b/,punctuation:/->|\.\.=|\.{1,3}|::|[{}[\];(),:]/,operator:/[-+*\/%!^]=?|=[=>]?|&[&=]?|\|[|=]?|<>?=?|[@?]/},e.languages.rust["closure-params"].inside.rest=e.languages.rust,e.languages.rust.attribute.inside.string=e.languages.rust.string}(Prism); 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\t]+\S(?:,[^,\r\n]+|[^,\r\n]*)(?:,[^,\r\n]+)*)*/,lookbehind:!0}})}(Prism); +Prism.languages.scss=Prism.languages.extend("css",{comment:{pattern:/(^|[^\\])(?:\/\*[\s\S]*?\*\/|\/\/.*)/,lookbehind:!0},atrule:{pattern:/@[\w-](?:\([^()]+\)|[^()\s]|\s+(?!\s))*?(?=\s+[{;])/,inside:{rule:/@[\w-]+/}},url:/(?:[-a-z]+-)?url(?=\()/i,selector:{pattern:/(?=\S)[^@;{}()]?(?:[^@;{}()\s]|\s+(?!\s)|#\{\$[-\w]+\})+(?=\s*\{(?:\}|\s|[^}][^:{}]*[:{][^}]+))/m,inside:{parent:{pattern:/&/,alias:"important"},placeholder:/%[-\w]+/,variable:/\$[-\w]+|#\{\$[-\w]+\}/}},property:{pattern:/(?:[-\w]|\$[-\w]|#\{\$[-\w]+\})+(?=\s*:)/,inside:{variable:/\$[-\w]+|#\{\$[-\w]+\}/}}}),Prism.languages.insertBefore("scss","atrule",{keyword:[/@(?:if|else(?: if)?|forward|for|each|while|import|use|extend|debug|warn|mixin|include|function|return|content)\b/i,{pattern:/( +)(?:from|through)(?= 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search_index){ + if(pathname.indexOf(url) != -1){ + if(!curr_url){ + curr_url = url; + }else{ // already have math item, e.g. `/get_started/zh/install/index.html /get_started/zh` + // and now `/get_started/zh/install/index.html /` + // choose longger one + if(url.length > curr_url.length){ + others_url.push(curr_url); + curr_url = url; + }else{ + others_url.push(url); + } + } + }else{ + others_url.push(url); + } + } + if(search_index[curr_url]){ + downloadJson(search_index[curr_url][1], onIndexDownloadOk, curr_url, true, search_index[curr_url][0]); + } + for(var i in others_url){ + url = others_url[i]; + downloadJson(search_index[url][1], onIndexDownloadOk, url, false, search_index[url][0]); + } + } + function onIndexDownloadOk(data, url, is_curr, doc_name){ + if(is_curr){ + search_content["curr"] = [url, doc_name, data]; + }else{ + search_content["others"][url] = [url, doc_name, data]; + } + if(waiting_search == true){ + waiting_search = false; + onSearch(); + } + } + downloadJson("/maixpy/static/search_index/index.json", onDownloadOk); + var input_hint = $("#search_input_hint").html(); + var loading_hint = $("#search_loading_hint").html(); + var download_err_hint = $("#search_download_err_hint").html(); + var other_docs_result_hint = $("#search_other_docs_result_hint").html(); + var curr_doc_result_hint = $("#search_curr_doc_result_hint").html(); + $("body").append('
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$($(".search_highlight")[currSearchIdx]).addClass("selected_highlight") + }); + } +} +function getQueryVariable(variable) +{ + var query = window.location.search.substring(1); + var vars = query.split("&"); + for (var i=0;i= 0){ + idxs.push({ + "idx": idx + idx_rel, + "len": keyword.length + }); + _idxs = _search([keyword], content.substr(idx + keyword.length), idx_rel + idx + keyword.length); + idxs = idxs.concat(_idxs); + } + } + return idxs + } + var find_strs = ""; + idxs = _search(keywords, content); + idxs = idxs.sort((a, b)=> a.idx-b.idx); + var idx_last = -1; + var len_last = 0; + for(var i=0; i= 0 && (idx - idx_last -len_last) < show_length){ // last keyword too close + find_strs += content.substr(idx_last + len_last, idx - (idx_last + len_last)) + ''+ content.substr(idx, len) +'' + }else{ + var start_idx = (idx - show_length < 0) ? 0 : (idx - show_length); + find_strs += '...' + content.substr(start_idx, idx - start_idx) + + '' + content.substr(idx, len) + + ''; + } + var 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"script" : (filetype == "css") ? "link" : "none" + var targetattr = (filetype == "js") ? "src" : (filetype == "css") ? 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    **freq**: direction [in], pwm frequency, unit: Hz. int type. default is 1000
    **duty**: direction [in], pwm duty. double type. range is [0, 100], default is 0.
    **enable**: direction [in], enable pwm output right now. bool type. default is true, if false, you need to call enable() to enable pwm output.
    **duty_val**: direction [in], pwm duty value, int type. default 1 means not set and auto calculate by freq and duty.
    This arg directly set pwm duty value, if set, will ignore duty arg.
    duty_val duty / 100 * T_ns, T_ns 1 / freq * 1000000000.
    **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.
    **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
    duty_val > 0 means set duty_val
    duty_val 1 or not set, return current duty_val
    **return** int type
    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
    freq > 0, set freq
    freq 1 or not set, return current freq
    **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/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/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
    **SLAVE**: spi slave mode
    **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
    **mode**: direction [in], mode of spi, spi.Mode type, spi.Mode.MASTER or spi.Mode.SLAVE.
    **freq**: direction [in], freq of spi, int type
    **polarity**: direction [in], polarity of spi, 0 means idle level of clock is low, 1 means high, int type, default is 0.
    **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.
    **bits**: direction [in], bits of spi, int type, default is 8.
    **cs_enable**: direction [in], cs pin active level, default is 0(low)
    **soft_cs**: direction [in], not use hardware cs, bool type, if set true, you can operate cs pin use gpio manually.
    **cs**: direction [in], soft cs pin number, std::string type, default is \"GPIOA19\", if SPI support multi hardware cs, you can set it to other value.
    **static** False **C++ defination code**: ```cpp SPI(int id, spi::Mode mode, int freq, int polarity 0, int phase 0, int bits 8, unsigned char cs_enable 0, bool soft_cs false, std::string cs \"GPIOA19\") ``` #### read item doc **type** func **brief** read data from spi **param** **length**: direction [in], read length, int type
    **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 item doc **type** func **brief** write data to spi **param** **data**: direction [in], data to write, Bytes type in C++, bytes type in MaixPy
    **return** write length, int type, if write failed, return err::Err code. **static** False **C++ defination code**: ```cpp int write(Bytes *data) ``` #### 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
    **read_len**: direction [in], read length, int type, should > 0.
    **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/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
    **PARITY_ODD**: odd parity
    **PARITY_EVEN**: even parity
    **PARITY_MAX**:
    **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
    **STOP_2**: 2 stop bits
    **STOP_1_5**: 1.5 stop bits
    **STOP_MAX**:
    **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
    **BITS_6**: 6 data bits
    **BITS_7**: 7 data bits
    **BITS_8**: 8 data bits
    **BITS_MAX**:
    **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
    **FLOW_CTRL_HW**: hardware flow control
    **FLOW_CTRL_MAX**:
    **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 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().
    If empty, will not open device in constructor, default empty.
    if not empty, will auto open device in constructor, open fail will throw err.Exception.
    **baudrate**: baudrate of uart. int type, default 115200.
    **databits**: databits, values @see uart.DATA_BITS
    **parity**: parity, values @see uart.PARITY
    **stopbits**: stopbits, values @see uart.STOP_BITS
    **flow_control**: flow_control, values @see uart.FLOW_CTRL
    **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().
    **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.
    **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
    **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.
    **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.
    0 means check data available and return immediately,
    > 0 means wait until data available or timeout.
    1 means wait until data available.
    **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.
    1 means read data in uart receive buffer.
    >0 means read len data want to receive.
    other values is invalid.
    **timeout**: unit ms, timeout to receive data, default 0.
    0 means read data in uart receive buffer and return immediately,
    1 means block until read len data,
    >0 means block until read len data or timeout.
    **return** received data, bytes type.
    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'.
    > 0 means block until read '\\n' or '\\r\\n' or timeout.
    **return** received data, bytes type. If timeout will return the current received data despite not read '\\n' or '\\r\\n'.
    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**:
    **KEY_ESC**:
    **KEY_OK**:
    **KEY_OPTION**:
    **KEY_NEXT**:
    **KEY_PREV**:
    **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**:
    **KEY_PRESSED**:
    **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),
    callback will be called with args key(key.Keys) and value(key.State).
    If set to null, you can get key value by read() function.
    This callback called in a standalone thread, so you can block a while in callback, and you should be carefully when operate shared data.
    **open**: auto open device in constructor, if false, you need call open() to open device
    **static** False **C++ defination code**: ```cpp Key(std::function 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 read() ```"},"/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
    **OUT**: output mode
    **OUT_OD**: output open drain mode
    **MODE_MAX**:
    **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
    **PULL_UP**: pull up mode
    **PULL_DOWN**: pull down mode
    **PULL_MAX**:
    **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.
    **mode**: direction [in], gpio mode. gpio.Mode type, default is gpio.Mode.IN (input) mode.
    **pull**: direction [in], gpio pull. gpio.Pull type, default is gpio.Pull.PULL_NONE (pull none) mode.
    For input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.
    For output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0.
    **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.
    0, means write gpio to low level
    1, means write gpio to high level
    1, means read gpio value, not set
    **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() ``` #### get\\_mode ```python def get_mode(self) > Mode ``` item doc **type** func **brief** gpio get mode **static** False **C++ defination code**: ```cpp gpio::Mode get_mode() ``` #### get\\_pull ```python def get_pull(self) > Pull ``` item doc **type** func **brief** get gpio pull **return** gpio::Pull type **static** False **C++ defination code**: ```cpp gpio::Pull get_pull() ``` #### reset ```python def reset(self, mode: Mode, pull: Pull) > maix.err.Err ``` item doc **type** func **brief** reset gpio **param** **mode**: direction [in], gpio mode. gpio.Mode type
    **pull**: direction [in], gpio pull. gpio.Pull type
    For input mode, this will set gpio default status(value), if set to gpio.Pull.PULL_NONE, gpio value will be floating.
    For output mode, this will set gpio default status(value), if set to gpio.Pull.PULL_UP, gpio value will be 1, else 0.
    **return** err::Err type **static** False **C++ defination code**: ```cpp err::Err reset(gpio::Mode mode, gpio::Pull pull) ```"},"/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 [wdt](./peripheral/wdt.html) maix.peripheral.wdt module [timer](./peripheral/timer.html) maix.peripheral.timer module [spi](./peripheral/spi.html) maix.peripheral.spi module [gpio](./peripheral/gpio.html) maix.peripheral.gpio module [uart](./peripheral/uart.html) maix uart peripheral driver [i2c](./peripheral/i2c.html) maix.peripheral.i2c module [adc](./peripheral/adc.html) maix.peripheral.adc module [pinmap](./peripheral/pinmap.html) maix.peripheral.pinmap module [pwm](./peripheral/pwm.html) maix.peripheral.pwm module [key](./peripheral/key.html) maix.peripheral.key module ## Enum ## Variable ## Function ## Class"},"/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.nn](./maix/nn.html) maix.nn module [maix.comm](./maix/comm.html) maix.comm module [maix.audio](./maix/audio.html) maix.audio module [maix.example](./maix/example.html) example module, this will be maix.example module in MaixPy, maix::example namespace in MaixCDK [maix.fs](./maix/fs.html) maix.fs module [maix.app](./maix/app.html) maix.app module [maix.sys](./maix/sys.html) maix.sys module [maix.thread](./maix/thread.html) maix.thread module [maix.util](./maix/util.html) maix.util module [maix.i18n](./maix/i18n.html) maix.i18n module [maix.protocol](./maix/protocol.html) maix.protocol module [maix.time](./maix/time.html) maix.time module [maix.network](./maix/network.html) maix.network module [maix.touchscreen](./maix/touchscreen.html) maix.touchscreen module [maix.video](./maix/video.html) maix.video module [maix.http](./maix/http.html) maix.http module [maix.rtmp](./maix/rtmp.html) maix.rtmp module [maix.rtsp](./maix/rtsp.html) maix.rtsp module [maix.peripheral](./maix/peripheral.html) Chip's peripheral driver "},"/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
    **open**: If true, touchscreen will automatically call open() after creation. default is true.
    **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:
    if too many move event in buffer when call this method, it will only return the last one,
    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 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,
    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 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.
    **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/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
    **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**:
    **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
    **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
    **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
    **msg**: direction [in], error message
    **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
    **msg**: direction [in], error message
    **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
    **msg**: direction [in], error message
    **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/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
    **RTSP_STREAM_H265**:
    **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
    **y**: region coordinate y
    **width**: region width
    **height**: region height
    **format**: region format
    **camera**: bind region to camera
    **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
    **port**: rtsp port
    **fps**: rtsp fps
    **stream_type**: rtsp stream type
    **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
    **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** **frame**: video frame data
    **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err write(video::Frame &frame) ``` #### 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() ``` #### get\\_urls item doc **type** func **brief** Get url list of rtsp **return** url list of rtsp **static** False **C++ defination code**: ```cpp std::vector get_urls() ``` #### 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
    **y**: region coordinate y
    **width**: region width
    **height**: region height
    **format**: region format, support Format::FMT_BGRA8888 only
    **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 ®ion) ```"},"/maixpy/api/maix/http.html":{"title":"maix.http","content":" title: maix.http maix.http module > You can use `maix.http` to access this module with MaixPy > This module is generated from [MaixCDK](https://github.com/sipeed/MaixCDK) ## Module No module ## Enum ## Variable ## Function ## Class ### JpegStreamer item doc **brief** JpegStreamer class **C++ defination code**: ```cpp class JpegStreamer ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new jpeg streamer object **note** You can get the picture stream through http://host:port/stream, you can also get it through http://ip:port, and you can add personal style through set_html() at this time **param** **host**: http host
    **port**: http port, default is 8000
    **client_number**: the max number of client
    **static** False **C++ defination code**: ```cpp JpegStreamer(std::string host std::string(), int port 8000, int client_number 16) ``` #### start item doc **type** func **brief** start jpeg streame **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 http **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err stop() ``` #### write item doc **type** func **brief** Write data to http **param** **img**: image object
    **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err write(image::Image *img) ``` #### set\\_html item doc **type** func **brief** add your style in this api\\ndefault is:\\n\\n\\n

    JPG Stream

    \\n\\n\\n **param** **data**: html code
    **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err set_html(std::string data) ``` #### host item doc **type** func **brief** Get host **return** host name **static** False **C++ defination code**: ```cpp std::string host() ``` #### port item doc **type** func **brief** Get port **return** port **static** False **C++ defination code**: ```cpp int port() ```"},"/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
    **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,
    if width > max device supported width, will auto set to max device supported width
    **height**: display height, by default(value is 1) means auto detect,
    if height > max device supported height, will auto set to max device supported height
    **device**: display device name, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device
    **open**: If true, display will automatically call open() after creation. default is true.
    **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
    **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
    **return** size A list type in MaixPy, [width, height] **static** False **C++ defination code**: ```cpp std::vector 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
    **height**: display height, default is 1, means auto, mostly means max height of display support
    **format**: display output format, default is RGB888
    **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
    **height**: display height, default is 1, means auto, mostly means max height of display support
    **format**: display output format, default is RGB888
    **open**: If true, display will automatically call open() after creation. default is true.
    **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,
    if the size of image smaller than display size, will show in the center of display;
    if the size of image bigger than display size, will auto resize to display size and keep ratio, fill blank with black color.
    **fit**: image in screen fit mode, by default(value is image.FIT_CONTAIN), @see image.Fit for more details
    e.g. image.FIT_CONTAIN means resize image to fit display size and keep ratio, fill blank with black color.
    **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]
    **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
    **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
    **static** False **C++ defination code**: ```cpp err::Err set_vflip(bool en) ```"},"/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** **{
    \"en\",
    \"zh\",
    \"zh tw\",
    \"ja\"
    }** **readonly** False **C++ defination code**: ```cpp static std::vector locales { \"en\", \"zh\", \"zh tw\", \"ja\" } ``` ### names item doc **brief** i18n language names list **value** **{
    \"English\",
    \"简体中文\",
    \"繁體中文\",
    \"日本語\"
    }** **readonly** True **C++ defination code**: ```cpp const static std::vector 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\"}}
    **static** False **C++ defination code**: ```cpp Trans(const std::map> &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\"
    **locale**: locale name, if not assign, use default locale set by system settings or set_locale function.
    **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
    **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/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
    **replace**: change input tensor data directly, if not, will create a new tensor
    **throw** If arg error, will raise err.Exception error **return** output tensor, if arg replace is true, return the arg tensor's address.
    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/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 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
    **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.\\nMaximum resolution support 2560x1440. **param** **width**: camera width, default is 1, means auto, mostly means max width of camera support
    **height**: camera height, default is 1, means auto, mostly means max height of camera support
    **format**: camera output format, default is image.Format.FMT_RGB888
    **device**: camera device path, you can get devices by list_devices method, by default(value is NULL(None in MaixPy)) means the first device
    **fps**: camera fps, default is 1, means auto, mostly means max fps of camera support
    **buff_num**: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,
    more than one buffer will accelerate image read speed, but will cost more memory.
    **open**: If true, camera will automatically call open() after creation. default is true.
    **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
    **height**: camera height, default is 1, means auto, mostly means max height of camera support
    **format**: camera output format, default same as the constructor's format argument
    **fps**: camera fps, default is 1, means auto, mostly means max fps of camera support
    **buff_num**: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,
    more than one buffer will accelerate image read speed, but will cost more memory.
    **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.
    In MaixPy, default to None, you can create a image.Image object, then pass img.data() to buff.
    **block**: block read, default is true, means block util read image successfully,
    if set to false, will return nullptr if no image in buffer
    **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
    **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
    **height**: camera height, default is 1, means auto, mostly means max height of camera support
    **format**: camera output format, default is RGB888
    **fps**: camera fps, default is 1, means auto, mostly means max fps of camera support
    **buff_num**: camera buffer number, default is 3, means 3 buffer, one used by user, one used for cache the next frame,
    more than one buffer will accelerate image read speed, but will cost more memory.
    **open**: If true, camera will automatically call open() after creation. default is true.
    **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
    **data**: register data
    **bit_width**: register data bit width, default is 8
    **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
    **bit_width**: register data bit width, default is 8
    **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
    **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
    **height**: new height
    **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
    If value 1, return exposure time.
    If value ! 0, set and return exposure time.
    **return** camera exposure time **static** False **C++ defination code**: ```cpp int exposure(int 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.
    If value 1, returns camera gain.
    If value ! 0, set and return camera gain.
    **return** camera gain **static** False **C++ defination code**: ```cpp int gain(int 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]
    If value 1, returns luma value.
    If value ! 0, set and return luma value.
    **return** returns luma value **static** False **C++ defination code**: ```cpp int luma(int 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]
    If value 1, returns constrast value.
    If value ! 0, set and return constrast value.
    **return** returns constrast value **static** False **C++ defination code**: ```cpp int constrast(int 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]
    If value 1, returns saturation value.
    If value ! 0, set and return saturation value.
    **return** returns saturation value **static** False **C++ defination code**: ```cpp int saturation(int 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.
    **return** returns awb mode **static** False **C++ defination code**: ```cpp int awb_mode(int 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.
    **return** returns exposure mode **static** False **C++ defination code**: ```cpp int exp_mode(int 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/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 ### TagType item doc **brief** Video type **values** **TAG_NONE**:
    **TAG_VIDEO**:
    **TAG_AUDIO**:
    **TAG_SCRIPT**:
    **C++ defination code**: ```cpp enum TagType { TAG_NONE, TAG_VIDEO, TAG_AUDIO, TAG_SCRIPT, } ``` ## Variable ## Function ## Class ### Rtmp item doc **brief** Rtmp class **C++ defination code**: ```cpp class Rtmp ``` #### \\_\\_init\\_\\_ ```python def __init__(self, host: str 'localhost', port: int 1935, app: str '', stream: str '', bitrate: int 1000000) > None ``` item doc **type** func **brief** Construct a new Video object **note** Rtmp url : rtmp://host:prot/app/stream
    example:
    r Rtmp(\"localhost\", 1935, \"live\", \"stream\")
    means 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
    **bitrate**: rtmp bitrate, default is 1000 * 1000
    **static** False **C++ defination code**: ```cpp Rtmp(std::string host \"localhost\", int port 1935, std::string app std::string(), std::string stream std::string(), int bitrate 1000 * 1000) ``` #### push\\_video ```python def push_video(self) > int ``` item doc **type** func **brief** Get bitrate **return** bitrate **static** False **C++ defination code**: ```cpp int bitrate() ``` #### bind\\_camera ```python def bind_camera(self, cam: maix.camera.Camera) > maix.err.Err ``` 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
    **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err bind_camera(camera::Camera *cam) ``` #### get\\_camera ```python def get_camera(self) > maix.camera.Camera ``` item doc **type** func **brief** If you bind a camera, return the camera object. **return** Camera object **static** False **C++ defination code**: ```cpp camera::Camera *get_camera() ``` #### start ```python def start(self, path: str '') > maix.err.Err ``` 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.
    **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 ```python def stop(self) > maix.err.Err ``` item doc **type** func **brief** Stop push stream **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err stop() ``` #### get\\_path ```python def get_path(self) > str ``` 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/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 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 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
    **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\\_ssid item doc **type** func **brief** Get current WiFi SSID **param** **from_cache**: if true, will not read config from file, direct use ssid in cache.
    attention, first time call this method will auto matically read config from file, and if call connect method will set cache.
    **return** SSID, string type. **static** False **C++ defination code**: ```cpp std::string get_ssid(bool from_cache true) ``` #### 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 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
    **password**: password of AP, if no password, leave it empty.
    **wait**: wait for got IP or failed or timeout.
    **timeout**: connect timeout internal, unit second.
    **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/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
    **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
    **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. currectly only pcm and wav formats supported. **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
    **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,
    if you don't, it will return the current volume.
    **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. If there is no audio data in the buffer, may return empty data. **param** **record_ms**: Block and record audio data lasting `record_ms` milliseconds and save it to a file, the return value does not return audio data. Only valid if the initialisation `path` is set.
    **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.
    **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
    **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,
    if you don't, it will return the current volume.
    **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
    **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/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**:
    **INT8**:
    **UINT16**:
    **INT16**:
    **UINT32**:
    **INT32**:
    **FLOAT16**:
    **FLOAT32**:
    **FLOAT64**:
    **BOOL**:
    **DTYPE_MAX**:
    **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,
    so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.
    So we add const for this var to avoid this mistake. **value** **{
    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
    }** **readonly** True **C++ defination code**: ```cpp const std::vector 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** **{
    \"uint8\",
    \"int8\",
    \"uint16\",
    \"int16\",
    \"uint32\",
    \"int32\",
    \"float16\",
    \"float32\",
    \"float64\",
    \"bool\",
    // \"string\",
    // \"object\",
    \"invalid\"
    }** **readonly** True **C++ defination code**: ```cpp const std::vector 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
    **dtype**: tensor element data type, see DType of this module
    **data**: pointer to data content, can be nullptr, it will automatically alloc memory
    and detroy it when this object is destroyed
    **static** False **C++ defination code**: ```cpp Tensor(std::vector 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 shape() ``` #### expand\\_dims item doc **type** func **brief** expand tensor shape **param** **axis**: axis to expand
    **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
    **static** False **C++ defination code**: ```cpp void reshape(std::vector 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* 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
    **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 get_names() ``` #### tensors item doc **type** var **brief** Tensors data, dict type **static** False **readonly** False **C++ defination code**: ```cpp std::map tensors ```"},"/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
    **args**: direction [in], thread function parameter
    **static** False **C++ defination code**: ```cpp Thread(std::function 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/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
    **VIDEO_ENC_H265_CBR**:
    **VIDEO_ENC_MP4_CBR**:
    **VIDEO_DEC_H265_CBR**:
    **VIDEO_DEC_MP4_CBR**:
    **VIDEO_H264_CBR**:
    **VIDEO_H265_CBR**:
    **VIDEO_H264_CBR_MP4**:
    **VIDEO_H265_CBR_MP4**:
    **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, VIDEO_H264_CBR, VIDEO_H265_CBR, VIDEO_H264_CBR_MP4, VIDEO_H265_CBR_MP4, } ``` ## Variable ## Function ## Class ### Frame item doc **brief** Frame class **C++ defination code**: ```cpp class Frame ``` #### to\\_bytes ```python def to_bytes(*args, **kwargs) ``` item doc **type** func **brief** Get raw data of packet **param** **copy**: if true, will alloc memory and copy data to new buffer
    **return** raw data **static** False **C++ defination code**: ```cpp Bytes *to_bytes(bool copy false) ``` #### size ```python def size(self) > int ``` item doc **type** func **brief** Get raw data size of packet **return** size of raw data **static** False **C++ defination code**: ```cpp size_t size() ``` #### is\\_valid ```python def is_valid(self) > bool ``` 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 ```python def set_pts(self, pts: int) > None ``` item doc **type** func **brief** Set pts **param** **pts**: presentation time stamp. unit: time_base
    **static** False **C++ defination code**: ```cpp void set_pts(uint64_t pts) ``` #### set\\_dts ```python def set_dts(self, dts: int) > None ``` item doc **type** func **brief** Set dts **param** **dts**: decoding time stamp. unit: time_base
    **static** False **C++ defination code**: ```cpp void set_dts(uint64_t dts) ``` #### set\\_duration ```python def set_duration(self, duration: int) > None ``` item doc **type** func **brief** Set duration **param** **duration**: packet display time. unit: time_base
    **static** False **C++ defination code**: ```cpp void set_duration(uint64_t duration) ``` #### get\\_pts ```python def get_pts(self) > int ``` item doc **type** func **brief** Set pts **param** **pts**: presentation time stamp. unit: time_base
    **return** pts value **static** False **C++ defination code**: ```cpp uint64_t get_pts() ``` #### get\\_dts ```python def get_dts(self) > int ``` item doc **type** func **brief** Set dts **param** **dts**: decoding time stamp. unit: time_base
    **return** dts value **static** False **C++ defination code**: ```cpp uint64_t get_dts() ``` #### get\\_duration ```python def get_duration(self) > int ``` item doc **type** func **brief** Get duration **return** duration value **static** False **C++ defination code**: ```cpp uint64_t get_duration() ``` #### type ```python def type(self) > VideoType ``` item doc **type** func **brief** Get frame type **return** video type. @see video::VideoType **static** False **C++ defination code**: ```cpp video::VideoType type() ``` ### 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.
    Note: this object will try to free this memory
    **len**: data len
    **pts**: presentation time stamp. unit: time_base
    **dts**: decoding time stamp. unit: time_base
    **duration**: packet display time. unit: time_base
    **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 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
    **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
    **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
    **return** true, packet is valid; false, packet is invalid **static** False **C++ defination code**: ```cpp void set_duration(uint64_t duration) ``` ### Encoder item doc **brief** Encode class **C++ defination code**: ```cpp class Encoder ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Construct a new Video object **param** **width**: picture width. this value may be set automatically. default is 2560.
    **height**: picture height. this value may be set automatically. default is 1440.
    **format**: picture format. default is image::Format::FMT_YVU420SP. @see image::Format
    **type**: video encode/decode type. default is ENC_H265_CBR. @see EncodeType
    **framerate**: frame rate. framerate default is 30, means 30 frames per second
    for video. 1/time_base is not the average frame rate if the frame rate is not constant.
    **gop**: for h264/h265 encoding, the interval between two I frames, default is 50.
    **bitrate**: for h264/h265 encoding, used to limit the bandwidth used by compressed data, default is 3000kbps
    **time_base**: frame time base. time_base default is 1000, means 1/1000 ms (not used)
    **capture**: enable capture, if true, you can use capture() function to get an image object
    **static** False **C++ defination code**: ```cpp Encoder(int width 2560, int height 1440, image::Format format image::Format::FMT_YVU420SP, video::VideoType type video::VideoType::VIDEO_H265_CBR, int framerate 30, int gop 50, int bitrate 3000 * 1000, int time_base 1000, bool capture false) ``` #### bind\\_camera item doc **type** func **brief** Bind camera **param** **camera**: camera object
    **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 item doc **type** func **brief** Encode image. **param** **img**: the image will be encode.
    if 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 **static** False **C++ defination code**: ```cpp video::Frame *encode(image::Image *img maix::video::Encoder::NoneImage) ``` #### capture 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() ``` #### width item doc **type** func **brief** Get video width **return** video width **static** False **C++ defination code**: ```cpp int width() ``` #### height item doc **type** func **brief** Get video height **return** video height **static** False **C++ defination code**: ```cpp int height() ``` #### type item doc **type** func **brief** Get video encode type **return** VideoType **static** False **C++ defination code**: ```cpp video::VideoType type() ``` #### framerate item doc **type** func **brief** Get video encode framerate **return** frame rate **static** False **C++ defination code**: ```cpp int framerate() ``` #### gop item doc **type** func **brief** Get video encode gop **return** gop value **static** False **C++ defination code**: ```cpp int gop() ``` #### bitrate item doc **type** func **brief** Get video encode bitrate **return** bitrate value **static** False **C++ defination code**: ```cpp int bitrate() ``` #### time\\_base item doc **type** func **brief** Get video encode time base **return** time base value **static** False **C++ defination code**: ```cpp int time_base() ``` #### get\\_pts item doc **type** func **brief** Get current pts, unit: time_base\\nNote: The current default is to assume that there is no B frame implementation, so pts and bts are always the same **param** **time_ms**: start time from the first frame. unit: ms
    **return** time base value **static** False **C++ defination code**: ```cpp uint64_t get_pts(uint64_t time_ms) ``` #### get\\_dts item doc **type** func **brief** Get current dts, unit: time_base\\nNote: The current default is to assume that there is no B frame implementation, so pts and bts are always the same **param** **time_ms**: start time from the first frame. unit: ms
    **return** time base value **static** False **C++ defination code**: ```cpp uint64_t get_dts(uint64_t time_ms) ``` ### Decoder item doc **brief** Decoder class **C++ defination code**: ```cpp class Decoder ``` #### \\_\\_init\\_\\_ ```python def __init__(self) > None ``` item doc **type** func **brief** Construct a new Decoder object **static** False **C++ defination code**: ```cpp Decoder() ``` #### prepare ```python def prepare(self, data: maix.Bytes(bytes), copy: bool True) > maix.err.Err ``` item doc **type** func **brief** Prepare data to decode **param** **data**: need decode data
    **copy**: if false, need to ensure that data is not released in decoding.
    **return** error code, err::ERR_NONE means success, others means failed **static** False **C++ defination code**: ```cpp err::Err prepare(Bytes *data, bool copy true) ``` #### decode ```python def decode(self, frame: Frame None) > maix.image.Image ``` item doc **type** func **brief** Decode **param** **frame**: the frame will be decode (not used)
    **return** decode result **static** False **C++ defination code**: ```cpp image::Image *decode(video::Frame *frame nullptr) ``` ### 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.
    xxx.h265 means video format is H265, xxx.mp4 means video format is MP4
    **width**: picture width. this value may be set automatically. default is 2560.
    **height**: picture height. this value may be set automatically. default is 1440.
    **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
    for video. 1/time_base is not the average frame rate if the frame rate is not constant.
    **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.
    **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.
    xxx.h265 means video format is H265, xxx.mp4 means video format is MP4
    **fps**: video fps
    **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
    **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.
    if 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 **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
    **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/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 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.
    **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 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.
    **func**: which function should this pin use.
    **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/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
    **TEN_BIT**: 10 bit address mode
    **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
    **SLAVE**: slave mode
    **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 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
    **freq**: direction [in], i2c clock, int type, default is 100000(100kbit/s), will auto set fast mode if freq > 100000.
    **mode**: direction [in], mode of i2c, i2c.Mode.SLAVE or i2c.Mode.MASTER.
    **addr_size**: direction [in], address length of i2c, i2c.AddrSize.SEVEN_BIT or i2c.AddrSize.TEN_BIT.
    **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 **param** **addr**: If 1, only scan this addr, or scan from 0x08~0x77, default 1.
    **return** the list of i2c slave address, int list type. **static** False **C++ defination code**: ```cpp std::vector scan(int addr 1) ``` #### writeto item doc **type** func **brief** write data to i2c slave **param** **addr**: direction [in], i2c slave address, int type
    **data**: direction [in], data to write, bytes type.
    Note: The range of value should be in [0,255].
    **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
    **len**: direction [in], data length to read, int type
    **return** the list of data read from i2c slave, bytes type, you should delete it after use in C++.
    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
    **mem_addr**: direction [in], memory address want to write, int type.
    **data**: direction [in], data to write, bytes type.
    **mem_addr_size**: direction [in], memory address size, default is 8.
    **mem_addr_le**: direction [in], memory address little endian, default is false, that is send high byte first.
    **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
    **mem_addr**: direction [in], memory address want to read, int type.
    **len**: direction [in], data length to read, int type
    **mem_addr_size**: direction [in], memory address size, default is 8.
    **mem_addr_le**: direction [in], memory address little endian, default is false, that is send high byte first.
    **return** the list of data read from i2c slave, bytes type, you should delete it after use in C++.
    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/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
    **resolution**: direction [in], adc resolution. default is 1, means use default resolution
    option:
    resolution adc.RES_BIT_8, means 8 bit resolution
    resolution adc.RES_BIT_10, means 10 bit resolution
    resolution adc.RES_BIT_12, means 12 bit resolution
    resolution adc.RES_BIT_16, means 16 bit resolution
    the default resolution is determined by actual hardware.
    **vref**: direction [in], adc refer voltage. default is 1, means use default refer voltage.
    the default vref is determined by actual hardware. range: [0.0, 10.0]
    **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
    if resolution is 8 bit, return value range is [0, 255]
    if resolution is 10 bit, return value range is [0, 1023]
    if resolution is 12 bit, return value range is [0, 4095]
    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/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
    **feed_ms**: direction [in], feed interval, int type, unit is ms, you must feed wdt in this interval, or system will restart.
    **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/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
    **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**:
    **FMT_COMPRESSED_MIN**:
    **FMT_JPEG**:
    **FMT_PNG**:
    **FMT_COMPRESSED_MAX**:
    **FMT_INVALID**: format not valid
    **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
    **FIT_FILL**: 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**:
    **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**:
    **BILINEAR**:
    **BICUBIC**:
    **AREA**:
    **LANCZOS**:
    **HAMMING**:
    **RESIZE_METHOD_MAX**:
    **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**:
    **TAG25H7**:
    **TAG25H9**:
    **TAG36H10**:
    **TAG36H11**:
    **ARTOOLKIT**:
    **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
    **SEARCH_DS**: Diamond search
    **C++ defination code**: ```cpp enum TemplateMatch { SEARCH_EX, // Exhaustive search SEARCH_DS, // Diamond search } ``` ### CornerDetector item doc **brief** CornerDetector class **values** **CORNER_FAST**:
    **CORNER_AGAST**:
    **C++ defination code**: ```cpp enum CornerDetector { CORNER_FAST, CORNER_AGAST } ``` ### EdgeDetector item doc **brief** EdgeDetector class **values** **EDGE_CANNY**:
    **EDGE_SIMPLE**:
    **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,
    so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.
    So we add const for this var to avoid this mistake. **value** **{
    3,
    3,
    4,
    4,
    2,
    2,
    2,
    2,
    1.5,
    1.5,
    1.5,
    1.5,
    1,
    0,
    0,
    0,
    0,
    0
    }** **readonly** True **C++ defination code**: ```cpp const std::vector 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** **{
    \"RGB888\",
    \"BGR888\",
    \"RGBA8888\",
    \"BGRA8888\",
    \"RGB565\",
    \"BGR565\",
    \"YUV422SP\",
    \"YUV422P\",
    \"YVU420SP\",
    \"YUV420SP\",
    \"YVU420P\"
    \"YUV420P\",
    \"GRAYSCALE\",
    \"MAX\"}** **readonly** True **C++ defination code**: ```cpp const std::vector 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 ### resize\\_map\\_pos ```python def resize_map_pos(w_in: int, h_in: int, w_out: int, h_out: int, fit: Fit, x: int, y: int, w: int 1, h: int 1) > list[int] ``` item doc **brief** map point position or rectangle position from one image size to another image size(resize) **param** **int**: h_out target image height
    **fit**: resize method, see maix.image.Fit
    **x**: original point x, or rectagle left top point's x
    **y**: original point y, or rectagle left top point's y
    **w**: original rectagle width, can be 1 if not use this arg, default 1.
    **h**: original rectagle height, can be 1 if not use this arg, default 1.
    **return** list type, [x, y] if map point, [x, y, w, h] if resize rectangle. **C++ defination code**: ```cpp std::vector resize_map_pos(int w_in, int h_in, int w_out, int h_out, image::Fit fit, int x, int y, int w 1, int h 1) ``` ### resize\\_map\\_pos (overload 1) item doc **brief** map point position or rectangle position from this image size to another image size(resize) **param** **int**: h_out target image height
    **fit**: resize method, see maix.image.Fit
    **x**: original point x, or rectagle left top point's x
    **y**: original point y, or rectagle left top point's y
    **w**: original rectagle width, can be 1 if not use this arg, default 1.
    **h**: original rectagle height, can be 1 if not use this arg, default 1.
    **return** list type, [x, y] if map point, [x, y, w, h] if resize rectangle. **C++ defination code**: ```cpp std::vector resize_map_pos(int w_out, int h_out, image::Fit fit, int x, int y, int w 1, int h 1) ``` ### resize\\_map\\_pos\\_reverse ```python def resize_map_pos_reverse(w_in: int, h_in: int, w_out: int, h_out: int, fit: Fit, x: int, y: int, w: int 1, h: int 1) > list[int] ``` item doc **brief** reverse resize_map_pos method, when we call image.resize method resiz image 'a' to image 'b', we want to known the original position on 'a' whith a knew point on 'b' **param** **int**: h_out image height after resized
    **fit**: resize method, see maix.image.Fit
    **x**: point on resized image x, or rectagle left top point's x
    **y**: original point y, or rectagle left top point's y
    **w**: original rectagle width, can be 1 if not use this arg, default 1.
    **h**: original rectagle height, can be 1 if not use this arg, default 1.
    **return** list type, [x, y] if map point, [x, y, w, h] if resize rectangle. **C++ defination code**: ```cpp std::vector resize_map_pos_reverse(int w_in, int h_in, int w_out, int h_out, image::Fit fit, int x, int y, int w 1, int h 1) ``` ### 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
    **format**: read as this format, if not match, will convert to this format, by default is RGB888
    **return** Image object, if load failed, will return None(nullptr in C++), so you should care about it. **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
    **height**: image height
    **format**: image format
    **data**: image data, if data is None, will malloc memory for image data
    If the image is in jpeg format, data must be filled in.
    **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.
    Use it carefully!!!
    **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
    **path**: font file path, support ttf, ttc, otf
    **size**: font size, font height, by default is 16
    **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()
    **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 *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
    **scale**: font scale, by default(value is 1)
    **thickness**: text thickness(line width), by default(value is 1)
    **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
    **return** Image object **C++ defination code**: ```cpp image::Image *cv2image(py::array_t 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
    **return** numpy array object **C++ defination code**: ```cpp py::array_t 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
    **height**: image height
    **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
    **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
    **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
    **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
    **y1**: coordinate y1 of the straight line
    **x2**: coordinate x2 of the straight line
    **y2**: coordinate y2 of the straight line
    **magnitude**: magnitude of the straight line after Hough transformation
    **theta**: angle of the straight line after Hough transformation
    **rho**: p value of the straight line after Hough transformation
    **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
    [1] get y1 of line
    [2] get x2 of line
    [3] get y2 of line
    [4] get length of line
    [5] get magnitude of the straight line after Hough transformation
    [6] get angle of the straight line after Hough transformation (0 179 degrees)
    [7] get p value of the straight line after Hough transformation
    **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
    **x**: coordinate x of the straight line
    **y**: coordinate y of the straight line
    **w**: coordinate w of the straight line
    **h**: coordinate h of the straight line
    **magnitude**: magnitude of the straight line after Hough transformation
    **static** False **C++ defination code**: ```cpp Rect(std::vector> &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
    [1] get y of rect
    [2] get w of rect
    [3] get h of rect
    [4] get magnitude of the straight line after Hough transformation
    **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> 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 **static** False **C++ defination code**: ```cpp std::vector 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
    **y**: coordinate y of the circle
    **r**: coordinate r of the circle
    **magnitude**: coordinate y2 of the straight line
    **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
    [1] get y of circle
    [2] get r of circle
    [3] get magnitude of the circle after Hough transformation
    **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
    **corners**: blob corners, type is std::vector>
    **mini_corners**: blob mini_corners, type is std::vector>
    **cx**: blob center x, type is float
    **cy**: blob center y, type is float
    **pixels**: blob pixels, type is int
    **rotation**: blob rotation, type is float
    **code**: blob code, type is int
    **count**: blob count, type is int
    **perimeter**: blob perimeter, type is int
    **roundness**: blob roundness, type is float
    **x_hist_bins**: blob x_hist_bins, type is std::vector
    **y_hist_bins**: blob y_hist_bins, type is std::vector
    **static** False **C++ defination code**: ```cpp Blob(std::vector &rect, std::vector> &corners, std::vector> &mini_corners,float cx, float cy, int pixels, float rotation, int code, int count, int perimeter, float roundness, std::vector &x_hist_bins, std::vector &y_hist_bins) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index [0]**: Returns the blob’s bounding box x coordinate
    [1] Returns the blob’s bounding box y coordinate
    [2] Returns the blob’s bounding box w coordinate
    [3] Returns the blob’s bounding box h coordinate
    [4] Returns the number of pixels that are part of this blob
    [5] Returns the centroid x position of the blob
    [6] Returns the centroid y position of the blob
    **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.
    (x0, y0)___________(x1, y1)



    ___________
    (x3, y3) (x2, y2)
    note: the order of corners may change **static** False **C++ defination code**: ```cpp std::vector> 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.
    (x0, y0)___________(x1, y1)



    ___________
    (x3, y3) (x2, y2)
    note: the order of corners may change **static** False **C++ defination code**: ```cpp std::vector> 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)
    w
    (x, y) ___________

    h

    ___________ **static** False **C++ defination code**: ```cpp std::vector 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 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 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 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 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 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 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
    **corners**: corners of QRCode
    **payload**: payload of the QRCode
    **version**: version of the QRCode
    **ecc_level**: ecc_level of the QRCode
    **mask**: mask of the QRCode
    **data_type**: data_type of the QRCode
    **eci**: eci of the QRCode
    **static** False **C++ defination code**: ```cpp QRCode(std::vector &rect, std::vector> &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
    [1] Returns the qrcode’s bounding box y coordinate
    [2] Returns the qrcode’s bounding box w coordinate
    [3] Returns the qrcode’s bounding box h coordinate
    [4] Not support this index, try to use payload() method
    [5] Returns the version of qrcode
    [6] Returns the error correction level of qrcode
    [7] Returns the mask of qrcode
    [8] Returns the datatype of qrcode
    [9] Returns the eci of qrcode
    **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> 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 **static** False **C++ defination code**: ```cpp std::vector 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
    **corners**: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector>
    **id**: The id of the AprilTag
    **famliy**: The family of the AprilTag
    **centroid_x**: The x coordinate of the center of the AprilTag
    **centroid_y**: The y coordinate of the center of the AprilTag
    **rotation**: The rotation of the AprilTag
    **decision_margin**: The decision_margin of the AprilTag
    **hamming**: The hamming of the AprilTag
    **goodness**: The goodness of the AprilTag
    **x_translation**: The x_translation of the AprilTag
    **y_translation**: The y_translation of the AprilTag
    **z_translation**: The z_translation of the AprilTag
    **x_rotation**: The x_rotation of the AprilTag
    **y_rotation**: The y_rotation of the AprilTag
    **z_rotation**: The z_rotation of the AprilTag
    **static** False **C++ defination code**: ```cpp AprilTag(std::vector &rect, std::vector> &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
    [1] Returns the apriltag’s bounding box y coordinate
    [2] Returns the apriltag’s bounding box w coordinate
    [3] Returns the apriltag’s bounding box h coordinate
    [4] Returns the apriltag’s id
    [5] Returns the apriltag’s family
    [6] Not support
    [7] Not support
    [8] Not support
    [9] Not support
    [10] Returns the apriltag’s hamming
    [11] Not support
    [12] Not support
    [13] Not support
    [14] Not support
    [15] Not support
    [16] Not support
    [17] Not support
    **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> 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 **static** False **C++ defination code**: ```cpp std::vector 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.
    return 0, means 0 bit errors will be accepted.
    1 is TAG25H7, means up to 1 bit error may be accepted
    2 is TAG25H9, means up to 3 bit errors may be accepted
    3 is TAG36H10, means up to 3 bit errors may be accepted
    4 is TAG36H11, means up to 4 bit errors may be accepted
    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
    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
    **corners**: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector>
    **payload**: The payload of the DataMatrix
    **rotation**: The rotation of the DataMatrix
    **rows**: The rows of the DataMatrix
    **columns**: The columns of the DataMatrix
    **capacity**: The capacity of the DataMatrix
    **padding**: The padding of the DataMatrix
    **static** False **C++ defination code**: ```cpp DataMatrix(std::vector &rect, std::vector> &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
    [1] get y of DataMatrix
    [2] get w of DataMatrix
    [3] get h of DataMatrix
    [4] Not support this index, try to use payload() method
    [5] Not support this index, try to use rotation() method
    [6] get rows of DataMatrix
    [7] get columns of DataMatrix
    [8] get capacity of DataMatrix
    [9] get padding of DataMatrix
    **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> 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 **static** False **C++ defination code**: ```cpp std::vector 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
    **corners**: Includes the four corners of the rectangle. format is {{x0, y0}, {x1, y1}, {x2, y2}, {x3, y3}}, type is std::vector>
    **payload**: The payload of the BarCode
    **type**: The type of the BarCode
    **rotation**: The rotation of the BarCode
    **quality**: The quality of the BarCode
    **static** False **C++ defination code**: ```cpp BarCode(std::vector &rect, std::vector> &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
    [1] get y of BarCode
    [2] get w of BarCode
    [3] get h of BarCode
    [4] Not support this index, try to use payload() method
    [5] get type of BarCode
    [6] Not support this index, try to use rotation() method
    [7] get quality of BarCode
    **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> 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 **static** False **C++ defination code**: ```cpp std::vector 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
    **l_statistics**: The statistics of the L channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector
    **a_statistics**: The statistics of the A channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector
    **b_statistics**: The statistics of the B channel. format is {mean, median, mode, std_dev, min, max, lq, uq}, type is std::vector
    **static** False **C++ defination code**: ```cpp Statistics(image::Format format, std::vector &l_statistics, std::vector &a_statistics, std::vector &b_statistics) ``` #### \\_\\_getitem\\_\\_ item doc **type** func **brief** Subscript operator **param** **index**: array index
    **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
    **y_translation**: The y_translation of the Displacement
    **rotation**: The rotation of the Displacement
    **scale**: The scale of the Displacement
    **response**: The response of the Displacement
    **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
    **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
    **static** False **C++ defination code**: ```cpp LBPKeyPoint(std::valarray &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
    **y**: The y of the KeyPoint
    **score**: The score of the KeyPoint
    **octave**: The octave of the KeyPoint
    **angle**: The angle of the KeyPoint
    **matched**: The matched of the KeyPoint
    **desc**: The desc of the KeyPoint
    **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 &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
    **cy**: The cy of the KPTMatch
    **x**: The x of the KPTMatch
    **y**: The y of the KPTMatch
    **w**: The w of the KPTMatch
    **h**: The h of the KPTMatch
    **score**: The score of the KPTMatch
    **theta**: The theta of the KPTMatch
    **match**: The match of the KPTMatch
    **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
    **threshold**: The threshold of the ORBKeyPoint
    **normalized**: The normalized of the ORBKeyPoint
    **static** False **C++ defination code**: ```cpp ORBKeyPoint(std::vector &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 **static** False **C++ defination code**: ```cpp std::vector 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
    **threshold**: The threshold of the HaarCascade
    **normalized**: The normalized of the HaarCascade
    **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
    **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
    **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
    **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
    **format**: color format, @see image::Format
    **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.
    **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.
    **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
    **height**: image height, should > 0
    **format**: image format @see image::Format
    **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
    **y**: pixel's coordinate y. y must less than image's height
    **rgbtuple**: switch return value method. rgbtuple decides whether to split the return or not. default is false.
    **return** pixel value,
    According to image format and rgbtuple, return different value:
    format is FMT_RGB888, rgbtuple is true, return [R, G, B]; rgbtuple is false, return [RGB]
    foramt is FMT_BGR888, rgbtuple is true, return [B, G, R]; rgbtuple is false, return [BGR]
    format is FMT_GRAYSCALE, return [GRAY]; **static** False **C++ defination code**: ```cpp std::vector 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
    **y**: pixel's coordinate y. y must less than image's height
    **pixel**: pixel value, according to image format and size of pixel, has different operation:
    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
    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
    format is FMT_GRAYSCALE, pixel size must be 1, will use pixel directly
    **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 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]
    **copy**: if true, will alloc memory for tensor data, else will use the memory of Image object
    **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,
    else will use the memory of Image object, delete bytes object will not affect Image object，
    but delete Image object will make bytes object invalid, it may cause program crash !!!!
    So use this param carefully.
    **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.
    **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].
    **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
    **y**: left top corner of image point's coordinate y
    **img**: image object to draw, the caller's channel must < the args' channel,
    e.g. caller is RGB888, args is RGBA8888, will throw exception, but caller is RGBA8888, args is RGB888 or RGBA8888 is ok
    **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
    **y**: left top corner of rectangle point's coordinate y
    **w**: rectangle width
    **h**: rectangle height
    **color**: rectangle color
    **thickness**: rectangle thickness(line width), by default(value is 1), 1 means fill rectangle
    **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
    **y1**: start point's coordinate y
    **x2**: end point's coordinate x
    **y2**: end point's coordinate y
    **color**: line color @see image::Color
    **thickness**: line thickness(line width), by default(value is 1)
    **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
    **y**: circle center point's coordinate y
    **radius**: circle radius
    **color**: circle color @see image::Color
    **thickness**: circle thickness(line width), by default(value is 1), 1 means fill circle
    **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
    **y**: ellipse center point's coordinate y
    **a**: ellipse major axis length
    **b**: ellipse minor axis length
    **angle**: ellipse rotation angle
    **start_angle**: ellipse start angle
    **end_angle**: ellipse end angle
    **color**: ellipse color @see image::Color
    **thickness**: ellipse thickness(line width), by default(value is 1), 1 means fill ellipse
    **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
    **y**: text left top point's coordinate y
    **string**: text content
    **color**: text color @see image::Color, default is white
    **scale**: font scale, by default(value is 1)
    **thickness**: text thickness(line width), if negative, the glyph is filled, by default(value is 1)
    **wrap**: if true, will auto wrap text to next line if text width > image width, by default(value is true)
    **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
    **y**: cross center point's coordinate y
    **color**: cross color @see image::Color
    **size**: how long the lines of the cross extend, by default(value is 5). So the line length is `2 * size + thickness`
    **thickness**: cross thickness(line width), by default(value is 1)
    **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
    **y0**: start coordinate of the arrow y0
    **x1**: end coordinate of the arrow x1
    **y1**: end coordinate of the arrow y1
    **color**: cross color @see image::Color
    **thickness**: cross thickness(line width), by default(value is 1)
    **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]]
    **color**: edges color @see image::Color
    **size**: the circle of radius size. TODO: support in the feature
    **thickness**: edges thickness(line width), by default(value is 1)
    **fill**: if true, will fill edges, by default(value is false)
    **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_edges(std::vector> 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)
    **color**: keypoints color @see image::Color
    **size**: size of keypoints
    **thickness**: keypoints thickness(line width), by default(value is 1 means fill circle)
    **return** this image object self **static** False **C++ defination code**: ```cpp image::Image *draw_keypoints(std::vector 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
    **height**: new height, if value is 1, will use width to calculate aspect ratio
    **object_fit**: fill, contain, cover, by default is fill
    **method**: resize method, by default is bilinear
    **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.
    And it's better to judge whether the size has changed before calling this function to make the program more efficient.
    e.g.
    if img >width() ! width img >height() ! height:
    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]
    **dst_points**: three destination points, [x1, y1, x2, y2, x3, y3]
    **width**: new width, if value is 1, will use height to calculate aspect ratio
    **height**: new height, if value is 1, will use width to calculate aspect ratio
    **method**: resize method, by default is bilinear
    **return** new transformed image object **static** False **C++ defination code**: ```cpp image::Image *affine(std::vector src_points, std::vector 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
    **y**: left top corner of crop rectangle point's coordinate y
    **w**: crop rectangle width
    **h**: crop rectangle height
    **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
    **width**: new width, if value is 1, will use height to calculate aspect ratio
    **height**: new height, if value is 1, will use width to calculate aspect ratio
    **method**: resize method, by default is bilinear
    **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.
    **y_div**: The height of the squares.
    **copy**: Select whether to return a new image or modify the original image. default is false.
    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.
    **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.
    **y_div**: The height of the squares.
    **bias**: The bias of the midpoint. default is 0.5.
    midpoint value is equal to (max * bias + min * (1 bias))
    **copy**: Select whether to return a new image or modify the original image. default is false.
    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.
    **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.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    **y**: The y coordinate of the top left corner of the rectangle.
    **w**: The width of the rectangle.
    **h**: The height of the rectangle.
    **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.
    **y**: The y coordinate of the center of the circle.
    **radius**: The radius of the circle.
    **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.
    **y**: The y coordinate of the center of the ellipse.
    **radius_x**: The radius of the ellipse in the x direction.
    **radius_y**: The radius of the ellipse in the y direction.
    **rotation_angle_in_degrees**: The rotation angle of the ellipse in degrees.
    **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.
    For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
    For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
    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.
    **invert**: If true, the thresholds will be inverted before the operation. default is false.
    **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.
    **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.
    Only pixels set in the mask are modified. default is None.
    **to_bitmap**: If true, the image will be converted to a bitmap image before thresholding. default is false. TODO: support in the feature
    **copy**: Select whether to return a new image or modify the original image. default is false.
    **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *binary(std::vector> thresholds std::vector>(), 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?
    **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.
    Only pixels set in the mask are modified. default is None.
    **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?
    **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.
    Only pixels set in the mask are modified. default is None.
    **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?
    **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.
    Only pixels set in the mask are modified. default is None.
    **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?
    **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.
    Only pixels set in the mask are modified. default is None.
    **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?
    **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.
    Only pixels set in the mask are modified. default is None.
    **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?
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    **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.
    Weights may either be positive or negative, and the sum of each column in the 3x3 matrix should generally be 1.
    example:
    {
    1, 0, 0,
    0, 1, 0,
    0, 0, 1,
    }
    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
    weights sum to less than 1 to account for the offset.
    example:
    {
    1, 0, 0,
    0, 1, 0,
    0, 0, 1,
    0, 0, 0,
    }
    **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *ccm(std::vector &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.
    **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.
    **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.
    **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.
    **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.
    **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.
    **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.
    **hmirror**: If true, the image will be horizontally mirrored before the operation. default is false.
    **vflip**: If true, the image will be vertically flipped before the operation. default is false.
    **transpose**: If true, the image can be used to rotate 90 degrees or 270 degrees.
    hmirror false, vflip false, transpose false, the image will not be rotated.
    hmirror false, vflip true, transpose true, the image will be rotated 90 degrees.
    hmirror true, vflip true, transpose false, the image will be rotated 180 degrees.
    hmirror true, vflip false, transpose true, the image will be rotated 270 degrees.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    **hmirror**: If true, the image will be horizontally mirrored before the operation. default is false.
    **vflip**: If true, the image will be vertically flipped before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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?
    **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.
    Only pixels set in the mask are modified. default is None.
    **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?
    **reverse**: If true, the image will be reversed before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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?
    **invert**: If true, the image will be change the multiplication operation from a*b to 1/((1/a)*(1/b)).
    In particular, this lightens the image instead of darkening it (e.g. multiply versus burn operations). default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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?
    **invert**: If true, the image will be change the division direction from a/b to b/a. default is false.
    **mod**: If true, the image will be change the division operation to the modulus operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    **alpha**: The alpha value of the blend, the value range is [0, 256],default is 128.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    **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.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **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.
    default is false.
    **offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **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.
    **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.
    default is false.
    **offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **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.
    default is false.
    **offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **bias**: The bias of the midpoint. default is 0.5.
    **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.
    default is false.
    **offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **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.
    **mul**: This parameter is used to multiply the convolved pixel results. default is auto.
    **add**: This parameter is the value to be added to each convolution pixel result. default is 0.0.
    **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.
    default is false.
    **offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **return** Returns the image after the operation is completed. **static** False **C++ defination code**: ```cpp image::Image *morph(int size, std::vector 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).
    **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.
    **mul**: This parameter is used to multiply the convolved pixel results. default is auto.
    **add**: This parameter is the value to be added to each convolution pixel result. default is 0.0.
    **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.
    default is false.
    **offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **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.
    **mul**: This parameter is used to multiply the convolved pixel results. default is auto.
    **add**: This parameter is the value to be added to each convolution pixel result. default is 0.0.
    **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.
    default is false.
    **offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **color_sigma**: Controls how closely colors are matched using the bilateral filter. default is 0.1.
    **space_sigma**: Controls how closely pixels space wise are blurred with each other. default is 1.
    **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.
    default is false.
    **offset**: The larger the offset value, the lower brightness pixels on the original image will be set to white. default is 0.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    **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.
    **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.
    **zoom**: The zoom of the lens correction. default is 1.0.
    **x_corr**: The x correction of the lens correction. default is 0.0.
    **y_corr**: The y correction of the lens correction. default is 0.0.
    **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 0.0, double y_corr 0.0) ``` #### 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.
    **y_rotation**: The y rotation of the rotation correction. default is 0.0.
    **z_rotation**: The z rotation of the rotation correction. default is 0.0.
    **x_translation**: The x translation of the rotation correction. default is 0.0.
    **y_translation**: The y translation of the rotation correction. default is 0.0.
    **zoom**: The zoom of the rotation correction. default is 1.0.
    **fov**: The fov of the rotation correction. default is 60.0.
    **corners**: The corners of the rotation correction. default is None.
    **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 corners std::vector()) ``` #### get\\_histogram item doc **type** func **brief** Gets the histogram of the image. **param** **thresholds**: You can define multiple thresholds.
    For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
    For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
    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.
    **invert**: If true, the thresholds will be inverted before the operation. default is false.
    **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.
    default is None, means whole image.
    **bins**: The number of bins to use for the histogram.
    In GRAYSCALE format, setting range is [2, 256], default is 100.
    In rgb888 format, setting range is [2, 100], default is 100.
    **l_bins**: The number of bins to use for the l channel of the histogram. Only valid in RGB888 format.
    If an invalid value is set, bins will be used instead. The setting range is [2, 100], default is 100.
    **a_bins**: The number of bins to use for the a channel of the histogram.
    Only valid in RGB888 format.The setting range is [2, 256], default is 256.
    **b_bins**: The number of bins to use for the b channel of the histogram.
    Only valid in RGB888 format. The setting range is [2, 256], default is 256.
    **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.
    default is None.
    **return** Returns the histogram of the image **static** False **C++ defination code**: ```cpp std::map> get_histogram(std::vector> thresholds std::vector>(), bool invert false, std::vector roi std::vector(), 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.
    For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
    For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
    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.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    default is None, means whole image.
    **bins**: The number of bins to use for the statistics. default is 1.
    **l_bins**: The number of bins to use for the l channel of the statistics. default is 1.
    **a_bins**: The number of bins to use for the a channel of the statistics. default is 1.
    **b_bins**: The number of bins to use for the b channel of the statistics. default is 1.
    **difference**: The difference image to use for the statistics. default is None.
    **return** Returns the statistics of the image **static** False **C++ defination code**: ```cpp image::Statistics get_statistics(std::vector> thresholds std::vector>(), bool invert false, std::vector roi std::vector(), 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.
    For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
    For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
    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.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **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.
    default is None, means whole image.
    **x_stride**: The x stride to use for the regression. default is 2.
    **y_stride**: The y stride to use for the regression. default is 1.
    **area_threshold**: The area threshold to use for the regression. default is 10.
    **pixels_threshold**: The pixels threshold to use for the regression. default is 10.
    **robust**: If true, the regression will be robust. default is false.
    **return** Returns the regression of the image **static** False **C++ defination code**: ```cpp std::vector get_regression(std::vector> thresholds std::vector>(), bool invert false, std::vector roi std::vector(), 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
    **quality**: image quality, by default(value is 95), support jpeg and png format
    **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.
    **y**: The y coordinate of the seed point.
    **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.
    **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.
    **color**: The color to fill the region with. default is white.
    **invert**: If true, the image will be inverted before the operation. default is false.
    **clear_background**: If true, the background will be cleared before the operation. default is false.
    **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.
    Only pixels set in the mask are modified. default is None. FIXME: the mask image works abnormally
    **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).
    **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).
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **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.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **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.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **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.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **threshold**: As the threshold for open method. default is 0.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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).
    **threshold**: As the threshold for close method. default is 0.
    **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.
    Only pixels set in the mask are modified. default is None.
    **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.
    For GRAYSCALE format, you can use {{Lmin, Lmax}, ...} to define one or more thresholds.
    For RGB888 format, you can use {{Lmin, Lmax, Amin, Amax, Bmin, Bmax}, ...} to define one or more thresholds.
    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.
    **invert**: if true, will invert thresholds before find blobs, default is false
    **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.
    default is None, means whole image.
    **x_stride**: x stride is the number of x pixels to skip when doing the hough transform. default is 2
    **y_stride**: y_stride is the number of y pixels to skip when doing the hough transform. default is 1
    **area_threshold**: area threshold, if the blob area is smaller than area_threshold, the blob is not returned, default is 10
    **pixels_threshold**: pixels threshold, if the blob pixels is smaller than area_threshold, the blob is not returned,, default is 10.
    when x_stride and y_stride is equal to 1, pixels_threshold is equivalent to area_threshold
    **merge**: if True merges all not filtered out blobs whos bounding rectangles intersect each other. default is false
    **margin**: margin can be used to increase or decrease the size of the bounding rectangles for blobs during the intersection test.
    For example, with a margin of 1 blobs whos bounding rectangles are 1 pixel away from each other will be merged. default is 0
    **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.
    **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.
    **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 find_blobs(std::vector> thresholds std::vector>(), bool invert false, std::vector roi std::vector(), 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.
    default is None, means whole image.
    **x_stride**: x stride is the number of x pixels to skip when doing the hough transform. default is 2
    **y_stride**: y_stride is the number of y pixels to skip when doing the hough transform. default is 1
    **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.
    The right value of threshold for your application is image dependent. default is 1000.
    **theta_margin**: theta_margin controls the merging of detected lines. default is 25.
    **rho_margin**: rho_margin controls the merging of detected lines. default is 25.
    **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 find_lines(std::vector roi std::vector(), 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.
    default is None, means whole image.
    **merge_distance**: The maximum distance between two lines to merge them. default is 0.
    **max_theta_difference**: The maximum difference between two lines to merge them. default is 15.
    **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 find_line_segments(std::vector roi std::vector(), 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.
    default is None, means whole image.
    **x_stride**: x stride is the number of x pixels to skip when doing the hough transform. default is 2
    **y_stride**: y_stride is the number of y pixels to skip when doing the hough transform. default is 1
    **threshold**: threshold controls what circles are detected from the hough transform. Only circles with a magnitude greater than or equal to threshold are returned.
    The right value of threshold for your application is image dependent.
    **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
    **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
    **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
    **r_min**: r_min controls the minimum circle radius detected. Increase this to speed up the algorithm. default is 2
    **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)
    **r_step**: r_step controls how to step the radius detection by. default is 2.
    **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 find_circles(std::vector roi std::vector(), 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.
    default is None, means whole image.
    **threshold**: The threshold to use for the rects. default is 10000.
    **return** Returns the rects of the image **static** False **C++ defination code**: ```cpp std::vector find_rects(std::vector roi std::vector(), 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.
    default is None, means whole image.
    **return** Returns the qrcodes of the image **static** False **C++ defination code**: ```cpp std::vector find_qrcodes(std::vector roi std::vector()) ``` #### 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.
    default is None, means whole image.
    **families**: The families to use for the apriltags. default is TAG36H11.
    **fx**: The camera X focal length in pixels, default is 1.
    **fy**: The camera Y focal length in pixels, default is 1.
    **cx**: The camera X center in pixels, default is image.width / 2.
    **cy**: The camera Y center in pixels, default is image.height / 2.
    **return** Returns the apriltags of the image **static** False **C++ defination code**: ```cpp std::vector find_apriltags(std::vector roi std::vector(), 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.
    default is None, means whole image.
    **effort**: Controls how much time to spend trying to find data matrix matches. default is 200.
    **return** Returns the datamatrices of the image **static** False **C++ defination code**: ```cpp std::vector find_datamatrices(std::vector roi std::vector(), 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.
    default is None, means whole image.
    **return** Returns the barcodes of the image **static** False **C++ defination code**: ```cpp std::vector find_barcodes(std::vector roi std::vector()) ``` #### 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.
    **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.
    default is None, means whole image.
    **template_roi**: The region of interest rectangle (x, y, w, h) to work in. If not specified, it is equal to the image rectangle.
    **logpolar**: If true, it will instead find rotation and scale changes between the two images. default is false.
    **return** Returns the displacement of the image **static** False **C++ defination code**: ```cpp image::Displacement find_displacement(image::Image &template_image, std::vector roi std::vector(), std::vector template_roi std::vector(), bool logpolar false) ``` #### find\\_template item doc **type** func **brief** Finds the template in the image. **param** **template_image**: The template image.
    **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.
    **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.
    default is None, means whole image. Only valid in SEARCH_EX mode.
    **step**: The step size to use for the template. default is 2. Only valid in SEARCH_EX mode
    **search**: The search method to use for the template. default is SEARCH_EX.
    **return** Returns a bounding box tuple (x, y, w, h) for the matching location otherwise None. **static** False **C++ defination code**: ```cpp std::vector find_template(image::Image &template_image, float threshold, std::vector roi std::vector(), 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.
    **threshold**: The threshold to use for the features. default is 0.5.
    **scale**: The scale to use for the features. default is 1.5.
    **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.
    default is None, means whole image.
    **return** Returns the features of the image **static** False **C++ defination code**: ```cpp std::vector find_features(int cascade, float threshold 0.5, float scale 1.5, std::vector roi std::vector()) ``` #### 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.
    default is None, means whole image.
    **return** Returns the lbp of the image **static** False **C++ defination code**: ```cpp image::LBPKeyPoint find_lbp(std::vector roi std::vector()) ``` #### 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.
    default is None, means whole image.
    **threshold**: The threshold to use for the keypoints. default is 20.
    **normalized**: If true, the image will be normalized before the operation. default is false.
    **scale_factor**: The scale factor to use for the keypoints. default is 1.5.
    **max_keypoints**: The maximum number of keypoints to use for the keypoints. default is 100.
    **corner_detector**: The corner detector to use for the keypoints. default is CORNER_AGAST.
    **return** Returns the keypoints of the image **static** False **C++ defination code**: ```cpp image::ORBKeyPoint find_keypoints(std::vector roi std::vector(), 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.
    **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.
    default is None, means whole image.
    **threshold**: The threshold to use for the edges. default is 20.
    **return** Returns the edges of the image **static** False **C++ defination code**: ```cpp image::Image* find_edges(image::EdgeDetector edge_type, std::vector roi std::vector(), std::vector threshold std::vector({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.
    default is None, means whole image.
    **size**: The size to use for the hog. default is 8.
    **return** Returns the hog of the image **static** False **C++ defination code**: ```cpp image::Image* find_hog(std::vector roi std::vector(), 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.
    **desc2**: The descriptor to use for the match.
    **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.
    **desc2**: The descriptor to use for the match.
    **threshold**: The threshold to use for the match. default is 95.
    **filter_outliers**: If true, the image will be filter_outliers before the operation. default is false.
    **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/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 ### do\\_exit\\_function ```python def do_exit_function() > None ``` item doc **brief** exec all of exit function **C++ defination code**: ```cpp void do_exit_function() ``` ### register\\_atexit ```python def register_atexit() > None ``` item doc **brief** Registering default processes that need to be executed on exit **C++ defination code**: ```cpp void register_atexit() ``` ## Class"},"/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 **attention** If board have no RTC battery, when bootup and connect to network,
    system will automatically sync time by NTP, will cause time() have big change,
    e.g. before NTP: 10(s), after: 1718590639.5149617(s).
    If you want to calculate time interval, please use ticks_s(). **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 **attention** If board have no RTC battery, when bootup and connect to network,
    system will automatically sync time by NTP, will cause time() have big change,
    e.g. before NTP: 10000(ms), after: 1718590639000(ms)
    If you want to calculate time interval, please use ticks_ms(). **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 **attention** If board have no RTC battery, when bootup and connect to network,
    system will automatically sync time by NTP, will cause time() have big change,
    e.g. before NTP: 10(s), after: 1718590639(s) **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 **attention** If board have no RTC battery, when bootup and connect to network,
    system will automatically sync time by NTP, will cause time() have big change,
    e.g. before NTP: 10000000(us), after: 1718590639000000(s)
    If you want to calculate time interval, please use ticks_us(). **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 in s. **param** **last**: last time
    **now**: current time, can be 1 if use current time
    **return** time difference **attention** If board have no RTC battery, when bootup and connect to network,
    system will automatically sync time by NTP, will cause time() have big change, and lead to big value.
    e.g. before NTP: 1(s), after: 1718590500(s)
    If you want to calculate time interval, please use ticks_diff(). **C++ defination code**: ```cpp double time_diff(double last, double now 1) ``` ### ticks\\_s ```python def ticks_s() > float ``` item doc **brief** Get current time in s since bootup **return** current time in s, double type **C++ defination code**: ```cpp double ticks_s() ``` ### ticks\\_ms ```python def ticks_ms() > int ``` item doc **brief** Get current time in ms since bootup **return** current time in ms, uint64_t type **C++ defination code**: ```cpp uint64_t ticks_ms() ``` ### ticks\\_us ```python def ticks_us() > int ``` item doc **brief** Get current time in us since bootup **return** current time in us, uint64_t type **C++ defination code**: ```cpp uint64_t ticks_us() ``` ### ticks\\_diff ```python def ticks_diff(last: float, now: float 1) > float ``` item doc **brief** Calculate time difference in s. **param** **last**: last time
    **now**: current time, can be 1 if use current time
    **return** time difference **C++ defination code**: ```cpp double ticks_diff(double last, double now 1) ``` ### sleep item doc **brief** Sleep seconds **param** **s**: seconds, double type
    **C++ defination code**: ```cpp void sleep(double s) ``` ### sleep\\_ms item doc **brief** Sleep milliseconds **param** **ms**: milliseconds, uint64_t type
    **C++ defination code**: ```cpp void sleep_ms(uint64_t ms) ``` ### sleep\\_us item doc **brief** Sleep microseconds **param** **us**: microseconds, uint64_t type
    **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
    **format**: date time format
    **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
    **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
    **month**: month
    **day**: day
    **hour**: hour
    **minute**: minute
    **second**: second
    **microsecond**: microsecond
    **yearday**: year day
    **weekday**: weekday
    **zone**: time zone
    **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/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
    **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
    **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,
    so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.
    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.
    Use std::vector instead.
    **2**. It's a copy of this variable in MaixPy,
    so change it in C++ (e.g. update var in hello function) will not take effect the var inMaixPy.
    So we add const for this var to avoid this mistake.
    **value** **{
    0, 1, 2, 3, 4, 5, 6, 7, 8, 9}** **readonly** True **C++ defination code**: ```cpp const std::vector 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.
    And change it in MaixPy will not take effect in C++ as well !!!
    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
    **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
    **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
    **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
    **age**: direction [in], age of Example, int type, default is 18, value range is [0, 100]
    **attention** to make auto generate code work, param Kind should with full namespace name `example::Kind` instead of `Kind`,
    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
    **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]
    **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.
    In MaixPy, you can pass list or tuple to this API
    **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 *get_list(std::vector 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.
    In MaixPy, you can pass `dict` to this API
    **return** dict, key is string type, value is int type, content is {\"a\": 1} + in
    In MaixPy, return type is `dict` object **static** False **C++ defination code**: ```cpp std::map get_dict(std::map &in) ``` #### hello ```python def hello(name: str) > str ``` item doc **type** func **brief** say hello to someone **param** **name**: name of someone, string type
    **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
    **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
    **return** int type, return value is cb(1, 2) **static** True **C++ defination code**: ```cpp static int callback(std::function 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
    **static** True **C++ defination code**: ```cpp static std::map *hello_dict(std::map *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 *dict_test() ```"},"/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
    **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.
    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
    **body**: response body, can be null
    **return** encoded data, if nullptr, means error, and the error code is err.Err.
    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
    **body**: report body, can be null
    **return** encoded data, if nullptr, means error, and the error code is err.Err.
    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
    **code**: error code
    **msg**: error message
    **return** encoded data, if nullptr, means error, and the error code is err.Err.
    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/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.
    **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.
    **ignore_app_store**: if true, ignore app store APP. default false.
    **return** APP info list. APP_Info object list. **C++ defination code**: ```cpp vector &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.
    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.
    **return** APP path, just return the current path because APP executed in app install path or project path.
    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.
    **key**: config key, e.g. for wifi, key can be ssid, for language, key can be locale.
    **value**: default value, if not found, return this value.
    **from_cache**: if true, read from cache, if false, read from file.
    **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
    **key**: config key, e.g. for user_info, key can be name, age etc.
    **value**: default value, if not found, return this value.
    **from_cache**: if true, read from cache, if false, read from file.
    **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
    **key**: config key, e.g. for user_info, key can be name, age etc.
    **value**: config value, always string type.
    **write_file**: if true, write to file, if false, just write to cache.
    **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.
    **msg**: exit message, if code is 0, msg is not used.
    **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.
    **return** exit return app_id, exit code and exit message. **C++ defination code**: ```cpp tuple 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.
    **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.
    **idx**: APP index. app_id and idx must have one is valid.
    **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.
    **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 names ``` #### descs item doc **type** var **brief** APP descs **static** False **readonly** False **C++ defination code**: ```cpp map descs ```"},"/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.
    **SEEK_CUR**: Seek from current position.
    **SEEK_END**: Seek from end of file.
    **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
    **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
    **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
    **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
    **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
    **link**: link file path
    **force**: force link, if already have link file, will delet it first then create.
    **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
    **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
    **exist_ok**: if true, also return true if directory already exists
    **recursive**: if true, create directory recursively, otherwise, only create one directory, default is true
    **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
    **recursive**: if true, remove directory recursively, otherwise, only remove empty directory, default is false
    **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
    **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
    **dst**: destination path, if destination dirs not exist, will auto create
    **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
    **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
    **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
    **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
    **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
    **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
    **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
    **recursive**: if true, list recursively, otherwise, only list current directory, default is false
    **full_path**: if true, return full path, otherwise, only return basename, default is false
    **return** files list if success, nullptr if failed, you should manually delete it in C++. **C++ defination code**: ```cpp std::vector *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
    **mode**: open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"
    **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
    **mode**: open mode, support \"r\", \"w\", \"a\", \"r+\", \"w+\", \"a+\", \"rb\", \"wb\", \"ab\", \"rb+\", \"wb+\", \"ab+\"
    **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
    **return** bytes data if success(need delete manually in C/C++), nullptr if failed **static** False **C++ defination code**: ```cpp std::vector *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() ``` #### eof ```python def eof(self) > int ``` item doc **type** func **brief** End of file or not **return** 0 if not reach end of file, else eof. **static** False **C++ defination code**: ```cpp int eof() ``` #### write ```python def write(self, buf: list[int]) > int ``` item doc **type** func **brief** Write data to file API2 **param** **buf**: buffer to write
    **return** write size if success, err::Err code if failed **static** False **C++ defination code**: ```cpp int write(const std::vector &buf) ``` #### seek ```python def seek(self, offset: int, whence: int) > int ``` item doc **type** func **brief** Seek file position **param** **offset**: offset to seek
    **whence**: @see maix.fs.SEEK
    **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/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
    **CMD_SET_REPORT**: set auto upload data mode
    **CMD_APP_LIST**:
    **CMD_START_APP**:
    **CMD_EXIT_APP**:
    **CMD_CUR_APP_INFO**:
    **CMD_APP_INFO**:
    **CMD_KEY**:
    **CMD_TOUCH**:
    **C++ defination code**: ```cpp enum CMD { CMD_APP_MAX 0xC8, // 200, max app custom CMD value should < CMD_APP_MAX CMD_SET_REPORT 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**:
    **FLAG_RESP**:
    **FLAG_IS_RESP_MASK**:
    **FLAG_RESP_OK**:
    **FLAG_RESP_ERR**:
    **FLAG_RESP_OK_MASK**:
    **FLAG_REPORT**:
    **FLAG_REPORT_MASK**:
    **FLAG_VERSION_MASK**:
    **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.
    **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
    **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
    **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
    **msg**: error message
    **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
    **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
    **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
    **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.
    **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
    **body**: response body, can be null
    **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
    **body**: report body, can be null
    **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
    **code**: error code
    **msg**: error message
    **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/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 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 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}
    total: total memory size in Byte.
    used: used memory size in Byte.
    hw_total: total memory size in Byte of hardware, the total < hw_total，
    OS kernel may reserve some memory for some hardware like camera, npu, display etc. **C++ defination code**: ```cpp std::map 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
    **precision:**: decimal precision, default 2
    **base:**: base number, default 1024
    **unit:**: unit string, e.g. \"B\"
    **sep:**: separator string, e.g. \" \"
    **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 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 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 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 npu_freq() ``` ### disk\\_usage ```python def disk_usage(path: str '/') > dict[str, int] ``` item doc **brief** Get disk usage **param** **path:**: disk path, default \"/\"
    **return** disk usage, dict type, e.g. {\"total\": 1024, \"used\": 512} **C++ defination code**: ```cpp std::map 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.
    **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> disk_partitions(bool only_disk true) ``` ### register\\_default\\_signal\\_handle item doc **brief** register default signal handle **C++ defination code**: ```cpp void register_default_signal_handle() ``` ### 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/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 ### YOLOv8 item doc **brief** YOLOv8 class **C++ defination code**: ```cpp class YOLOv8 ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor of YOLOv8 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. **static** False **C++ defination code**: ```cpp YOLOv8(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
    **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 ..., keypoint_th: float 0.5) > 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.
    **conf_th**: Confidence threshold, default 0.5.
    **iou_th**: IoU threshold, default 0.45.
    **fit**: Resize method, default image.Fit.FIT_CONTAIN.
    **keypoint_th**: keypoint threshold, default 0.5, only for yolov8 pose model.
    **throw** If image format not match model input format, will throw err::Exception. **return** Object list. In C++, you should delete it after use.
    If model is yolov8 pose, object's points have value, and if points' value < 0 means that point is invalid(conf < keypoint_th). **static** False **C++ defination code**: ```cpp std::vector *detect(image::Image &img, float conf_th 0.5, float iou_th 0.45, maix::image::Fit fit maix::image::FIT_CONTAIN, float keypoint_th 0.5) ``` #### 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() ``` #### draw\\_pose ```python def draw_pose(self, img: maix.image.Image, points: list[int], radius: int 4, color: maix.image.Color ..., body: bool True) > None ``` item doc **type** func **brief** Draw pose keypoints on image **param** **img**: image object, maix.image.Image type.
    **points**: keypoits, int list type, [x, y, x, y ...]
    **radius**: radius of points.
    **color**: color of points.
    **body**: true, if points' length is 17*2 and body is ture, will draw lines as human body, if set to false won't draw lines, default true.
    **static** False **C++ defination code**: ```cpp void draw_pose(image::Image &img, std::vector points, int radius 4, image::Color color image::COLOR_RED, bool body true) ``` #### labels item doc **type** var **brief** Labels list **static** False **readonly** False **C++ defination code**: ```cpp std::vector 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 mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector 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.
    If model_path set, will load model from file, load failed will raise err.Exception.
    If model_path not set, you can load model later by load function.
    **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.
    **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> 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
    **dtype**: direction [in], layer data type
    **shape**: direction [in], layer shape
    **static** False **C++ defination code**: ```cpp LayerInfo(const std::string &name \"\", tensor::DType dtype tensor::DType::FLOAT32, std::vector shape std::vector()) ``` #### 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,
    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 shape ``` #### shape\\_int ```python def shape_int(self) > int ``` item doc **type** func **brief** Shape as one int type, multiply all dims of shape **static** False **C++ defination code**: ```cpp int shape_int() ``` #### 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.
    If model_path set, will load model from file, load failed will raise err.Exception.
    If model_path not set, you can load model later by load function.
    **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.
    **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 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 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 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
    **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
    **mean**: mean value, a list type, e.g. [0.485, 0.456, 0.406], default is empty list means not normalize.
    **scale**: scale value, a list type, e.g. [1/0.229, 1/0.224, 1/0.225], default is empty list means not normalize.
    **fit**: fit mode, if the image size of input not equal to model's input, it will auto resize use this fit method,
    default is image.Fit.FIT_FILL for easy coordinate calculation, but for more accurate result, use image.Fit.FIT_CONTAIN is better.
    **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.
    Default true to avoid problems, you can set it to false manually to make speed faster.
    **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 mean std::vector(), std::vector scale std::vector(), image::Fit fit image::Fit::FIT_FILL, bool copy_result true) ``` ### FaceObject item doc **brief** Face object **C++ defination code**: ```cpp class FaceObject ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor **static** False **C++ defination code**: ```cpp FaceObject(int x 0, int y 0, int w 0, int h 0, int class_id 0, float score 0, std::vector points std::vector(), std::vector feature std::vector(), image::Image face image::Image()) ``` #### \\_\\_str\\_\\_ ```python def to_str(self) > str ``` item doc **type** func **brief** FaceObject info to string **return** FaceObject info string **static** False **C++ defination code**: ```cpp std::string to_str() ``` #### x item doc **type** var **brief** FaceObject left top coordinate x **static** False **readonly** False **C++ defination code**: ```cpp int x ``` #### y item doc **type** var **brief** FaceObject left top coordinate y **static** False **readonly** False **C++ defination code**: ```cpp int y ``` #### w item doc **type** var **brief** FaceObject width **static** False **readonly** False **C++ defination code**: ```cpp int w ``` #### h item doc **type** var **brief** FaceObject height **static** False **readonly** False **C++ defination code**: ```cpp int h ``` #### class\\_id item doc **type** var **brief** FaceObject class id **static** False **readonly** False **C++ defination code**: ```cpp int class_id ``` #### score item doc **type** var **brief** FaceObject 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 points ``` #### feature item doc **type** var **brief** feature, float list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector feature ``` #### face item doc **type** var **brief** face image **static** False **readonly** False **C++ defination code**: ```cpp image::Image face ``` ### FaceRecognizer item doc **brief** FaceRecognizer class **C++ defination code**: ```cpp class FaceRecognizer ``` #### \\_\\_init\\_\\_ item doc **type** func **brief** Constructor of FaceRecognizer class **param** **detect_model**: face detect model path, default empty, you can load model later by load function.
    **feature_model**: feature extract model
    **throw** If model arg is not empty and load failed, will throw err::Exception. **static** False **C++ defination code**: ```cpp FaceRecognizer(const string &detect_model \"\", const string &feature_model \"\") ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load model from file **param** **detect_model**: face detect model path, default empty, you can load model later by load function.
    **feature_model**: feature extract model
    **return** err::Err **static** False **C++ defination code**: ```cpp err::Err load(const string &detect_model, const string &feature_model) ``` #### recognize 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.
    **conf_th**: Detect confidence threshold, default 0.5.
    **iou_th**: Detect IoU threshold, default 0.45.
    **compare_th**: Compare two face score threshold, default 0.8, if two faces' score < this value, will see this face fas unknown.
    **get_feature**: return feature or not, if true will copy features to result, if false will not copy feature to result to save time and memory.
    **get_face**: return face image or not, if true result object's face attribute will valid, or face sttribute is empty. Get face image will alloc memory and copy image, so will lead to slower speed.
    **fit**: Resize method, default image.Fit.FIT_CONTAIN.
    **throw** If image format not match model input format, will throw err::Exception. **return** FaceObject list. In C++, you should delete it after use. **static** False **C++ defination code**: ```cpp std::vector *recognize(image::Image &img, float conf_th 0.5, float iou_th 0.45, float compare_th 0.8, bool get_feature false, bool get_face false, maix::image::Fit fit maix::image::FIT_CONTAIN) ``` #### add\\_face item doc **type** func **brief** Add face to lib **param** **face**: face object, find by recognize
    **label**: face label(name)
    **static** False **C++ defination code**: ```cpp err::Err add_face(nn::FaceObject *face, const std::string &label) ``` #### remove\\_face item doc **type** func **brief** remove face from lib **param** **idx**: index of face in lib, default 1 means use label, idx and label must have one, idx have high priotiry.
    **label**: which face to remove, default to empty string mean use idx, idx and label must have one, idx have high priotiry.
    **static** False **C++ defination code**: ```cpp err::Err remove_face(int idx 1, const std::string &label \"\") ``` #### save\\_faces item doc **type** func **brief** Save faces info to a file **param** **path**: where to save, string type.
    **return** err.Err type **static** False **C++ defination code**: ```cpp err::Err save_faces(const std::string &path) ``` #### load\\_faces item doc **type** func **brief** Load faces info from a file **param** **path**: from where to load, string type.
    **return** err::Err type **static** False **C++ defination code**: ```cpp err::Err load_faces(const std::string &path) ``` #### 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\\_detector item doc **type** var **brief** Get mean value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector mean_detector ``` #### scale\\_detector item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector scale_detector ``` #### mean\\_feature item doc **type** var **brief** Get mean value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector mean_feature ``` #### scale\\_feature item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector scale_feature ``` #### labels item doc **type** var **brief** labels, list type, first is \\\"unknown\\\" **static** False **readonly** False **C++ defination code**: ```cpp std::vector labels ``` #### features item doc **type** var **brief** features **static** False **readonly** False **C++ defination code**: ```cpp std::vector> features ``` ### 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
    **y**: left top y
    **w**: width
    **h**: height
    **class_id**: class id
    **score**: score
    **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 points std::vector()) ``` #### \\_\\_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 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
    **y**: left top y
    **w**: width
    **h**: height
    **class_id**: class id
    **score**: score
    **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 points std::vector()) ``` #### \\_\\_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 points ``` ### 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.
    **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
    **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 ..., keypoint_th: float 0.5) > 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.
    **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. **static** False **C++ defination code**: ```cpp std::vector *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 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 mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector scale ``` #### anchors item doc **type** var **brief** Get anchors **static** False **readonly** False **C++ defination code**: ```cpp std::vector anchors ``` ### SelfLearnClassifier item doc **brief** SelfLearnClassifier **C++ defination code**: ```cpp class SelfLearnClassifier ``` #### \\_\\_init\\_\\_ ```python def __init__(self, model: str '') > None ``` item doc **type** func **brief** Construct a new SelfLearnClassifier object **param** **model**: MUD model path, if empty, will not load model, you can call load_model() later.
    if not empty, will load model and will raise err::Exception if load failed.
    **static** False **C++ defination code**: ```cpp SelfLearnClassifier(const std::string &model \"\") ``` #### load\\_model ```python def load_model(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_no_top\\n input_type: rgb or bgr\\n mean: 123.675, 116.28, 103.53\\n scale: 0.017124753831663668, 0.01750700280112045, 0.017429193899782137 **param** **model**: MUD model path
    **return** error code, if load failed, return error code **static** False **C++ defination code**: ```cpp err::Err load_model(const string &model) ``` #### classify ```python def classify(self, img: maix.image.Image, softmax: bool True, fit: maix.image.Fit ...) > list[tuple[int, float]] ``` item doc **type** func **brief** Classify image **param** **img**: image, format should match model input_type， or will raise err.Exception
    **fit**: image resize fit mode, default Fit.FIT_COVER, see image.Fit.
    **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 (idx, distance), smaller distance means more similar. In C++, you need to delete it after use. **static** False **C++ defination code**: ```cpp std::vector> *classify(image::Image &img, image::Fit fit image::FIT_COVER) ``` #### add\\_class ```python def add_class(self, img: maix.image.Image, fit: maix.image.Fit ...) > None ``` item doc **type** func **brief** Add a class to recognize **param** **img**: Add a image as a new class
    **fit**: image resize fit mode, default Fit.FIT_COVER, see image.Fit.
    **static** False **C++ defination code**: ```cpp void add_class(image::Image &img, image::Fit fit image::FIT_COVER) ``` #### class\\_num ```python def class_num(self) > int ``` item doc **type** func **brief** Get class number **static** False **C++ defination code**: ```cpp int class_num() ``` #### rm\\_class ```python def rm_class(self, idx: int) > maix.err.Err ``` item doc **type** func **brief** Remove a class **param** **idx**: index, value from 0 to class_num();
    **static** False **C++ defination code**: ```cpp err::Err rm_class(int idx) ``` #### add\\_sample ```python def add_sample(self, img: maix.image.Image, fit: maix.image.Fit ...) > None ``` item doc **type** func **brief** Add sample, you should call learn method after add some samples to learn classes.\\nSample image can be any of classes we already added. **param** **img**: Add a image as a new sample.
    **static** False **C++ defination code**: ```cpp void add_sample(image::Image &img, image::Fit fit image::FIT_COVER) ``` #### rm\\_sample ```python def rm_sample(self, idx: int) > maix.err.Err ``` item doc **type** func **brief** Remove a sample **param** **idx**: index, value from 0 to sample_num();
    **static** False **C++ defination code**: ```cpp err::Err rm_sample(int idx) ``` #### sample\\_num ```python def sample_num(self) > int ``` item doc **type** func **brief** Get sample number **static** False **C++ defination code**: ```cpp int sample_num() ``` #### learn ```python def learn(self) > int ``` item doc **type** func **brief** Start auto learn class features from classes image and samples.\\nYou should call this method after you add some samples. **return** learn epoch(times), 0 means learn nothing. **static** False **C++ defination code**: ```cpp int learn() ``` #### clear ```python def clear(self) > None ``` item doc **type** func **brief** Clear all class and samples **static** False **C++ defination code**: ```cpp void clear() ``` #### 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 input_shape() ``` #### save ```python def save(self, path: str, labels: list[str] []) > maix.err.Err ``` item doc **type** func **brief** Save features and labels to a binary file **param** **path**: file path to save, e.g. /root/my_classes.bin
    **labels**: class labels, can be None, or length must equal to class num, or will return err::Err
    **return** maix.err.Err if labels exists but length not equal to class num, or save file failed, or class num is 0. **static** False **C++ defination code**: ```cpp err::Err save(const std::string &path, const std::vector &labels std::vector()) ``` #### load ```python def load(self, model: str) > maix.err.Err ``` item doc **type** func **brief** Load features info from binary file **param** **path**: feature info binary file path, e.g. /root/my_classes.bin
    **static** False **C++ defination code**: ```cpp std::vector load(const std::string &path) ``` #### labels item doc **type** var **brief** Labels list **static** False **readonly** False **C++ defination code**: ```cpp std::vector 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 mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector scale ``` ### 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.
    **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
    **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 ..., keypoint_th: float 0.5) > 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.
    **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. **static** False **C++ defination code**: ```cpp std::vector *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 mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector scale ``` ### 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.
    if not empty, will load model and will raise err::Exception if load failed.
    **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
    **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, fit: maix.image.Fit ...) > 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
    **softmax**: if true, will do softmax to result, or will return raw value
    **fit**: image resize fit mode, default Fit.FIT_COVER, see image.Fit.
    **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> *classify(image::Image &img, bool softmax true, image::Fit fit image::FIT_COVER) ``` #### 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
    **softmax**: if true, will do softmax to result, or will return raw value
    **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> *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 input_shape() ``` #### labels item doc **type** var **brief** Labels list **static** False **readonly** False **C++ defination code**: ```cpp std::vector 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 mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector 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.
    **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
    **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 ..., keypoint_th: float 0.5) > 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.
    **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. **static** False **C++ defination code**: ```cpp std::vector *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 mean ``` #### scale item doc **type** var **brief** Get scale value, list type **static** False **readonly** False **C++ defination code**: ```cpp std::vector scale ```"}} \ No newline at end of file diff --git a/maixpy/static/search_index/index_1.json b/maixpy/static/search_index/index_1.json new file mode 100644 index 0000000..037f052 --- /dev/null +++ b/maixpy/static/search_index/index_1.json @@ -0,0 +1 @@ +{"/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 ![face_recognize](../../assets/face_recognize.jpg) 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, camera, display, image import os import math recognizer nn.FaceRecognizer(detect_model \"/root/models/retinaface.mud\", feature_model \"/root/models/face_feature.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, 0.5, 0.45, 0.8) for obj in faces: 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) 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。 > 这里 `recognizer.labels[0]` 默认就是`unknown`，后面每添加一个人脸就会自动给 `labels` 增加一个。 比如可以在用户按下按键的时候学习人脸： ```python faces recognizer.recognize(img, 0.5, 0.45, True) 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， obj.class_id 为 0 代表是没有录入的人脸 # 这里写你自己的逻辑 # 比如可以在这里根据 face 的 class_id 和坐标决定要不要添加到库里面，以及可以做用户交互逻辑，比如按下按钮才录入等 recognizer.add_face(face, label) # label 是要给人脸取的标签（名字） recognizer.save_faces(\"/root/faces.bin\") ``` ## 完整例程 这里提供一个按键录入未知人脸，以及人脸识别的例程，可以在[MaixPy 的 example 目录](https://github.com/sipeed/MaixPy/tree/main/examples) 找到`nn_face_recognize.py`。"},"/maixpy/doc/zh/vision/custmize_model.html":{"title":"","content":"请看 [MaixCAM 模型转换](../ai_model_converter/maixcam.html)，以及在左边目录找到你要转换的模型文档，比如[自定义 yolov5 模型](./customize_model_yolov5.html)。"},"/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/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/object_track.html":{"title":"","content":""},"/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: 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/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：
    亮度范围为[l_min, l_max]\\
    绿色到红色的分量范围为[a_min, a_max]
    蓝色到黄色的分量范围为[b_min, b_max]
    可同时设置多个阈值 设置两个阈值来检测红色和绿色
    ```img.find_blobs(threshold [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```
    红色阈值为[0, 80, 40, 80, 10, 80]
    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
    ```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
    ```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
    ```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
    ```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。 ### 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/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\") if img is None: raise Exception(f\"load image failed\") 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。 ## 中文支持和自定义字体 `image` 模块支持加载`ttf/otf`字体，默认字体只支持英文，如果要显示中文或者自定义字体可以先下载字体文件到设备上，然后加载字体。 系统也内置了几个字体，在`/maixapp/share/font`目录下面，代码示例： ```python from maix import image, display, app, time image.load_font(\"sourcehansans\", \"/maixapp/share/font/SourceHanSansCN Regular.otf\", size 32) print(\"fonts:\", image.fonts()) image.set_default_font(\"sourcehansans\") disp display.Display() img image.Image(disp.width(), disp.height()) img.draw_string(2, 2, \"你好！Hello, world!\", image.Color.from_rgba(255, 0, 0)) disp.show(img) while not app.need_exit(): time.sleep(1) ``` 加载字体文件，然后设置默认的字体，也可以不设置默认的字体，在写字的函数参数设置: ```python img.draw_string(2, 2, \"你好！Hello, world!\", image.Color.from_rgba(255, 0, 0), font \"sourcehansans\") ``` 注意 `string_size`方法也会使用设置的默认字体计算大小，也可以通过`font`参数单独设置要计算大小的字体。 ## 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/opencv.html":{"title":"使用 OpenCV","content":" title: 使用 OpenCV ## 简介 对于 MaixCAM，因为使用了 Linux， 并且性能基本能够支撑使用`Python`版本的`OpenCV`，所以除了使用`maix`模块，你也可以直接使用`cv2`模块。 本文例程以及更多可以在[MaixPy/examples/vision/opencv](https://github.com/sipeed/MaixPy/tree/main/examples/vision/opencv) 中找到。 **注意 OpenCV 的函数基本都是 CPU 计算的，能使用 maix 的模块尽量不使用 OpenCV，因为 maix 有很多函数都是经过硬件加速过的。** ## 加载一张图片 ```python import cv2 file_path \"/maixapp/share/icon/detector.png\" img cv2.imread(file_path) print(img) ``` 因为`cv2`模块比较臃肿，`import cv2`可能会需要一点时间。 ## 显示图像到屏幕 但是由于直接使用了官方的 OpenCV，没有对接显示，所以要显示到屏幕上需要转换成`maix.image.Image`对象后再用`display`来显示： ```python from maix import display, image, time import cv2 disp display.Display() file_path \"/maixapp/share/icon/detector.png\" img cv2.imread(file_path) img_show image.cv2image(img) disp.show(img_show) while not app.need_exit(): time.sleep(1) ``` ## 使用 OpenCV 函数 以边缘检测为例： 基于上面的代码，使用`cv2.Canny`函数即可： ```python from maix import image, display, app, time import cv2 file_path \"/maixapp/share/icon/detector.png\" img0 cv2.imread(file_path) disp display.Display() while not app.need_exit(): img img0.copy() # canny method t time.ticks_ms() edged cv2.Canny(img, 180, 60) t2 time.ticks_ms() t # show by maix.display t time.ticks_ms() img_show image.cv2image(edged) print(f\"edge time: {t2}ms, convert time: {time.ticks_ms() t}ms\") disp.show(img_show) ``` ## 使用摄像头 在 PC 上， 我们使用 `OpenCV` 的`VideoCapture`类来读取摄像头，对于 `MaixCAM`, `OpenCV` 没有适配，我们可以用`maix.camera` 模块来读取摄像头，然后给`OpenCV`使用。 通过`image.image2cv`函数将`maix.image.Image`对象转为`numpy.ndarray`对象给`OpenCV`使用： ```python from maix import image, display, app, time, camera import cv2 disp display.Display() cam camera.Camera(320, 240) while not app.need_exit(): img cam.read() # convert maix.image.Image object to numpy.ndarray object t time.ticks_ms() img image.image2cv(img) print(\"time: \", time.ticks_ms() t) # canny method edged cv2.Canny(img, 180, 60) # show by maix.display img_show image.cv2image(edged) disp.show(img_show) ```"},"/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 默认镜像自带了 [自学习分类 APP](https://maixhub.com/app/30)，可以直接尝试使用熟悉使用流程。 ![](../../assets/self_learn_classifier.jpg) 步骤： * 点击`+ Class` 按钮， 采集 n 张分类(class)图，采集图时物体需要在屏幕的白色框中。 * 点击`+ Sample`按钮，采集 m 张样本图，每个分类都采集一些，顺序无所谓，张数也比较随意，最好是在各个角度拍一点，不要差距过大。 * 点击`Learn`按钮，启动学习，会自动根据采集的分类图和样本图进行分类学习，得到分类的特征。 * 屏幕中央对准物体，识别图像输出结果，可以看到屏幕显示了所属的分类，以及和这个分类的相似距离，相似距离越近则越相似。 * 此 APP 学习后的特征值会存到`/root/my_classes.bin`，所以退出应用或者重启了仍然会自动加载上一次的。 简洁版本代码，完整版本请看[例程](https://github.com/sipeed/maixpy/tree/main/examples/vision/ai_vision)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) ``` ## 储存和加载学习到的特征值 使用 `save` 函数进行储存，会得到一个二进制文件，里面存了物体的特征值。 再使用时用`load`函数进行加载即可。 ```python classifier.save(\"/root/my_classes.bin\") classifier.load(\"/root/my_classes.bin\") ``` 如果你给每一个分类命名了，比如存到了`labels`变量，也可以使用： ```python classifier.save(\"/root/my_classes.bin\", labels labels) labels classifier.load(\"/root/my_classes.bin\") ```"},"/maixpy/doc/zh/vision/ocr.html":{"title":"MaixPy 实现 OCR 图片文字提取","content":" title: MaixPy 实现 OCR 图片文字提取 TODO:"},"/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
    ```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/customize_model_yolov8.html":{"title":"为 MaixPy 离线训练 YOLOv8 模型，自定义检测物体、关键点检测","content":" title: 为 MaixPy 离线训练 YOLOv8 模型，自定义检测物体、关键点检测 update: date: 2024 6 21 version: v1.0 author: neucrack content: 编写文档 ## 简介 默认官方提供了 80 种物体检测，如果不满足你的需求，可以自己训练检测的物体，可以在自己的电脑或者服务器搭建训练环境训练。 YOLOv8 不光支持检测物体，还有 yolov8 pose 支持关键点检测，出了官方的人体关键点，你还可以制作你自己的关键点数据集来训练检测指定的物体和关键点 **注意：** 本文讲了如何自定义训练，但是有一些基础知识默认你已经拥有，如果没有请自行学习： * 本文不会讲解如何安装训练环境，请自行搜索安装（Pytorch 环境安装）测试。 * 本文不会讲解机器学习的基本概念、linux相关基础使用知识。 如果你觉得本文哪里需要改进，欢迎点击右上角`编辑本文`贡献并提交 文档 PR。 ## 流程和本文目标 要想我们的模型能在 MaixPy (MaixCAM)上使用，需要经历以下过程： * 搭建训练环境，本文略过，请自行搜索 pytorch 训练环境搭建。 * 拉取 [yolov8](https://github.com/ultralytics/ultralytics) 源码到本地。 * 准备数据集，并做成 yolov5 项目需要的格式。 * 训练模型，得到一个 `onnx` 模型文件，也是本文的最终输出文件。 * 将`onnx`模型转换成 MaixPy 支持的 `MUD` 文件，这个过程在[MaixCAM 模型转换](../ai_model_converter/maixcam.html) 一文种有详细介绍。 * 使用 MaixPy 加载模型运行。 ## 参考文章 因为是比较通用的操作过程，本文只给一个流程介绍，具体细节可以自行看 **[YOLOv8 官方代码和文档](https://github.com/ultralytics/ultralytics)**(**推荐**)，以及搜索其训练教程，最终导出 onnx 文件即可。 如果你有觉得讲得不错的文章欢迎修改本文并提交 PR。 ## YOLOv8 导出 onnx 模型 在 `ultralytics` 目录下创建一个`export_onnx.py` 文件 ```python from ultralytics import YOLO import sys print(sys.path) net_name sys.argv[1] # yolov8n.pt yolov8n pose.pt # https://docs.ultralytics.com/models/yolov8/#supported tasks and modes input_width int(sys.argv[2]) input_height int(sys.argv[3]) # Load a model model YOLO(net_name) # load an official model # model YOLO(\"path/to/best.pt\") # load a custom model # Predict with the model results model(\"https://ultralytics.com/images/bus.jpg\") # predict on an image path model.export(format \"onnx\", imgsz [input_width, input_height]) # export the model to ONNX format print(path) ``` 然后执行`python export_onnx.py yolov8n.pt 320 224` 就能导出 `onnx` 模型了，这里重新指定了输入分辨率，模型训练的时候用的`640x640`，我们重新指定了分辨率方便提升运行速度，这里使用`320x224`的原因是和 MaixCAM 的屏幕比例比较相近方便显示，具体可以根据你的需求设置就好了。 ## 转换为 MaixCAM 支持的模型以及 mud 文件 MaixPy/MaixCDK 目前支持了 YOLOv8 检测 以及 YOLOv8 pose 人体姿态关键点检测两种（2024.6.21）。 按照[MaixCAM 模型转换](../ai_model_converter/maixcam.html) 进行模型转换。 注意模型输出节点的选择： * 对于 YOLOv8， 我们提取 onnx 的 `/model.22/dfl/conv/Conv_output_0,/model.22/Sigmoid_output_0` 这两个输出； * 对于关键点检测(yolov8 pose)我们提取`/model.22/dfl/conv/Conv_output_0,/model.22/Sigmoid_output_0,/model.22/Concat_output_0`这三个输出。 ![](../../assets/yolov8_out1.jpg) ![](../../assets/yolov8_out2.jpg) 对于物体检测，mud 文件为 ```ini [basic] type cvimodel model yolov8n.cvimodel [extra] model_type yolov8 input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 labels person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush ``` 根据你训练的对象替换`labels`即可。 对于关键点检测(yolov8 pose)， mud 文件为： ```ini [basic] type cvimodel model yolov8n_pose.cvimodel [extra] model_type yolov8 type pose input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 labels person ``` 官方默认的时人体姿态关键点检测，所以`labels`只有一个 `person`，根据你检测的物体替换即可。 ## 上传分享到 MaixHub 到 [MaixHub 模型库](https://maixhub.com/model/zoo?platform maixcam) 上传并分享你的模型，可以多提供几个分辨率供大家选择。"},"/maixpy/doc/zh/vision/yolov5.html":{"title":"MaixPy 使用 YOLOv5 / YOLOv8 模型进行目标检测","content":" title: MaixPy 使用 YOLOv5 / YOLOv8 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` 和 `YOLOv8` 模型，可以直接使用： > YOLOv8 需要 MaixPy > 4.3.0。 ```python from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s.mud\") # detector nn.YOLOv8(model \"/root/models/yolov8n.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:
    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。 以及这里 替换`YOLOv5` 和`YOLOv8`即可实现`v5/v8`切换，注意模型文件路径也要修改。 模型支持的 80 种物体列表请看本文附录。 更多 API 使用参考 [maix.nn](/api/maix/nn.html) 模块的文档。 ## 更多输入分辨率 默认的模型输入是`320x224`分辨率，因为这个分辨率比例和默认提供的屏幕分辨率接近，你也可以手动下载其它分辨率的模型替换： YOLOv5: [https://maixhub.com/model/zoo/365](https://maixhub.com/model/zoo/365) YOLOv8: [https://maixhub.com/model/zoo/400](https://maixhub.com/model/zoo/400) 分辨率越大精度越高，但是运行耗时越长，根据你的应用场景选择合适的即可。 ## YOLOv5 和 YOLOv8 用哪个？ 这里提供的 `YOLOv5s` 和 `YOLOv8n` 两种模型，前者模型更大，后者速度快一点点， 前者精度略微高一点点但差别不是很大，可以实际测试根据自己的实际情况选择。 另外你也可以尝试`YOLOv8s`，帧率会低一些（比如 yolov8s_320x224 比 yolov8n_320x224 慢 10ms），准确率会比前两个都高，模型可以在上面提到的模型库下载到。 ## 摄像头分辨率和模型分辨率不同可以吗 上面使用`detector.detect(img)`函数进行检测时，如果 `img` 的分辨率和模型分辨率不同，这个函数内部会自动调用`img.resize`将图像缩放成和模型输入分辨率相同的，`resize`默认使用`image.Fit.FIT_CONTAIN` 方法，即保持宽高比缩放，周围填充黑色的方式，检测到的坐标也会自动映射到原`img`的坐标上。 ## MaixHub 在线训练自己的目标检测模型 默认提供的 80 分类检测模型，如果你需要检测特定的物体，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，参考[MaixHub 在线训练文档](./maixhub_train.html)。 或者到[MaixHub 模型库](https://maixhub.com/model/zoo?platform maixcam) 找社区成员分享的模型。 ## 离线训练自己的目标检测模型 强烈建议先使用 MaixHub 在线训练模型，此种方式难度比较大，不建议新手一来就碰这个方式。 此种方式有些许默认你知道的知识文中不会提，遇到问题多上网搜索学习。 请看 [离线训练YOLOv5模型](./customize_model_yolov5.html)。 ## 附录：80分类 COCO 数据集的 8 种物体分别为： ```txt person bicycle car motorcycle airplane bus train truck boat traffic light fire hydrant stop sign parking meter bench bird cat dog horse sheep cow elephant bear zebra giraffe backpack umbrella handbag tie suitcase frisbee skis snowboard sports ball kite baseball bat baseball glove skateboard surfboard tennis racket bottle wine glass cup fork knife spoon bowl banana apple sandwich orange broccoli carrot hot dog pizza donut cake chair couch potted plant bed dining table toilet tv laptop mouse remote keyboard cell phone microwave oven toaster sink refrigerator book clock vase scissors teddy bear hair drier toothbrush ```"},"/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。 MaixPy 实现了基于 [YOLOv8 Pose](https://github.com/ultralytics/ultralytics) 的人体姿态检测，可以检测到人体`17`个关键点。 ![](../../assets/body_keypoints.jpg) ## 使用 使用 MaixPy 的 `maix.nn.YOLOv8` 类可以轻松实现： ```python from maix import camera, display, image, nn, app detector nn.YOLOv8(model \"/root/models/yolov8n_pose.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, keypoint_th 0.5) 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) detector.draw_pose(img, obj.points, 8 if detector.input_width() > 480 else 4, image.COLOR_RED) dis.show(img) ``` 另外代码也在[MaixPy/examples/vision](https://github.com/sipeed/MaixPy/tree/main/examples/vision/ai_vision)目录下可以找到。 可以看到因为用了`YOLOv8 Pose` 所以这里直接用了`YOLOv8`这个类，和`YOLOv8`物体检测模型只是模型文件不同，然后就是`detect`函数返回的结果多了`points`值，是一个`int`类型的`list`列表，一共`17`个点，按次序依次排列，比如第一个值是鼻子的 x 坐标， 第二个值是鼻子的 y 坐标，依次为： ```python 1. 鼻子（Nose） 2. 左眼（Left Eye） 3. 右眼（Right Eye） 4. 左耳（Left Ear） 5. 右耳（Right Ear） 6. 左肩（Left Shoulder） 7. 右肩（Right Shoulder） 8. 左肘（Left Elbow） 9. 右肘（Right Elbow） 10. 左手腕（Left Wrist） 11. 右手腕（Right Wrist） 12. 左髋（Left Hip） 13. 右髋（Right Hip） 14. 左膝（Left Knee） 15. 右膝（Right Knee） 16. 左脚踝（Left Ankle） 17. 右脚踝（Right Ankle） ``` 如果某些部位被遮挡，那么值为` 1`。 ## 更多输入分辨率模型 默认的模型是输入是`320x224`分辨率，如果你希望使用更大分辨率的模型，可以到[MaixHub 模型库](https://maixhub.com/model/zoo/401)下载并传输到设备使用。 分辨率越大理论上精度越高但是运行速度更低，根据你的使用场景选择，另外如果提供的分辨率不满足你的要求你也可以自己到 [YOLOv8 Pose](https://github.com/ultralytics/ultralytics) 使用摸新训练源码导出自己的onnx模型，然后转换为 MaixCAM 支持的模型（方法见后面的文章）。"},"/maixpy/doc/zh/ai_model_converter/maixcam.html":{"title":"将 ONNX 模型转换为 MaixCAM 可以使用的模型（MUD）","content":" title: 将 ONNX 模型转换为 MaixCAM 可以使用的模型（MUD） ## 简介 电脑上训练的模型不能直接给 MaixCAM 使用，因为 MaixCAM 的硬件性能有限，一般我们需要将模型进行`INT8`量化以减少计算量，并且转换为 MaixCAM 支持的模型格式。 本文介绍如何将 ONNX 模型转换为 MaixCAM 能使用的模型（MUD模型）。 ## MaixCAM 支持的模型文件格式 MUD（模型统一描述文件， model universal description file）是 MaixPy 支持的一种模型描述文件，用来统一不同平台的模型文件，方便 MaixPy 代码跨平台，本身是一个 `ini`格式的文本文件，可以使用文本编辑器编辑。 一般 MUD 文件会伴随一个或者多个实际的模型文件，比如对于 MaixCAM， 实际的模型文件是`.cvimodel`格式， MUD 文件则是对它做了一些描述说明。 这里以 `YOLOv8` 模型文件举例，一共两个文件`yolov8n.mud`和`yolov8n.cvimodel`，前者内容： ```ini [basic] type cvimodel model yolov8n.cvimodel [extra] model_type yolov8 input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 labels person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush ``` 可以看到， 指定了模型类别为`cvimodel`, 模型路径为相对`mud`文件的路径下的`yolov8n.cvimodel`文件； 以及一些需要用到的信息，比如预处理`mean`和`scale`，这里需要和训练的时候对模型输入的数据的预处理方法一致，`labels`则是检测对象的 80 种分类。 实际用这个模型的时候将两个文件放在同一个目录下即可。 ## 准备 ONNX 模型 准备好你的 onnx 模型， 然后在[https://netron.app/](https://netron.app/) 查看你的模型，确保你的模型使用的算子在转换工具的支持列表中，转换工具的支持列表可以在[算能 TPU SDK](https://developer.sophgo.com/thread/473.html)的 **CVITEK_TPU_SDK开发指南.pdf** 中看到列表。 ## 找出合适的量化输出节点 一般模型都有后处理节点，这部分是 CPU 进行运算的，我们将它们剥离出来，它们会影响到量化效果，可能会导致量化失败。 这里以`YOLOv5 举例`， ![](../../assets/yolov5s_onnx.jpg) 可以看到这里有三个`conv`，后面的计算均由 CPU 进行，我们量化时就采取这几个`conv`的输出作为模型的最后输出，在这里输出名分别叫`/model.24/m.0/Conv_output_0,/model.24/m.1/Conv_output_0,/model.24/m.2/Conv_output_0`。 ## 安装模型转换环境 模型转换使用算能的[https://github.com/sophgo/tpu mlir](https://github.com/sophgo/tpu mlir)，要安装它我们直接在 docker 环境中安装，防止我们电脑的环境不匹配，如果你没用过 docker，可以简单理解成它类似虚拟机。 ### 安装 docker 参考[docker 安装官方文档](https://docs.docker.com/engine/install/ubuntu/)安装即可。 比如： ```shell # 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 $(lsb_release cs) stable\" # 安装 docker sudo apt get update sudo apt get install docker ce docker ce cli containerd.io ``` ### 拉取 docker 镜像 ```shell docker pull sophgo/tpuc_dev:latest ``` > 在中国国内可能无法拉取或者速度慢，可以设置国内的镜像，可自行搜索或者参考[docker 设置代理，以及国内加速镜像设置](https://neucrack.com/p/286)。 ### 运行容器 ```shell docker run privileged name tpu env v /home/$USER/data:/home/$USER/data it sophgo/tpuc_dev ``` 这就起了一个容器，名叫`tpu env`，并且把本机的`~/data`目录挂载到了容器的`~/data`，这样就实现了文件共享，并且和宿主机路径一致。 下次启动容器用`docker start tpu env && docker attach tpu env`即可。 ### 安装 tpu mlir 先到[github](https://github.com/sophgo/tpu mlir/releases)下载 `whl` 文件，放到`~/data`目录下。 在容器中执行命令安装： ```shell pip install tpu_mlir*.whl # 这里就是下载文件的名字 ``` 执行`model_transform.py` 会有打印帮助信息就算是安装成功了。 ## 编写转换脚本 转换模型主要就两个命令，`model_transform.py` 和 `model_deploy.py`，主要麻烦的是参数，所以我们写一个脚本`convert_yolov5_to_cvimodel.sh`存下来方便修改。 ```shell #!/bin/bash set e net_name yolov5s input_w 640 input_h 640 # mean: 0, 0, 0 # std: 255, 255, 255 # mean # 1/std # mean: 0, 0, 0 # scale: 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 mkdir p workspace cd workspace # convert to mlir model_transform.py \\ model_name ${net_name} \\ model_def ../${net_name}.onnx \\ input_shapes [[1,3,${input_h},${input_w}]] \\ mean \"0,0,0\" \\ scale \"0.00392156862745098,0.00392156862745098,0.00392156862745098\" \\ keep_aspect_ratio \\ pixel_format rgb \\ channel_format nchw \\ output_names \"/model.24/m.0/Conv_output_0,/model.24/m.1/Conv_output_0,/model.24/m.2/Conv_output_0\" \\ test_input ../dog.jpg \\ test_result ${net_name}_top_outputs.npz \\ tolerance 0.99,0.99 \\ mlir ${net_name}.mlir # export bf16 model # not use quant_input, use float32 for easy coding model_deploy.py \\ mlir ${net_name}.mlir \\ quantize BF16 \\ processor cv181x \\ test_input ${net_name}_in_f32.npz \\ test_reference ${net_name}_top_outputs.npz \\ model ${net_name}_bf16.cvimodel echo \"calibrate for int8 model\" # export int8 model run_calibration.py ${net_name}.mlir \\ dataset ../images \\ input_num 200 \\ o ${net_name}_cali_table echo \"convert to int8 model\" # export int8 model # add quant_input, use int8 for faster processing in maix.nn.NN.forward_image model_deploy.py \\ mlir ${net_name}.mlir \\ quantize INT8 \\ quant_input \\ calibration_table ${net_name}_cali_table \\ processor cv181x \\ test_input ${net_name}_in_f32.npz \\ test_reference ${net_name}_top_outputs.npz \\ tolerance 0.9,0.6 \\ model ${net_name}_int8.cvimodel ``` 可以看到，这里有几个比较重要的参数： * `output_names` 就是我们前面说到的输出节点的输出名。 * `mean, scale` 就是训练时使用的预处理方法，比如 `YOLOv5` 官方代码的预处理是把图像 RGB 3个通道分别 ` mean`再除以`std`，并且默认`mean` 为`0`， `std`为`255`，即将图像的值归一，这里`scale`就是`1/std`。你的模型需要根据实际的预处理方法修改。 * `test_input` 就是转换时用来测试的图像，这里是`../dog.jpg`，所以实际模型转换时我们需要在此脚本所在同目录放一张`dog.jpg`的图，你的模型根据你的实际情况替换图像。 * `tolerance` 就是量化前后允许的误差，如果转换模型时报错提示值小于设置的这个值，说明转出来的模型可能相比 onnx 模型误差较大，如果你能够容忍，可以适当调小这个阈值让模型转换通过，不过大多数时候都是因为模型结构导致的，需要优化模型，以及仔细看后处理，把能去除的后处理去除了。 * `quantize` 即量化的数据类型，在 MaixCAM 上我们一般用 INT8 模型，这里我们虽然也顺便转换了一个 BF16 模型，BF16 模型的好处时精度高，不过运行速率比较慢，能转成 INT8 就推荐先用 INT8,实在不能转换的或者精度要求高速度要求不高的再考虑 BF16。 * `dataset` 表示用来量化的数据集，也是放在转换脚本同目录下，比如这里是`images`文件夹，里面放数据即可，对于 YOLOv5 来说就是图片，从 coco 数据集中复制一部分典型场景的图片过来即可。 用` input_num` 可以指定实际使用图片的数量（小于等于 images 目录下实际的图片）。 ## 执行转换脚本 直接执行`chmod +x convert_yolov5_to_cvimodelsh && ./convert_yolov5_to_cvimodel.sh` 等待转换完成。 如果出错了，请仔细看上一步的说明，是不是参数有问题，或者输出层选择得不合理等。 然后就能在`workspace`文件夹下看到有`**_int8.cvimodel` 文件了。 ## 编写`mud`文件 根据你的模型情况修改`mud`文件，对于 YOLOv5 就如下，修改成你训练的`labels`就好了。 ```ini [basic] type cvimodel model yolov5s.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 person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush ``` 这里`basic`部分指定了模型文件类别和模型文件路径，是必要的参数，有了这个参数就能用`MaixPy`或者`MaixCDK`中的`maix.nn.NN`类来加载并运行模型了。 `extra`则根据不同模型的需求设计不同参数。 比如这里对`YOLOv5`设计了这些参数，主要是 预处理、后处理、标签等参数。 对于 `MaixPy` 已经支持了的模型可以直接下载其模型复制修改。 也可以看具体的代码，比如[YOLOv5 的源码](https://github.com/sipeed/MaixCDK/blob/71d5b3980788e6b35514434bd84cd6eeee80d085/components/nn/include/maix_nn_yolov5.hpp#L73 L223)，可以看到源码使用了哪些参数。 比如你用`YOLOv5`训练了检测数字`0~9`的模型，那么需要将`labels`改成`0,1,2,3,4,5,6,7,8,9`，其它参数如果你没改训练代码保持即可。 如果你需要移植 `MaixPy` 没有支持的模型，则可以根据模型的预处理和后处理情况定义 `extra`, 然后编写对应的解码类。如果你不想用C++修改 MaixPy 源码，你也可以用MaixPy 的`maix.nn.NN`类加载模型，然后用 `forward` 或者 `forward_image` 方法或者原始输出，在 Python 层面写后处理也可以，只是运行效率比较低不太推荐。 ## 编写后处理代码 如上一步所说，如果是按照已经支持的模型的`mud`文件修改好，那直接调用`MaixPy`或者`MaixCDK`对应的代码加载即可。 如果支持新模型，设计好 `mud` 文件后，你需要实际编写预处理和后处理，有两种方法： * 一：MaixPy 用 `maix.nn.NN`加载模型，然后`forward`或者`forward_image`函数运行模型，获得输出，然后用 Python 函数编写后处理得到最终结果。 * 二：在`MaixCDK`中，可以参考[YOLOv5 的源码](https://github.com/sipeed/MaixCDK/blob/71d5b3980788e6b35514434bd84cd6eeee80d085/components/nn/include/maix_nn_yolov5.hpp), 新增一个`hpp`文件，增加一个处理你的模型的类，并且修改所有函数和类的`@maixpy`注释，编写好了编译`MaixPy`项目，即可在`MaixPy`中调用新增的类来运行模型了。 支持了新模型后还可以将源码提交（Pull Request）到主`MaixPy`仓库中，成为`MaixPy`项目的一员，为社区做贡献，也可以到 [MaixHub 分享](https://maixhub.com/share) 分享你新支持的模型，根据质量可以获得最少 `30元` 最高 `2000元` 的打赏！"},"/maixpy/doc/zh/peripheral/pinmap.html":{"title":"MaixPy Pinmap 使用介绍","content":" title: MaixPy Pinmap 使用介绍 update: date: 2024 06 11 author: iawak9lkm version: 1.0.0 content: 初版文档 ## 管脚映射简介 在系统级芯片（System on Chip, SoC）设计中，一个管脚通常具有多个功能，这种设计方法被称为引脚复用。其原因主要有以下几个方面： * 节省引脚数量：SoC 集成了大量的功能模块，如 CPU、GPU、内存控制器、I/O 接口、通信模块等。如果每个功能都分配独立的引脚，会导致需要的引脚数量非常庞大，增加封装的复杂性和成本。通过引脚复用，一个引脚可以在不同的模式下支持不同的功能，从而显著减少引脚的总数。 * 降低芯片封装和制造成本：减少引脚数量可以选择更小的封装尺寸，从而降低封装和制造成本。小封装不仅降低了材料成本，还减少了芯片在电路板上的占用空间，有利于设计更紧凑的电子产品。 * 提高设计灵活性：引脚复用提供了更大的设计灵活性。不同的应用场景可能需要不同的功能组合，通过软件配置可以根据具体需求启用不同的引脚功能。例如，同一个引脚在一个实际应用中可以作为 UART 通信接口，而在另一个实际应用中可以作为 SPI 总线接口。 * 简化 PCB 布局：减少引脚数量可以简化印刷电路板（PCB）的布局设计。更少的引脚意味着更少的布线层数和过孔，从而简化了 PCB 设计，降低了生产难度和成本。 * 优化性能：在某些情况下，通过复用引脚可以优化信号路径和性能。例如，通过选择适当的引脚功能组合，可以减少信号传输路径上的干扰和噪声，提高系统的整体性能和可靠性。 而 Pinmap 展示和管理芯片各个引脚配置，这些配置通常包括每个引脚的名称及其功能（通常有多个功能）。 以 MaixCAM GPIO A28为例子： * `A28` 为引脚名称。 * `GPIOA28`/`UART2_TX`/`JTAG_TDI` 为引脚功能（可从 SoC 手册查询），同一时间该引脚只能是这三个功能中的其中一个。 通过 Pinmap，可以设定指定的芯片引脚为指定的功能。 ## MaixPy 中使用Pinmap 对于 MaixCAM 板子上各个引脚的编号及其功能，可以参考下图： ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) 或是阅读 [SG2002芯片手册](https://cn.dl.sipeed.com/fileList/LICHEE/LicheeRV_Nano/07_Datasheet/SG2002_Preliminary_Datasheet_V1.0 alpha_CN.pdf) Pinmux 章节了解剩余的引脚的编号及功能。 介绍了那么多，其实通过 MaixPy 使用 Pinmap 来管理引脚功能很简单： ```python from maix.peripheral import pinmap print(pinmap.get_pins()) f pinmap.get_pin_functions(\"A28\") print(f\"GPIO A28 pin functions:{f}\") print(f\"Set GPIO A28 to {f[0]} function\") pinmap.set_pin_function(\"A28\", f[0]) ``` 先列出了可供管脚映射的所有引脚，然后查询 `GPIO A28` 可供选择的引脚功能，最后将该引脚设置为该引脚的第一个功能(作为GPIO)。 更详细的 Pinmap 的 API 说明请看 [Pinmap API 文档](../../../api/maix/peripheral/pinmap.html)"},"/maixpy/doc/zh/peripheral/i2c.html":{"title":"MaixPy 使用 I2C","content":" title: MaixPy 使用 I2C > 注意需要 MaixPy 镜像和固件 > 4.2.1 `MaixCAM` 的 `I2C` 及对应的 引脚 看图： ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) 对于 MaixCAM，由于引脚资源比较紧张，引出的 `I2C1` `I2C3` 引脚和 WiFi 模块（SDIO1）重合了，所以 WiFi 和硬件 I2C 只能二选一使用。 另外还有一个`I2C5`，是底层驱动软件模拟的，建议使用它，底层已经做好了驱动，使用时和使用硬件`I2C`一样。 默认`I2C5`的引脚是`GPIO`，所以使用`i2c`模块前先用`pinmap`设置以下引脚功能为`I2C5`： ```python from maix import i2c, pinmap pinmap.set_pin_function(\"A15\", \"I2C5_SCL\") pinmap.set_pin_function(\"A27\", \"I2C5_SDA\") 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) 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`，再使用`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） ```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/adc.html":{"title":"MaixPy ADC 使用介绍","content":" title: MaixPy ADC 使用介绍 update: date: 2024 06 11 author: iawak9lkm version: 1.0.0 content: 初版文档 ## ADC 简介 ADC，即模拟信号数字转换器，将一个输入电压信号转换为一个输出的数字信号。由于数字信号本身不具有实际意义，仅仅表示一个相对大小。故任何一个模数转换器都需要一个参考模拟量作为转换的标准，参考标准一般为最大的可转换信号大小。而输出的数字量则表示输入信号相对于参考信号的大小。 ADC 外设一般有两个主要参数：分辨率和参考电压。 * 分辨率：ADC 的分辨率以输出二进制（或十进制）数的位数来表示。它说明 A/D 转换器对输入信号的分辨能力。一般来说，n 位输出的 A/D 转换器能区分 2^n 个不同等级的输入模拟电压，能区分输入电压的最小值为满量程输入的 1/(2^n)。在最大输入电压一定时，输出位数愈多，分辨率愈高。 * 参考电压：ADC 参考电压是在 AD 转换过程中与已知电压进行比较来找到未知电压的值的电压。参考电压可以认为是最高上限电压，当信号电压较低时，可以降低参考电压来提高分辨率。 通过板子的 ADC，可以采集外部的电压，并让板子检验电压是否达标，或是在检测到特定的电压时执行特定的任务（例如 ADC 检测多个按钮）。 ## MaixPy 中使用 ADC 通过 MaixPy 使用 ADC 很简单： ```python from maix.peripheral import adc from maix import time a adc.ADC(0, adc.RES_BIT_12) raw_data a.read() print(f\"ADC raw data:{raw_data}\") time.sleep_ms(50) vol a.read_vol() print(f\"ADC vol:{vol}\") ``` 使用 ADC0，从中读取原始的转换数据，或是直接从中读取电压数据。 有关 ADC API 的详细说明请看 [ADC API 文档](../../../api/maix/peripheral/adc.html) ## 关于 MaixCAM ADC 外设的一些说明 MaixCAM 引出一个连接 ADC 的 IO，为 GPIO B3，如下图所示： ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) 该 IO 默认为 ADC， 无需额外进行配置。 MaixCAM ADC 外设采样精度为 12bit，也就是说采样输出范围为 0~4095。采样精度为参考电压的 1/4096。 MaixCAM ADC 外设的扫描频率不能高于 320K/s，也就是上述示例中增加延时的原因。 MaixCAM ADC 外设内部参考电压Vref为 1.5V，实际使用时会有些许偏差。因为内部参考电压典型值为 1.5V，所以 Soc 的 ADC 量程为 0～1.5V。该量程的 ADC 应用范围较小，故 MaixCAM 额外为 ADC 外设设计了分压电路来增大 ADC 的应用范围，该分压电路如下图所示。由于电路中电阻阻值存在误差、ADC 外设有阻抗、内部参考电压有些许偏差，该分压电路的参考电压 Vin_max 约为 4.6~5.0V。API 中已经选择一个精度较高的默认值，一般情况下无需传递该参数。 ![](https://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/peripheral/adc.png) 若需要较高的精度，可以通过以下步骤计算出该分压电路的参考电压： * 先测得 ADC_PIN 的实际输入电压 Vin。 * 然后测得 ADC1 处的实际输入电压 Vadc，电阻R10的位置可参考这个 [BOM](https://cn.dl.sipeed.com/fileList/LICHEE/LicheeRV_Nano/03_Designator_drawing/LicheeRV_Nano 70405_iBOM.rar) 表。 * 保持第一步的电压输入，在shell中执行以下命令： ```shell echo 1 > /sys/class/cvi saradc/cvi saradc0/device/cv_saradc cat /sys/class/cvi saradc/cvi saradc0/device/cv_saradc ``` 此时你将获得 ADC 原始数据 adc_data。 * 接地电阻为 R10，另一个电阻为 R6, 记录它们的阻值。通常，MaixCAM 的 R6 阻值为 10KΩ（10 000Ω），R10 阻值为 5.1KΩ（5 100Ω）。 * 将上述参数传递给以下 python 代码，即可得出 ADC_PIN 端的量程 [0, Vin_max] （闭区间）。 ```python def maixcam_get_vin_max(Vin:float, Vadc:float, adc_data:int, r6:int, r10:int, adc_max:int 4095): Vref (Vadc/adc_data)*(adc_max+1) r3 Vadc*r6/(Vin Vadc) Vin_max (Vref/r3)*(r6+r3) return Vin_max Vin 3.3\t\t# step 1 Vadc 1.06\t\t# step 2 adc_data 2700\t# step 3 r6 10000\t\t# step 4 r10 5100\t\t# step 4 if __name__ '__main__': print(maixcam_get_vin_max(Vin, Vadc, adc_data, r6, r10)) ``` 现在将结果传递给 `adc.ADC()` 的第三个参数，你将获得一个高精度的 ADC。"},"/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/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/peripheral/spi.html":{"title":"MaixPy SPI 串行外设接口使用介绍","content":" title: MaixPy SPI 串行外设接口使用介绍 update: date: 2024 06 11 author: iawak9lkm version: 1.0.0 content: 初版文档 ## SPI 简介 SPI (Serial Peripheral Interface，即串行外设接口)，是一种同步外设接口，它可以使 SoC 与各种外围设备以串行方式进行通信以交换信息。常见的外围设备有 Flash RAM、网络控制器、LCD显示驱动器和A/D转换器等。 SPI 采用主从模式(Master—Slave)架构，支持一个或多个Slave设备。 在硬件电路上，SPI 通常由 4 根线组成，它们分别是： * `MISO`：即主设备输入从设备输出（Master Output Slave Input），该引脚在从模式下发送数据，在主模式下接收数据。 * `MOSI`：即主设备输出从设备输入（Master Input Slave Output），该引脚在主模式下发送数据，在从模式下接收数据。 * `SCK`：串行总线时钟，由主设备输出，从设备输入。 * `NSS`/`CS`：从设备选择。它作为片选引脚，让主设备可以单独地与特定从设备通信，避免数据线上的冲突。 在通信协议上，SPI 行为一般如下： * SPI 支持一主多从，主设备通过片选引脚来选择需要进行通信的从设备，一般情况下，从设备 SPI 接口只需一根片选引脚，而主设备的片选引脚数量等同于设备数量。主设备使能某个从设备的片选信号期间，该从设备会响应主设备的所有请求，其余从设备会忽略总线上的所有数据。 * SPI 有四种模式，取决于极性（CPOL）和相位（CPHA）的配置。 极性，影响 SPI 总线空闲时的时钟信号电平。 1. CPOL 1：表示空闲时是高电平 2. CPOL 0：表示空闲时是低电平 相位，决定 SPI 总线采集数据的跳变沿。 1. CPHA 0：表示从第一个跳变沿开始采样 2. CPHA 1：表示从第二个跳变沿开始采样 极性与相位组合成了 SPI 的四种模式： Mode CPOL CPHA 0 0 0 1 0 1 2 1 0 3 1 1 * SPI 通常支持全双工和半双工通信。 * SPI 不规定最大传输速率，没有地址方案；SPI 也没规定通信应答机制，没有规定流控制规则。 SPI 是非常常见的通信接口，通过 SPI 接口，SoC 能控制各式各样的的外围设备。 ## MaixPy 中使用 SPI MaixCAM 的引脚分布如下： ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) 使用前需要 `maix.peripheral.pinmap` 完成对 SPI 的管脚映射。 **注意：MaixCAM 由于其 SPI 外设的限制，只能作为 SPI 主设备使用。MaixCAM 的 SPI 暂时不支持修改硬件 CS 引脚有效电平，所有 SPI 硬件 CS 的有效电平为低电平。如需要使用其他的 CS 有效电平，请在 SPI API 中配置软件 CS 引脚及其有效电平。SPI4 为软件模拟的 SPI，实测最大速率为 1.25MHz，使用方法与硬件 SPI 无异。** 通过 MaixPy 使用 SPI 很简单： ```python from maix import spi, pinmap pin_function { \"A24\": \"SPI4_CS\", \"A23\": \"SPI4_MISO\", \"A25\": \"SPI4_MOSI\", \"A22\": \"SPI4_SCK\" } for pin, func in pin_function.items(): if 0 ! pinmap.set_pin_function(pin, func): print(f\"Failed: pin{pin}, func{func}\") exit( 1) spidev spi.SPI(4, spi.Mode.MASTER, 1250000) ### Example of full parameter passing. # spidev spi.SPI(id 4, # SPI ID # mode spi.Mode.MASTER, # SPI mode # freq 1250000, # SPI speed # polarity 0, # CPOL 0/1, default is 0 # phase 0, # CPHA 0/1, default is 0 # bits 8, # Bits of SPI, default is 8 # cs_enable True, # Use soft CS pin? True/False, default is False # cs 'GPIOA19') # Soft cs pin number, default is 'GPIOA19' b bytes(range(0, 8)) res spidev.write_read(b, len(b)) if res b: print(\"loopback test succeed\") else: print(\"loopback test failed\") print(f\"send:{b}\\nread:{res}\") ``` 请先连接该 SPI 的 `MOSI` 和 `MISO`。 先通过 `pinmap` 配置所需的引脚，然后启用全双工通信，返回值将等于发送值。 更多 SPI API 的详细说明请看 [SPI API 文档](../../../api/maix/peripheral/spi.html)"},"/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(默认 Type C 母口朝前和丝印符合)，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) ## MaixCAM 串口使用注意点 有开发者可能会问：为什么插上 USB 电脑没出现串口设备？ 答： 因为设备的 USB 默认是 虚拟 USB 网卡，没有串口功能，如果要访问设备的终端，请使用 ssh 连接。 对于 MaixCAM, 从 Type C 转接板引出的`串口0`直连到 `A16(TX)`和 `A17(RX)`引脚，可以直接接到其它设备比如单片机的串口引脚； 如果要和电脑通信，需要使用 USB 转串口小板(比如[这个](https://item.taobao.com/item.htm?spm a1z10.5 c s.w4002 24984936573.13.73cc59d6AkB9bS&id 610365562537))连接到电脑。 需要注意的是， **MaixCAM 的`串口0` 在开机时会打印一部分开机日志**， 启动完毕后会打印`serial ready`字样，如果和单片机通信需要注意丢弃这部分信息，如果出现系统启动出现问题也可以通过查看`串口0`的开机打印来诊断问题。 ## 发送接收数据 这里使用了`write_str`函数来发送字符串，在`Python`中有`str`和`bytes`两种基础数据类型，前者是字符串，后者是原始字节数据，比如: * `\"A\"` 调用`encode()`方法变成`b\"A\"`，反过来`b\"A\"`调用`decode()`方法变成`\"A\"`。 * `str` 没法显示一些不可见字符比如 ASCII 码中的值`0`，在字符串中也是`\\0`一般作为结束符，在`bytes`类型中就可以用`b\"\\x00\"`来储存。 * 对于非 ASCII 编码的字符串更有用，比如`UTF 8`编码中中文`好`是由三个字节`\\xe5\\xa5\\xbd`来表示的，我们可以通过`\"好\".encode(\"utf 8\")`得到`b\"\\xe5\\xa5\\xbd\"`，也可以通过`b'\\xe5\\xa5\\xbd'.decode(\"utf 8)`得到`\"好\"`。 所以如果我们需要发送字节数据，则用`write()`方法发送即可。 所以对于 `str` 类型，也可以不用`write_str`，而是使用`serial.write(str_content.encode())` 来发送。 另外如果你有一个 `list` 类型的数据，可以通过`bytes()`方法来构建一个`bytes`对象，比如 ```python a [1, 2, 3] serial.write(bytes(a)) ``` 同样，`read`方法获得的数据也是`bytes`类型。 ## 其它写法 ```python from maix import app, uart, time import sys 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 ``` 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。 ## 使用其它串口 每个引脚可能可以对应不同的外设功能，这也叫引脚复用，如下图，每个引脚对应了不同功能，比如`A17`引脚(板子的丝引标识)对应了`GPIOA17` `UART0_RX` `PWM5` 这三种功能，默认是`UART0_RX`。 ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) 默认我们就能像上面直接使用`UART0`，对于其它串口的引脚默认都不是串口外设功能，所以要使用其它串口，需要先设置一下映射，使用`pinmap.set_pin_function`来设置。 这里以使用`UART1` 为例，先设置引脚映射选择引脚功能为串口，然后设备编号使用`/dev/ttyS1`，注意`uart.list_devices()` 默认不会返回需要手动映射的串口，所以直接手动传参就可以了： ```python from maix import app, uart, pinmap, time pinmap.set_pin_function(\"A18\", \"UART1_RX\") pinmap.set_pin_function(\"A19\", \"UART1_TX\") device \"/dev/ttyS1\" serial1 uart.UART(device, 115200) ``` ## 使用串口协议通信 基于串口，你可以按照你自己的习惯进行通信，直接发字符串结果，或者可以结合`Python`的`struct`库进行编码成二进制协议。 另外 MaixPy 也内置了一个通信协议可以直接使用。 这里的通信协议即：规定通信双方的以什么样的格式来传输内容，方便双方解析识别信息，是一个二进制协议，包括帧头、数据内容、校验等。 完整的协议定义在 [Maix 串口通信协议标准](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md)。 没有接触过通信协议可能看起来有点困难，结合下面的例子多看几遍就能理解了。 比如我们现在有一个物体检测，我们想检测到物体后通过串口发送给其它设备（比如 STM32 单片机或者 Arduino 单片机），告诉其我们检测到了什么物体，坐标是多少。 完整的例程：[MaixPy/examples/protocol/comm_protocol_yolov5.py](https://github.com/sipeed/MaixPy/tree/main/examples/protocol/comm_protocol_yolov5.py) 首先我们需要检测到物体，参考 `yolov5` 检测物体的例程即可，这里我们就省略其它细节，来看检测到的结果是什么样 ```python 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) ``` 可以看到`objs`是多个检测结果，这里在屏幕上进行画框了，我们也可以在这里想办法把结果通过串口发送出去。 这里我们不需要手动初始化串口，直接使用内置的`maix.comm, maix.protocol`模块，调用`comm.CommProtoco`会自动初始化串口，默认波特率是`115200`，串口协议的相关可以在设备`系统设置 >通信协议`里面设置。 系统设置里面可能还有其它通信方式比如`tcp`，默认是`uart`，你也可以通过`maix.app.get_sys_config_kv(\"comm\", \"method\")`来获取到当前设置的是不是`uart`。 ```python from maix import comm, protocol, app from maix.err import Err import struct def encode_objs(objs): ''' encode objs info to bytes body for protocol 2B x(LE) + 2B y(LE) + 2B w(LE) + 2B h(LE) + 2B idx ... ''' body b\"\" for obj in objs: body + struct.pack(\" 0: body encode_objs(objs) p.report(APP_CMD_DETECT_RES, body) # ... ``` 这里通过`encode_objs`函数将所有检测到的物体信息打包成`bytes`类型的数据，然后用`p.report`函数将结果发送出去。 这里我们对`body`内容进行了一个简单的定义，即`2B x(LE) + 2B y(LE) + 2B w(LE) + 2B h(LE) + 2B idx ...`， 含义是： * 这张图中检测到多个物体，在`body`中按顺序排列，每个目标占用 `2+2+2+2+2 10` 个字节的长度，一共有`body_len / 10`个物体。 * 第1、2个字节代表识别到的物体的左上角的 `x` 坐标，单位是像素，因为 yolov5 的结果这个坐标值有可能为负数，所以我们用一个`short`类型的值来表示，这里使用了小端编码（LE）。 > 这里小端即数值的低字节在前，比如坐标 `x` 为 `100`, 十六进制为 `0x64`，我们用两个字节的`short`来表示就是`0x0064`，这里小端编码成 `bytes` 就是`0x64`在前， 结果就是`b'\\x64\\x00'`。 * 同理，将后面的数据都依次编码，一个物体得到一个`10`字节长的`bytes`类型数据。 * 循环将所有物体信息编码并拼接成一个`bytes`。 在调用`report`函数时，底层会自动按照协议拼接上协议头、校验和等等，这是在另一端就能收到一帧完整的数据了。 在另一端收到信息后也要按照协议进行解码，如果接收端也是用 MaixPy 可以直接： ```python while not app.need_exit(): msg p.get_msg() if msg and msg.is_report and msg.cmd APP_CMD_DETECT_RES: print(\"receive objs:\", decode_objs(msg.get_body())) p.resp_ok(msg.cmd, b'1') ``` 如果是其它设备比如`STM32`或者`Arduino`则可以参考 [Maix 串口通信协议标准](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md) 附录中的 C 语言函数进行编解码。"},"/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。 **注意** `MaixCAM` 的引脚是 `3.3V` 耐受，请勿输入 `5V` 电压。 ## 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(\"GPIOA14\", 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(\"GPIOA19\", gpio.Mode.IN) while 1: print(led.value()) time.sleep_ms(1) # sleep to make cpu free ```"},"/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 `MAIXCDK_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 MAIXCDK_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/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/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/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 '.**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&)@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/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 **方法一**： 直接修改 MaixPy 固件，参考 [查看 MaixPy API 源码](../basic/view_src_code.html)。"},"/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/projects/face_tracking.html":{"title":"MaixPy 2轴舵机云台人脸追踪","content":" title: MaixPy 2轴舵机云台人脸追踪 update: date: 2024 06 11 author: iawak9lkm 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 基于 MaixCAM 和云台的人脸追踪程序。实际效果如下图所示： ![](../../../../projects/app_face_tracking/assets/face_tracking1.jpg) ![](../../../../projects/app_face_tracking/assets/face_tracking2.jpg) ## 如何使用例程 * 组装好您的云台和MaixCAM。 * 修改 `main.py` 中的参数。 修改每个舵机使用的 MaixCAM 引脚，指定的引脚必须具备 PWM 功能。`servos.Servos` 会自行将该引脚配置为 PWM 功能。 ```python ROLL_PWM_PIN_NAME \"A17\" PITCH_PWM_PIN_NAME \"A16\" ``` 修改两个舵机的初始位置。 ```python init_pitch 80 # init position, value: [0, 100], means minimum angle to maxmum angle of servo init_roll 50 # 50 means middle ``` 修改两个舵机各自的活动范围的最小最大 PWM 占空比。请注意，某些云台结构中的舵机超出物理限制的最大活动范围时可能会造成不可预期的后果，请务必保证以下设定值对应的舵机运动范围内无阻碍。 ```python PITCH_DUTY_MIN 3.5 # The minimum duty cycle corresponding to the range of motion of the y axis servo. PITCH_DUTY_MAX 9.5 # Maximum duty cycle corresponding to the y axis servo motion range. ROLL_DUTY_MIN 2.5 # Minimum duty cycle for x axis servos. ROLL_DUTY_MAX 12.5 # Maxmum duty cycle for x axis servos. ``` 选择舵机的运动方向。 ```python pitch_reverse False # reverse out value direction roll_reverse True # reverse out value direction ``` * 最后执行代码即可。 * 想要退出程序按左上角的按钮即可。 ![](../../../../projects/app_face_tracking/assets/exit.jpg) ## 常见问题 * 人脸跟踪效果不理想。 不同的云台使用的 PID 参数不尽相同，您可以通过调节 PID 值来使得追踪效果更丝滑。 ```python pitch_pid [0.3, 0.0001, 0.0018, 0] # [P I D I_max] roll_pid [0.3, 0.0001, 0.0018, 0] # [P I D I_max] ``` * 在完成跟踪后，云台对着不动的人脸小幅度左右抖动一段时间。 通常可以通过调节 PID 来使得该影响尽可能小；但是无法避免云台物理结构带来的抖动。可以尝试调节死区来减小抖动。 ```python target_ignore_limit 0.08 # when target error < target_err_range*target_ignore_limit , set target error to 0 ``` * 显示屏显示或终端打印 `PIN: XXX does not exist`。 这是因为 MaixCAM 板子上引出的引脚中并不存在该引脚，请在 MaixCAM 上选择一个带 PWM 功能的引脚。 * 显示屏显示或终端打印 `Pin XXX doesn't have PWM function`。 这是因为 MaixCAM 板子上引出的这个引脚没有 PWM 功能，请选择一个带 PWM 功能的引脚。 ## 如何追踪其他物体 * 在 `main.py` 中存在一个类 `Target`，该类用于自定义需要追踪的目标。 * 在 `__init__` 中，请初始化您需要用到的对象，比如摄像头等。 * 在 `__get_target()` 中，您需要计算出被追踪物体的中心点，如果帧中不存在被追踪物体，请返回 1, 1 以确保程序在未找到目标时暂时不做动作。同时，您也需要在返回坐标点之前调用 `self.__exit_listener(img)` 和 `self.disp.show(img)` 确保程序能够与您正常的完成交互。"},"/maixpy/doc/zh/basic/auto_start.html":{"title":"MaixPy/MaixCAM 应用开机自启","content":" title: MaixPy/MaixCAM 应用开机自启 打包安装好的应用可以设置开机自动启动，这样开机就不会显示应用菜单，直接进入指定的应用。 ## 设置应用开机自启方法一 先打包安装好应用，然后在设备`设置 > 开机自启` 设置中选择需要自动启动的应用即可，取消开机自启也是在这里设置。 ## 设置应用开机自启方法二 你也可以通过修改设备中的 `/maixapp/auto_start.txt` 文件来设置，和传输文件的方法请看前面的文档。 * 首先知道你需要设置的应用的 `id` 是什么。在你打包应用的时候设置的；如果不是你自己打包的应用，可以先安装到设备，查看设备`/maixapp/apps/` 目录下的文件夹名就是应用名，（也可以下载查看设备的`/maixapp/apps/app.info` 文件，`[]`中括号部分就是应用`id`）。 * 然后写入 `id` 到 `/maixapp/auto_start.txt` 文件即可。（可以在电脑本地创建文件，然后 `MaixVision` 传输到设备。） * 如果要取消，删除设备上的 `/maixapp/auto_start.txt` 文件即可。 ## 其它方法 对于 MaixCAM， 因为底层是 Linux， 如果你熟悉 Linux, 编辑`/etc/rc.local` 或者 `/etc/init.d` 下的启动脚本也可以。 但是需要注意的是，这种方式会让 MaixVision 在连接的时候无法停止这个应用，从而造成资源占用（比如屏幕和摄像头） MaixVision 可能无法正常跑程序，而前两种方法 MaixVision 连接设备时是可以正常让程序退出以供 MaixVsion 跑程序的。 所以这种方法比较适合开机跑一些不会占用屏幕和摄像头等资源的后台进程，一般情况下如果你不熟悉 Linux 不建议这样操作。"},"/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/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/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/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（推荐） 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。 也可以执行 Python 代码调用系统命令来更新： ```python import os os.system(\"pip install MaixPy U\") ``` > 如果你会使用终端， 也可以直接在终端中使用 `pip install MaixPy U` 来更新 MaixPy。 另外你也可以手动下载`wheel` 文件（`.whl`格式）传输到设备（传输方法见后文[MaixVision 使用](./maixvision.html)）后通过 `pip install ******.whl` 命令来安装。"},"/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/view_src_code.html":{"title":"如何找到 MaixPy API 对应的源码","content":" title: 如何找到 MaixPy API 对应的源码 ## 简介 MaixPy 是基于 Python 实现，有部分函数是用 Python 编写，大多数底层代码都是使用 C/C++ 编写，这样可以保证运行效率。 如果我们在使用一个函数遇到疑问，我们可以查询本文档，以及 API 文档。 如果仍然不能解决你的疑惑，那么可以直接按照本文的方法找到底层实现的源码找出答案，**也欢迎一起贡献文档或代码，成为 MaixPy 开发者的一员**！ ## 先看文档 一定要先看文档： [https://wiki.sipeed.com/maixpy/](https://wiki.sipeed.com/maixpy/), 然后看 API 文档：[https://wiki.sipeed.com/maixpy/api/index.html](https://wiki.sipeed.com/maixpy/api/index.html) API 文档只有英文，原因是 API 文档是从代码的注释生成而来，代码中一律使用英文，看不懂英文可以使用翻译。 ## 如何找到 API 对应的源码 首先有两个开源仓库，分别是 [MaixPy](https://github.com/sipeed/MaixPy) 和 [MaixCDK](https://github.com/sipeed/MaixCDK)。 MaixPy 是工程仓库，里面包含了 MaixPy 的部分源码，所有文档、例程；MaixCDK 包含了大多数 MaixPy API 的底层 C/C++ 实现。 我们可以把这两份代码下载下来，也可以直接在网页查看。 **顺便记得给它们点一个 star 让更多人看到哦～** ### 找到 C/C++ 编写的 API 现在假设我们要找到 `maix.image.Image.find_blobs` 函数为例， 首先我们尝试手动去找： * 因为这是属于视觉相关的 API， 我们在 [MaixCDK](https://github.com/sipeed/MaixCDK) 的`components/vision/include` 下面可以看到有一个 `maix_image.hpp`的头文件，猜测大概在这里面。 * 在`maix_image.hpp` 搜索 `find_blobs`，马上就发现了函数声明： ```c++ std::vector find_blobs(std::vector> thresholds std::vector>(), bool invert false, std::vector roi std::vector(), 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); ``` * 同时我们发现函数声明前面有注释，API 文档即从这份注释自动生成而来，如果你仔细对比 API 文档和这个注释会发现他们一模一样的，改动这个注释编译后会产生 API 文档。 * 这只是函数声明，我们找到`components/vision/src/maix_image.cpp`，发现里面没有这个函数，仔细一看有个`components/vision/src/maix_image_find_blobs.cpp`，原来是将函数单独写了一个`cpp`，在里面我们就能看到函数的源代码了。 ### 找到使用 Pybind11 编写的 API 如果 MaixCDK 里面找不到，那就可以到 [MaixPy/components](https://github.com/sipeed/MaixPy/tree/main/components)里面寻找。 > 上面的代码你会发现，我们在使用`find_blobs`时第一个参数是`[[...]]`这样的参数即`list`类型，C/C++ 定义第一个参数是`std::vector>`类型，原因是我们使用了`pybind11`自动将 `std::vector` 类型转换为了`list`类型。 而有一些类型在`MaixCDK`里面不方便定义，比如`numpy`的`array`类型，但是`pybind11`里面有相关的定义方便我们直接使用，但是又不想 MaixCDK 里面有 pybind11 相关的代码，所以我们在[MaixPy/components](https://github.com/sipeed/MaixPy/tree/main/components) 里面来写使用了 `pybind11` 相关的代码，比如`maix.image.image2cv`方法。 ## 如何修改代码 在找到代码后，直接修改，然后按照[编译文档](../source_code/build.html)编译出固件即可。 ## 如何增加代码 照抄其它 API，写一个函数，然后添加完整的注释，注释中额外添加一个`@maixpy maix.xxx.xxx`，这里`xxx`即你想添加到的模块和`API`名，然后编译出固件即可。 可以参考[MaixCDK/components/basic/includemaix_api_example.hpp](https://github.com/sipeed/MaixCDK/blob/master/components/basic/include/maix_api_example.hpp)。 API 参数和返回值用基础的`C++` 类型会自动转换为`Python`的类型，是不是十分简单. 具体的类型转换参考[pybind11 类型自动转换列表](https://pybind11.readthedocs.io/en/stable/advanced/cast/overview.html#conversion table) 比如我们希望增加一个`maix.my_module.my_func`，在`MaixCDK`中合适的地方（最好符合现在的文件夹分类）创建一个头文件，然后添加代码： ```cpp namespace maix::my_module { /** * My function, add two integer. * @param a arg a, int type * @param b arg b, int type * @return int type, will a + b * @maixpy maix.my_module.my_func */ int my_func(int a, int b); } ``` 然后增加一个`cpp`文件： ```cpp int my_func(int a, int b) { return a + b; } ``` 然后编译 MaixPy 生成`whl`文件，安装到设备即可使用`maix.my_module.my_func`函数。 ## 如何贡献代码 如果你发现 MaixPy 有未完成的 API， 或者有 bug， 欢迎修改后提交 PR（Pull Request）到 MaixPy 仓库，具体提交方法看 [贡献文档和代码](../source_code/contribute.html)"},"/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/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`。 > 中国国内用户下载速度慢可以用迅雷下载，速度可能会快一些。 备用地址： * [Sourceforge](https://sourceforge.net/projects/maixpy/files/) （同步可能不及时，建议优先上面的方式） ## 烧录系统到 MaixCAM 参考 [MaixCAM 系统烧录](https://wiki.sipeed.com/hardware/zh/maixcam/os.html) 教程，注意里面能满足 `USB 烧录`的条件则推荐使用 `USB 烧录`方式，USB 烧录方式不用拔 TF 卡。"},"/maixpy/doc/zh/index.html":{"title":"MaixPy 快速开始","content":" title: MaixPy 快速开始
    MaixPy 唯一官网: wiki.sipeed.com/maixpy
    MaixPy 例程和源码: github.com/sipeed/MaixPy

    > 关于 MaixPy 介绍请看 [MaixPy 官网首页](../../index.html) ## 获得 MaixCAM 设备 * **MaixCAM**：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 MaixCAM 。 **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）。 **强烈建议买带屏幕的套餐，会大大提升开发体验**，如果你实际部署到生产环境不需要屏幕，可以先用带屏幕的入门和开发，最后再去掉屏幕或者购买不带屏幕的量产。 * **TF 读卡器**: 建议备一个用来烧录系统。 * **USB转串口模块**: 如果你想要调试串口通信，建议备一个，淘宝随便买一个就行，也可以直接在 Sipeed 店里一起买，比如这个[双串口转USB模块](https://item.taobao.com/item.htm?spm a1z10.5 c s.w4002 24984936573.13.73cc59d6AkB9bS&id 610365562537)。 >! 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。 如果没有路由器可以用手机开一个热点。 设备上点击 `设置`(`Settings`)，选择`WiFi`，有两种方法连接 `WiFi` 热点： * 扫描 WiFi 分享码： * 使用手机分享`WiFi`热点二维码，或者到[maixhub.com/wifi](https://maixhub.com/wifi) 生成一个二维码。 * 点击`扫描二维码`按钮，会出现摄像头的画面，扫描前面生成的二维码进行连接。 * 搜索热点： * 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。 * 输入密码点击`连接`按钮进行连接。 然后等待获取到 `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： 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。 > 如果应用没有做串口输出结果，你也可以自己基于对应功能的例程，自行按照[串口使用文档](./peripheral/uart.html)添加串口输出结果。 ## 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: ## 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/audio/record.html":{"title":"MaixPy 录音","content":" title: MaixPy 录音 update: date: 2024 05 20 author: lxowalle version: 1.0.0 content: 初版文档 ## 简介 本文档提供录音的使用方法 ### 使用方法 一个录音的示例 ```python from maix import audio, time, app r audio.Recorder() r.volume(12) print(\"sample_rate:{} format:{} channel:{}\".format(r.sample_rate(), r.format(), r.channel())) while not app.need_exit(): data r.record() print(\"data size\", len(data)) time.sleep_ms(10) print(\"record finish!\") ``` 步骤： 1. 导入audio、time和app模块 ```python from maix import audio, time, app ``` 2. 初始化录制器 ```python r audio.Recorder() r.volume(12) ``` 注意默认的采样率是48k，采样格式为小端格式 有符号16位，采样通道为1。你也可以像这样自定义参数`p audio.Recorder(sample_rate 48000, format audio.Format.FMT_S16_LE, channel 1)`。目前只测试过采样率48000，`FMT_S16_LE`格式，和采样通道数为1 `r.volume(12)`用来设置音量，音量范围为[0,24] 3. 开始录制 ```python data r.record() ``` `data`是`PCM`格式的`bytes`类型数据，保存了当前录入的音频。`PCM`格式在初始化`Recorder`对象时设置，见步骤2. 4. 完成，做自己的应用时可以对`r.record()`返回的`PCM`数据做语音处理。"},"/maixpy/doc/zh/audio/play.html":{"title":"MaixPy 播放音频","content":" title: MaixPy 播放音频 update: date: 2024 05 20 author: lxowalle version: 1.0.0 content: 初版文档 ## 简介 本文档提供播放音频的使用方法 ## 使用方法 ### 硬件操作 ![image 20240520134637905](../../../static/image/maixcam_hardware_back.png) `MaixCAM`没有内置喇叭，因此需要自行焊接一个功率在`1W`内的喇叭。喇叭焊接的引脚见上图的Speaker对应的`VOP`和`VON`脚。 注：如果`MaixCAM`在这两个脚上连接了铜柱，则可以直接焊接在铜柱上，为了美观也可以焊接在板子的另一面。 ### 编写代码 播放一个PCM文件的方法 ```python from maix import audio, time, app p audio.Player() with open('/root/output.pcm', 'rb') as f: ctx f.read() p.play(bytes(ctx)) while not app.need_exit(): time.sleep_ms(10) print(\"play finish!\") ``` 步骤： 1. 导入audio、time和app模块 ```python from maix import audio, time, app ``` 2. 初始化播放器 ```python p audio.Player() ``` 注意默认的采样率是48k，采样格式为小端格式 有符号16位，采样通道为1。你也可以像这样自定义参数`p audio.Player(sample_rate 48000, format audio.Format.FMT_S16_LE, channel 1)`。目前只测试过采样率48000，`FMT_S16_LE`格式，和采样通道数为1 3. 打开并播放一个PCM文件 ```python with open('/root/output.pcm', 'rb') as f: ctx f.read() p.play(bytes(ctx)) while not app.need_exit(): time.sleep_ms(10) ``` `with open('xxx','rb') as f:`打开文件`xxx`， 并获取文件对象`f` `ctx f.read()`将读取文件的内容到`ctx`中 `p.play(bytes(ctx))`播放音频，`p`是已打开的播放器对象， `ctx`是转换为bytes类型的`PCM`数据 `time.sleep_ms(10)`这里有一个循环来等待播放完成，因为播放操作是异步执行的，如果提前退出了程序，那么可能导致音频不会完全播放。 4. 完成"},"/maixpy/doc/zh/audio/recognize.html":{"title":"","content":""},"/maixpy/doc/zh/pro/compile_os.html":{"title":"","content":""},"/maixpy/doc/zh/video/record.html":{"title":"MaixPy 录像","content":" title: MaixPy 录像 update: date: 2024 05 20 author: lxowalle version: 1.0.0 content: 初版文档 ## 简介 本文档提供录像功能的使用方法 ## 示例一 一个录入`h265`格式视频的示例 ```python from maix import video, image, camera, app, time cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) e video.Encoder() f open('/root/output.h265', 'wb') record_ms 2000 start_ms time.ticks_ms() while not app.need_exit(): img cam.read() frame e.encode(img) print(frame.size()) f.write(frame.to_bytes()) if time.ticks_ms() start_ms > record_ms: app.set_exit_flag(True) ``` 步骤： 1. 导入模块并初始化摄像头 ```python from maix import video, image, camera, app, time cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) ``` `camera.Camera（）`用来初始化摄像头， 这里初始化摄像头分辨率为`640x480`，注意目前`Encoder`只支持`NV21`格式，因此设置图像格式为`image.Format.FMT_YVU420SP`。 2. 初始化`Encoder`模块 ```python e video.Encoder() ``` `video.Encoder()`模块目前只支持处理`image.Format.FMT_YVU420SP`格式图像，支持`h265`和`h264`编码, 默认为`h265`编码。如果你想使用`h264`编码，则可以修改初始化参数为` video.Encoder(type video.VideoType.VIDEO_H264_CBR)` 注意，同时只能存在一个编码器 3. 编码摄像头的图像 ```python img cam.read() frame e.encode(img) ``` `img cam.read()`读取摄像头图像并保存到`img` `frame e.encode(img)`对`img`编码并保存结果到`frame` 4. 保存编码结果到文件 ```python f open('/root/output.h265', 'wb') f.write(frame.to_bytes(False)) ``` `f open(xxx)`打开并创建一个文件 `f.write(frame.to_bytes(False))`将编码结果`frame`转换为`bytes`类型，然后调用`f.write()`将数据写入文件中 5. 定时2s退出 ```python record_ms 2000 start_ms time.ticks_ms() while not app.need_exit(): if time.ticks_ms() start_ms > record_ms: app.set_exit_flag(True) ``` 这里是定时退出的应用逻辑，自己看看吧 6. 完成 ## 示例二 一个录入`h265`格式视频的示例 ```python from maix import video, time, image, camera, app cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) e video.Encoder(capture True) e.bind_camera(cam) f open('/root/output.h265', 'wb') record_ms 2000 start_ms time.ticks_ms() while not app.need_exit(): frame e.encode() img e.capture() print(frame.size()) f.write(frame.to_bytes(True)) if time.ticks_ms() start_ms > record_ms: app.set_exit_flag(True) ``` 与示例一类似，区别在于调用了`Encoder`对象的`bind_camera`方法，`Encoder`主动取图，这样的优点是可以充分利用硬件特性，增加编码速率 ``` e video.Encoder(capture True) e.bind_camera(cam) frame e.encode() img e.capture() ``` `e video.Encoder(capture True)`使能了`capture`参数，让编码时可以抓取编码的图像 `e.bind_camera(cam)`将摄像头绑定到`Encoder`对象 `frame e.encode()`编码时不需要再传入`img`，而是内部从摄像头取图 `img e.capture()`从`Encoder`对象中抓取编码的图像 ## 转换为MP4格式 如果想要录制`mp4`格式视频，可以先录制好`H265`视频，再使用系统内的`ffmpeg`工具转换为`mp4`格式 ```python import os # Pack h265 to mp4 # /root/output.h265 是h265文件路径 # /root/output.mp4 是mp4文件路径 os.system('ffmpeg loglevel quiet i /root/output.h265 c:v copy c:a copy /root/output.mp4 y') ```"},"/maixpy/doc/zh/video/rtsp_streaming.html":{"title":"MaixPy 视频流 RTSP 推流","content":" title: MaixPy 视频流 RTSP 推流 update: date: 2024 05 20 author: lxowalle version: 1.0.0 content: 初版文档 ## 简介 本文档提供通过RTSP推流摄像头画面的方法 ## 使用方法 ```python from maix import time, rtsp, camera, image cam camera.Camera(2560, 1440, image.Format.FMT_YVU420SP) server rtsp.Rtsp() server.bind_camera(cam) server.start() print(server.get_url()) while True: time.sleep(1) ``` 步骤： 1. 导入time、rtsp、camera和image模块 ```python from maix import time, rtsp, camera, image ``` 2. 初始化摄像头 ```python cam camera.Camera(2560, 1440, image.Format.FMT_YVU420SP) # 初始化摄像头，输出分辨率2560x1440 NV21格式 ``` 注意RTSP模块目前只支持NV21格式， 因此摄像头需要配置为NV21格式输出 3. 初始化并启动Rtsp对象 ```python server rtsp.Rtsp() server.bind_camera(cam) server.start() ``` `server rtsp.Rtsp()`用来创建一个`Rtsp`对象 `server.bind_camera(cam)`用来绑定一个`Camera`对象， 绑定后原`Camera`对象将不能再使用 `server.start()`用来启动`rtsp`推流 4. 打印当前RTSP流的URL ```python print(server.get_url()) ``` `server.get_url()`用来获取`RTSP`的`播放地址`。 6. 完成，运行上须代码后, 你可以通过[VLC](https://www.videolan.org/vlc/)软件播放视频流, 已测试的`VLC`版本是`3.0.20`. 默认播放地址为`rtsp://设备的ip:8554/live` ## OSD 通过OSD来实现画线与画框 TODO"},"/maixpy/doc/zh/video/rtmp_streaming.html":{"title":"MaixPy 视频流 RTMP 推流","content":" title: MaixPy 视频流 RTMP 推流 update: date: 2024 05 20 author: lxowalle version: 1.0.0 content: 初版文档 ## 简介 本文档提供通过RTMP推送H264视频流的方法 ## 使用方法 ```python from maix import camera, time, rtmp, image cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) # rtmp://192.168.0.30:1935/live/stream host '192.168.0.30' port 1935 app 'live' stream 'stream' bitrate 1000_000 r rtmp.Rtmp(host, port, app, stream, bitrate) r.bind_camera(cam) r.start() while True: time.sleep(1) ``` 步骤： 1. 导入camera, time, rtmp和image模块 ```python from maix import camera, time, rtmp, image ``` 2. 初始化摄像头 ```python cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) # 初始化摄像头，输出分辨率640x480 NV21格式 ``` 注意RTMP模块目前只支持NV21格式， 因此摄像头需要配置为NV21格式输出 3. 初始化并启动Rtmp对象 ```python r rtmp.Rtmp(host, port, app, stream, bitrate) r.bind_camera(cam) r.start() ``` `r rtmp.Rtmp(host, port, app, stream, bitrate)`用来创建一个`Rtmp`对象，其中`host`指rtmp服务器的ip地址或者域名，`app`指rtmp服务器开放的应用名，`stream`指rtmp流的名称，也可以作为本次推流的密钥 `r.bind_camera(cam)`用来绑定一个`Camera`对象， 绑定后原`Camera`对象将不能再使用 `r.start()`用来启动`rtmp`推流 4. 完成 ## 向Bilibili推流测试 ### 启动bilibili直播 1. 点击直播 ![](../../../static/image/bilibili_click_live.png) 2. 点击开播设置 ![](../../../static/image/bilibili_click_live_setting.png) 3. 通过`我的直播间链接`找到直播地址 ![](../../../static/image/bilibili_check_live_link.png) 4. 往下翻，选择一个`分类`，再点击开始直播 ![](../../../static/image/bilibili_live_start.png) 5. 执行步骤4后，可以看到 ![](../../../static/image/bilibili_check_rtmp_url.png) 直播服务器的地址为：`rtmp://live push.bilivideo.com/live bvc` 串流密钥为：`?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1` 组合起来的`rtmp`推流地址就是：`rtmp://live push.bilivideo.com/live bvc/?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1` ### 运行RTMP客户端 ```python from maix import camera, time, rtmp, image cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) # rtmp://live push.bilivideo.com/live bvc/?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1 host 'live push.bilivideo.com' port 1935 app 'live bvc' stream '?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1' bitrate 1000_000 r rtmp.Rtmp(host, port, app, stream, bitrate) r.bind_camera(cam) r.start() while True: time.sleep(1) ``` 上面拿到bilibili的推流地址为`rtmp://live push.bilivideo.com/live bvc/?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1` 可以拆出 1. 服务器地址为`live push.bilivideo.com` 2. 端口号为`1935`，即没有端口号则默认为`1935` 3. 应用名为`live bvc` 4. 流名称为`?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1` 运行代码，就能在直播间看到`maixcam`的画面了，如果发现直播没有显示，可以尝试先关闭直播间，再重新打开直播间，再运行代码。 动手试试吧～"},"/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 date: 2024 05 20 author: lxowalle version: 1.0.1 content: 更新JPEG HTTP用法 ## 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，这里提供两种方法: 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。 建立一个HTTP服务器, 让PC端可以通过浏览器直接访问 ## 作为客户端推流的方法 ```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。 ## 作为服务器推流的方法 ```python from maix import camera, time, app, http html \"\"\" JPG Stream

    MaixPy JPG Stream

    \"\"\" cam camera.Camera(320, 240) stream http.JpegStreamer() stream.set_html(html) stream.start() print(\"http://{}:{}\".format(stream.host(), stream.port())) while not app.need_exit(): t time.ticks_ms() img cam.read() jpg img.to_jpeg() stream.write(jpg) print(f\"time: {time.ticks_ms() t}ms, fps: {1000 / (time.ticks_ms() t)}\") ``` 步骤： 1. 导入image、camera和http模块 ```python from maix import image, camera, http ``` 2. 初始化摄像头 ```python cam camera.Camera(320, 240) # 初始化摄像头，输出分辨率320x240 RGB格式 ``` 3. 初始化Stream对象 ```python stream http.JpegStreamer() stream.start() ``` `http.JpegStreamer()`用来创建一个`JpegStreamer`对象，这个对象将会启动一个`http服务器`，用来向客户端发布`jpeg`图像流 `stream.start()`用来启动`http服务器` 4. 自定义html样式（可选） ```python html \"\"\" JPG Stream

    MaixPy JPG Stream

    \"\"\" stream.set_html(html) ``` `html xxx`是`html`代码，可以用来定制自己的网页风格。注意核心代码是``，一定不要漏了这行代码。 `stream.set_html(html)`用来设置自定义的`html`代码，这一步是可选的。默认浏览地址是`http://设备的ip:8000`。 5. 从摄像头获取图片并推流 ```python while 1: img cam.read() jpg img.to_jpeg() stream.write(jpg) ``` `img cam.read()`从摄像头获取一张图像，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。 `jpg img.to_jpeg()`将图像转换为`jpeg`格式 `stream.write(jpg)`向服务器写入图像格式，`http`服务器将会把这个图像发送到`http`客户端。 6. 完成，运行上须代码后, 你可以通过浏览器直接看到视频流, 默认地址为`http://设备的ip:8000`。打开你的浏览器看看吧！"},"/maixpy/doc/zh/modules/thermal_cam.html":{"title":"","content":""},"/maixpy/doc/zh/modules/temp_humi.html":{"title":"MaixPy 读取温湿度传感器","content":" title: MaixPy 读取温湿度传感器 ## 简介 通过给 MaixCAM 外挂一个温湿度传感器模块，可以轻松读取到环境温度和湿度，这里以 `Si7021` 这款传感器为例，通过 `I2C` 可以驱动它。 完整的代码在[MaixPy/examples/sensors/temp_humi_si7021.py](https://github.com/sipeed/MaixPy/blob/main/examples/sensors/temp_humi_si7021.py) 注意系统镜像需要 `> 2024.6.3_maixpy_v4.2.1` 版本。"},"/maixpy/doc/zh/modules/tof.html":{"title":"","content":""},"/maixpy/doc/zh/modules/acc.html":{"title":"","content":""},"/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 请看 [MaixCAM FAQ](https://wiki.sipeed.com/hardware/zh/maixcam/faq.html) ## Runtime、MaixPy、系统镜像有什么区别，我应该升级哪个？ * **Runtime** 是运行时环境，系统很多功能依赖这个，包括 MaixPy 也依赖此环境，遇到无法运行程序的问题首先联网检查更新这个。 * 系统镜像包含了基本的操作系统、硬件驱动、内置应用，以及 MaixPy 固件等，是基础环境，最好是保持最新, 特别是在[Release](https://github.com/sipeed/MaixPy/releases)页面中版本更新中提到了系统有更新，则强烈建议更新系统，因为有些 MaixPy 功能可能依赖系统里面的驱动。 > 更新系统会格式化所有之前的数据，更新前请备份好设备系统中有用的数据。 * **MaixPy** 是运行 MaixPy 程序的依赖库，如果不需要更新系统功能，以及更新日志中没有提到系统有重要更新比如驱动，那可以单独更新 MaixPy 即可。"},"/maixpy/doc/zh/vision/touchscreen.html":{"title":"MaixPy / MaixCAM 触摸屏使用方法","content":" title: MaixPy / MaixCAM 触摸屏使用方法 ## 简介 对于 MaixCAM 自带了一个触摸屏，写应用时配合触摸屏可以实现很多有趣应用，我们可以通过 API 读取到触摸屏的点按操作。 ## MaixPy 读取触摸 MaixPy 提供了一个简单的`maix.touchscreen.TouchScreen` 类来读取，举例： ```python from maix import touchscreen, app, time ts touchscreen.TouchScreen() pressed_already False last_x 0 last_y 0 last_pressed False while not app.need_exit(): x, y, pressed ts.read() if x ! last_x or y ! last_y or pressed ! last_pressed: print(x, y, pressed) last_x x last_y y last_pressed pressed if pressed: pressed_already True else: if pressed_already: print(f\"clicked, x: {x}, y: {y}\") pressed_already False time.sleep_ms(1) # sleep some time to free some CPU usage ``` ## 配合屏幕实现交互 配合屏幕可以做出一些用户交互的内容，更多可以看[MaixPy/examples/vision/touchscreen](https://github.com/sipeed/MaixPy) 目录下例程。 如前面的文章介绍的，我们要往屏幕显示内容，一般是得到一个`maix.image.Image`对象，然后调用`disp.show(img)`来显示这张图像。 实现一个按钮的最原始和简单的方法就是在这个图像上画一个按钮，然后判断用户触摸到这个区域就算是触发了按下事件，注意图像的大小要和屏幕的大小保持一致： ```python from maix import touchscreen, app, time, display, image ts touchscreen.TouchScreen() disp display.Display() img image.Image(disp.width(), disp.height()) # draw exit button exit_label \"< Exit\" size image.string_size(exit_label) exit_btn_pos [0, 0, 8*2 + size.width(), 12 * 2 + size.height()] img.draw_string(8, 12, exit_label, image.COLOR_WHITE) img.draw_rect(exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3], image.COLOR_WHITE, 2) def is_in_button(x, y, btn_pos): return x > btn_pos[0] and x < btn_pos[0] + btn_pos[2] and y > btn_pos[1] and y < btn_pos[1] + btn_pos[3] while not app.need_exit(): x, y, pressed ts.read() if is_in_button(x, y, exit_btn_pos): app.set_exit_flag(True) img.draw_circle(x, y, 1, image.Color.from_rgb(255, 255, 255), 2) disp.show(img) ``` ## 屏幕和图像大小不一样时如何处理 上面的例子可以看到 `img` 大小和屏幕大小一样，如果你的`img`和屏幕大小不一样怎么办（比如上面使用`img image.Image(240, 240)`，比如屏幕是`640x480`， 图像是`240x240`，`disp.show(img)`的默认行为是`image.Fit.FIT_CONTAIN`， 即把图片放大到`480x480`然后边上填充黑色，如果你在`240x240`的图上画了按钮，比如坐标`(0, 0, 60, 40)`，那么按钮也会自动被放大，所以触摸判断的坐标就不能用`(0, 0, 60, 40)`，需要用`((640 480) / 2, 0, 480/240*60, 480/240*40)`， 即`(80, 0, 120, 80)`。 这里为了方便缩放图像时，快速计算源图像的点或者矩形框 在 缩放后的目标图像的位置和大小，提供了`image.resize_map_pos`函数来进行此计算过程。 ```python from maix import touchscreen, app, time, display, image ts touchscreen.TouchScreen() disp display.Display() img image.Image(240, 240) img.draw_rect(0, 0, img.width(), img.height(), image.COLOR_WHITE) # draw exit button exit_label \"< Exit\" size image.string_size(exit_label) exit_btn_pos [0, 0, 8*2 + size.width(), 12 * 2 + size.height()] img.draw_string(8, 12, exit_label, image.COLOR_WHITE) img.draw_rect(exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3], image.COLOR_WHITE, 2) # 图像按键坐标映射到屏幕上的坐标 exit_btn_disp_pos image.resize_map_pos(img.width(), img.height(), disp.width(), disp.height(), image.Fit.FIT_CONTAIN, exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3]) def is_in_button(x, y, btn_pos): return x > btn_pos[0] and x < btn_pos[0] + btn_pos[2] and y > btn_pos[1] and y < btn_pos[1] + btn_pos[3] while not app.need_exit(): x, y, pressed ts.read() if is_in_button(x, y, exit_btn_disp_pos): app.set_exit_flag(True) # 屏幕的坐标映射回图像上对应的坐标，然后在图像上画点 x, y image.resize_map_pos_reverse(img.width(), img.height(), disp.width(), disp.height(), image.Fit.FIT_CONTAIN, x, y) img.draw_circle(x, y, 1, image.Color.from_rgb(255, 255, 255), 2) disp.show(img, fit image.Fit.FIT_CONTAIN) ```"},"/maixpy/doc/zh/vision/customize_model_yolov5.html":{"title":"为 MaixPy 离线训练 YOLOv5 模型，自定义检测物体","content":" title: 为 MaixPy 离线训练 YOLOv5 模型，自定义检测物体 update: date: 2024 6 20 version: v1.0 author: neucrack content: 编写文档 ## 简介 默认官方提供了 80 种物体检测，如果不满足你的需求，可以自己训练检测的物体，两种方式： * 使用 [MaixHub 在线训练](./maixhub_train.html)，方便快捷，无需购买服务器也无需搭建环境，点几下鼠标就完成。 * 在自己的电脑或者服务器搭建训练环境训练。 前者好处是简单快速，后者是使用自己电脑，训练图片数量不受限制，但是后者难度会大非常多。 **注意：** 本文讲了如何自定义训练，但是有一些基础知识默认你已经拥有，如果没有请自行学习： * 本文不会讲解如何安装训练环境，请自行搜索安装（Pytorch 环境安装）测试。 * 本文不会讲解机器学习的基本概念、linux相关基础使用知识。 如果你觉得本文哪里需要改进，欢迎点击右上角`编辑本文`贡献并提交 文档 PR。 ## 流程和本文目标 要想我们的模型能在 MaixPy (MaixCAM)上使用，需要经历以下过程： * 搭建训练环境，本文略过，请自行搜索 pytorch 训练环境搭建。 * 拉取 [yolov5](https://github.com/ultralytics/yolov5) 源码到本地。 * 准备数据集，并做成 yolov5 项目需要的格式。 * 训练模型，得到一个 `onnx` 模型文件，也是本文的最终输出文件。 * 将`onnx`模型转换成 MaixPy 支持的 `MUD` 文件，这个过程在[MaixCAM 模型转换](../ai_model_converter/maixcam.html) 一文种有详细介绍。 * 使用 MaixPy 加载模型运行。 ## 参考文章 因为是比较通用的操作过程，本文只给一个流程介绍，具体细节可以自行看 **[YOLOv5 官方代码和文档](https://github.com/ultralytics/yolov5)**(**推荐**)，以及搜索其训练教程，最终导出 onnx 文件即可。 这里有 MaixHub 的社区的几篇文章： * [maixcam部署yolov5s 自定义模型](https://maixhub.com/share/23) * [【流程分享】YOLOv5训练自定义数据集并部署在Maixcam上](https://maixhub.com/share/32) * [yolov5猫狗识别模型——免费云训练（新手也可复现）](https://maixhub.com/share/25) 如果你有觉得讲得不错的文章欢迎修改本文并提交 PR。 ## YOLOv5 导出 ONNX 模型文件 YOLOv5 提供了导出选项，直接在`yolov5`目录下执行 ```shell python export.py weights ../yolov5s.pt include onnx img 224 320 ``` 这里加载 pt 参数文件，转换成 onnx， 同时指定分辨率，注意这里 高在前，宽在后。 模型训练的时候用的`640x640`，我们重新指定了分辨率方便提升运行速度，这里使用`320x224`的原因是和 MaixCAM 的屏幕比例比较相近方便显示，具体可以根据你的需求设置就好了。 ## MaixCAM MUD 文件 将 onnx 转换为 `mud` 格式的模型文件时，参照 [MaixCAM 模型转换](../ai_model_converter/maixcam.html) 即可，最终会得到一个`mud`文件和`cvimodel`文件，其中 `mud` 文件内容： ```ini [basic] type cvimodel model yolov8n.cvimodel [extra] model_type yolov8 input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 labels person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush ``` 根据你训练的内容替换参数即可，比如你训练检测`0~9`数字，那么只需要替换`labels 0,1,2,3,4,5,6,7,8,9` 即可， 然后运行模型时将两个文件放在同一个目录下加载`mud`文件即可。 ## 上传分享到 MaixHub 到 [MaixHub 模型库](https://maixhub.com/model/zoo?platform maixcam) 上传并分享你的模型，可以多提供几个分辨率供大家选择。"},"/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 官方提供了三种人脸检测模型，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) 以及 [YOLOv8 face](https://github.com/derronqi/yolov8 face)。 这三种模型都可以用，`YOLOv8 face` 效果比较好但是速度略微慢一些，可以自己实际测试选择使用。 使用`YOLOv8 face`：（需要 MaixPy 版本 > 4.3.8） ```python from maix import camera, display, image, nn, app detector nn.YOLOv8(model \"/root/models/yolov8n_face.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, keypoint_th 0.5) 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) detector.draw_pose(img, obj.points, 2, image.COLOR_RED) dis.show(img) ``` 另外两种模型使用方法： 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 ```python from maix import camera, display, image, nn, app import math detector nn.Retinaface(model \"/root/models/retinaface.mud\") # detector nn.FaceDetector(model \"/root/models/face_detector.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) ``` ## 模型下载和其它分辨率模型 下载模型，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： * [face detector 1MB with landmark](https://maixhub.com/model/zoo/377) * [Retinafate](https://maixhub.com/model/zoo/378) * [YOLOv8 face](https://maixhub.com/model/zoo/407)"},"/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：
    亮度范围为[l_min, l_max]\\
    绿色到红色的分量范围为[a_min, a_max]
    蓝色到黄色的分量范围为[b_min, b_max]
    可同时设置多个阈值 设置两个阈值来检测红色和绿色
    ```img.find_blobs(threshold [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```
    红色阈值为[0, 80, 40, 80, 10, 80]
    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
    ```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
    ```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
    ```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
    ```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。 ### 提升巡线的速度 这里提供几个提升巡线速度的方法 1. 选择合适的分辨率 越大的分辨率计算速度越慢，可以根据识别距离和精度的要求来选择更合适的分辨率 2. 使用灰度图识别 使用灰度图识别时，算法只会处理一个通道，有更快的识别速度，在颜色单一的环境会很有用。注意此时向`get_regression`传入`thresholds`时，只有`l_min`和`l_max`有效。 获取灰度图的方法： ```python # 方法1 cam camera.Camera(320, 240， image.Format.FMT_GRAYSCALE) # MaixPy v4.2.1后支持 gray_img cam.read()\t\t\t\t\t\t\t\t\t\t# 获取灰度图 # 方法2 cam camera.Camera(320, 240) img cam.read() gray_img img.to_format(image.Format.FMT_GRAYSCALE)\t\t\t# 获取灰度图 ``` ## 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 ### 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/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
    ```img.find_apriltags(roi [50, 50, 100, 100])``` families apriltag标签家族类型 扫描TAG36H11家族的标签
    ```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/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_rect(0, 0, disp.width(), disp.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rect(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_rect(0, 0, img.width(), img.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rect(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/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。"}} \ No newline at end of file diff --git a/maixpy/static/search_index/index_2.json b/maixpy/static/search_index/index_2.json new file mode 100644 index 0000000..8781234 --- /dev/null +++ b/maixpy/static/search_index/index_2.json @@ -0,0 +1 @@ +{"/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_rect(0, 0, disp.width(), disp.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rect(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_rect(0, 0, img.width(), img.height(), color image.Color.from_rgb(255, 0, 0), thickness 1) img.draw_rect(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/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/face_recognition.html":{"title":"MaixPy Face Recognition","content":" title: MaixPy Face Recognition ## Introduction to Face Recognition ![face_recognize](../../assets/face_recognize.jpg) Face recognition involves identifying the location of faces in the current view and who they are. Thus, in addition to detecting faces, face recognition typically involves a database to store known and unknown individuals. ## Recognition Principles * Use AI models to detect faces, obtaining coordinates and features of facial components. * Use the coordinates of these features for affine transformation to align the face in the image to a standard face orientation, facilitating the extraction of facial features by the model. * Employ a feature extraction model to derive facial feature values. * Compare these features with those stored in the database (by calculating the cosine distance between the saved and the current facial features, identifying the face in the database with the smallest distance; if it's below a predefined threshold, it is recognized as the person in the database). ## Using MaixPy MaixPy's `maix.nn` module provides a face recognition API, ready to use with built in models. Additional models can also be downloaded from the [MaixHub model repository](https://maixhub.com/model/zoo) (select the appropriate hardware platform, such as maixcam). Recognition: ```python from maix import nn, camera, display, image import os import math recognizer nn.FaceRecognizer(detect_model \"/root/models/retinaface.mud\", feature_model \"/root/models/face_feature.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, 0.5, 0.45, 0.8) for obj in faces: 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) 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 you first run this code, it can detect faces but will not recognize them. We need to enter a mode to learn faces. > Here `recognizer.labels[0]` is by default `unknown`, and every new face added will automatically append to `labels`. For example, you can learn faces when a user presses a button: ```python faces recognizer.recognize(img, 0.5, 0.45, True) for face in faces: print(face) # This accounts for the scenario where multiple faces are present in one scene; obj.class_id of 0 means the face is not registered # Write your own logic here # For instance, based on face’s class_id and coordinates, you can decide whether to add it to the database and facilitate user interaction, like pressing a button to register recognizer.add_face(face, label) # label is the name you assign to the face recognizer.save_faces(\"/root/faces.bin\") ``` ## Complete Example A complete example is provided for recording unknown faces and recognizing faces with a button press. This can be found in the [MaixPy example directory](https://github.com/sipeed/MaixPy/tree/main/examples) under `nn_face_recognize.py`."},"/maixpy/doc/en/vision/custmize_model.html":{"title":"","content":"Please refer to [MaixCAM Model Conversion](../ai_model_converter/maixcam.html), and find the model documentation you need to convert in the left directory, such as [Custom YOLOv5 Model](./customize_model_yolov5.html)."},"/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/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/object_track.html":{"title":"","content":""},"/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: 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/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 MAIXCDK_PATH to specify the path to MaixCDK, which can be added in ~/.bashrc or ~/.zshrc (depending on your shell): ```shell export MAIXCDK_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/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/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/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 '.__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&)@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/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 **Method One**: Directly Modify MaixPy Firmware， Refer to [Viewing MaixPy API Source Code](../basic/view_src_code.html) for guidance."},"/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/projects/face_tracking.html":{"title":"MaixPy Face Tracking 2 axis servo gimbal","content":" title: MaixPy Face Tracking 2 axis servo gimbal update: date: 2024 06 11 author: iawak9lkm 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). ## Description Face recognition and tracking is accomplished using a gimbal consisting of two servos and MaixCAM. ![](../../../../projects/app_face_tracking/assets/face_tracking1.jpg) ![](../../../../projects/app_face_tracking/assets/face_tracking2.jpg) ## Usage of this example program * Assemble your Gimbal and MaixCAM. * Modify the parameters in `main.py`. Modify the MaixCAM pins used for each servo. The specified pins must have PWM capability.The `servos.Servos` constructor then configures the pin for PWM functionality. ```python ROLL_PWM_PIN_NAME \"A17\" PITCH_PWM_PIN_NAME \"A16\" ``` Modify the initial positions of the two servos. ```python init_pitch 80 # init position, value: [0, 100], means minimum angle to maxmum angle of servo init_roll 50 # 50 means middle ``` You need to modify the min max PWM duty cycle for the active range of each of the two servos. NOTE: Certain Gimbal configurations may have unintended consequences when servos exceed their physically limited maximum range of motion. Ensure that there is no obstruction within the range of motion of the servos corresponding to the following setpoints. ```python PITCH_DUTY_MIN 3.5 # The minimum duty cycle corresponding to the range of motion of the y axis servo. PITCH_DUTY_MAX 9.5 # Maximum duty cycle corresponding to the y axis servo motion range. ROLL_DUTY_MIN 2.5 # Minimum duty cycle for x axis servos. ROLL_DUTY_MAX 12.5 # Maxmum duty cycle for x axis servos. ``` You need to select the direction of motion of the servos. ```python pitch_reverse False # reverse out value direction roll_reverse True # reverse out value direction ``` * Just execute the code at the end. * If you want to exit the program, just press the button in the upper left corner. ![](../../../../projects/app_face_tracking/assets/exit.jpg) ### FAQs * The face tracking is not ideal. Different Gimbal use different PID parameters, you can adjust the PID value to make the effect better. ```python pitch_pid [0.3, 0.0001, 0.0018, 0] # [P I D I_max] roll_pid [0.3, 0.0001, 0.0018, 0] # [P I D I_max] ``` * After completing the tracking, the gimbal jerks small left and right for a period of time against a motionless face. You can usually make this effect as small as possible by adjusting the PID; however, there is no way to avoid the jitter caused by the physical structure of the gimbal. You can try to adjust the deadband to minimize the jitter. ```python target_ignore_limit 0.08 # when target error < target_err_range*target_ignore_limit , set target error to 0 ``` * The display shows or the terminal prints `PIN: XXX does not exist`. This is because the pin does not exist in the pinout of the MaixCAM board. Please select a pin with PWM function on MaixCAM. * The display shows or the terminal prints `Pin XXX doesn't have PWM function`. This is because the pin does not have a PWM function, you need to select a pin with a PWM function. ## How to track other objects * In `main.py` there exists a class `Target` which is used to customize the target to be tracked. * In `__init__`, initialize the objects you need to use, such as the camera. * In `__get_target()`, you need to calculate the center point of the tracked object, and if the tracked object does not exist in the frame, return 1, 1 to make sure that the program does not do anything for a while if the target is not found. You also need to call `self.__exit_listener(img)` and `self.disp.show(img)` before returning to the point to make sure that the program can interact with you properly."},"/maixpy/doc/en/basic/auto_start.html":{"title":"MaixPy/MaixCAM Application Auto-Start at Boot","content":" title: MaixPy/MaixCAM Application Auto Start at Boot Packaged applications can be set to automatically start when the device boots up, bypassing the application menu and directly launching the specified application. ## Method One for Setting Application Auto Start First, package and install the application, then go to `Settings > Auto Start` on your device to select the application you want to auto start. To cancel auto start, you can also adjust it here. ## Method Two for Setting Application Auto Start You can also modify the `/maixapp/auto_start.txt` file in your device to set it up. For methods on file transfer, refer to the previous documentation. * First, determine the `id` of the application you want to set. This is set when you package the application; if it's not an application you packaged yourself, you can install it on the device and check the folder names under the device's `/maixapp/apps/` directory, which are the application names (or you can download and check the device's `/maixapp/apps/app.info` file, where the application `id` is indicated inside the `[]` brackets). * Then write the `id` into the `/maixapp/auto_start.txt` file. (You can create the file locally on your computer, and then transfer it to the device using `MaixVision`.) * To cancel, delete the `/maixapp/auto_start.txt` file on the device. ## Other Methods For MaixCAM, since the underlying system is Linux, if you are familiar with Linux, you can edit the startup scripts in `/etc/rc.local` or `/etc/init.d`. However, it is important to note that this method may cause the application to continue running when MaixVision connects, thereby occupying resources (such as the screen and camera) which might prevent MaixVision from running programs normally. The first two methods allow MaixVision to terminate the program upon connection to run its own programs. Thus, this method is more suitable for running background processes that do not occupy screen and camera resources. Generally, if you are not familiar with Linux, it is not recommended to use this method."},"/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/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/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/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(Recommend) 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. You can also execute Python code to call system command to install: ```python import os os.system(\"pip install MaixPy U\") ``` > If you are comfortable using the terminal, you can also update MaixPy by using `pip install MaixPy U` in the terminal. And you can download `wheel` file (`.whl`format) manually, and send to device(transfer method see [MaixVision Usage](./maixvision.html)), then install by `pip install *****.whl` command."},"/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/view_src_code.html":{"title":"How to Find the Source Code Corresponding to MaixPy API","content":" title: How to Find the Source Code Corresponding to MaixPy API ## Introduction MaixPy is implemented based on Python, with some functions written in Python and most of the underlying code written in C/C++. This ensures efficient performance. If you have questions while using a function, you can consult this document and the API documentation. If your doubts are still unresolved, you can find the underlying implementation source code using the method described in this article. **You are also welcome to contribute to the documentation or code, and become a MaixPy developer!** ## Check the Documentation First Always check the documentation first: [https://wiki.sipeed.com/maixpy/](https://wiki.sipeed.com/maixpy/), then check the API documentation: [https://wiki.sipeed.com/maixpy/api/index.html](https://wiki.sipeed.com/maixpy/api/index.html). The API documentation is only available in English because it is generated from the comments in the code, which are all in English. If you can't understand English, you can use a translation tool. ## How to Find the Source Code Corresponding to the API There are two open source repositories: [MaixPy](https://github.com/sipeed/MaixPy) and [MaixCDK](https://github.com/sipeed/MaixCDK). MaixPy is the project repository containing part of the MaixPy source code, all documents, and examples; MaixCDK contains most of the underlying C/C++ implementations of MaixPy APIs. You can download these two repositories or view them directly on the web. **Don't forget to give them a star so more people can see it!** ### Finding C/C++ Written APIs Assume we want to find the `maix.image.Image.find_blobs` function as an example. First, let's try to find it manually: * Since this is a vision related API, we look in the `components/vision/include` directory of [MaixCDK](https://github.com/sipeed/MaixCDK) and see a `maix_image.hpp` header file, where we might find it. * Searching for `find_blobs` in `maix_image.hpp`, we immediately find the function declaration: ```c++ std::vector find_blobs(std::vector> thresholds std::vector>(), bool invert false, std::vector roi std::vector(), 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); ``` * We also notice that there are comments before the function declaration, from which the API documentation is automatically generated. If you compare the API documentation with this comment, you will find them identical. Modifying this comment and recompiling will generate updated API documentation. * This is just the function declaration. We find that there is no such function in `components/vision/src/maix_image.cpp`. However, we see `components/vision/src/maix_image_find_blobs.cpp`, indicating that the function is written in a separate `cpp` file. Here, we can see the function's source code. ### Finding APIs Written with Pybind11 If you can't find it in MaixCDK, look in [MaixPy/components](https://github.com/sipeed/MaixPy/tree/main/components). > In the above code, you'll notice that the first parameter we use in `find_blobs` is of type `list`, i.e., `[[...]]`, while the C/C++ definition is `std::vector>`. This is because we use `pybind11` to automatically convert the `std::vector` type to `list` type. For some types like `numpy`'s `array`, which are inconvenient to define in MaixCDK, we use the `pybind11` definitions in [MaixPy/components](https://github.com/sipeed/MaixPy/tree/main/components). For example, the `maix.image.image2cv` method uses `pybind11` related code here. ## How to Modify the Code After finding the code, modify it directly and compile the firmware following the [build documentation](../source_code/build.html). ## How to Add Code Copy other APIs, write a function, and add complete comments. Include an extra `@maixpy maix.xxx.xxx` tag in the comments, where `xxx` is the module and API name you want to add. Then compile the firmware. Refer to [MaixCDK/components/basic/includemaix_api_example.hpp](https://github.com/sipeed/MaixCDK/blob/master/components/basic/include/maix_api_example.hpp). API parameters and return values automatically convert from basic `C++` types to Python types, making it very simple. See the [pybind11 automatic type conversion list](https://pybind11.readthedocs.io/en/stable/advanced/cast/overview.html#conversion table) for details. For example, to add `maix.my_module.my_func`, create a header file in the appropriate place in MaixCDK (preferably following the current folder classification) and add the code: ```cpp namespace maix::my_module { /** * My function, add two integers. * @param a arg a, int type * @param b arg b, int type * @return int type, will return a + b * @maixpy maix.my_module.my_func */ int my_func(int a, int b); } ``` Then add a `cpp` file: ```cpp int my_func(int a, int b) { return a + b; } ``` Compile MaixPy to generate the `whl` file and install it on the device to use the `maix.my_module.my_func` function. ## How to Contribute Code If you find any unfinished APIs or bugs in MaixPy, feel free to submit a PR (Pull Request) to the MaixPy repository. For detailed submission methods, see [Contributing Documentation and Code](../source_code/contribute.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/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 Burning](https://wiki.sipeed.com/hardware/zh/maixcam/os.html) tutorial. Note that if the conditions for `USB Burning` are met, it is recommended to use the `USB Burning` method. The USB burning method does not require removing the TF card."},"/maixpy/doc/en/index.html":{"title":"MaixPy Quick Start","content":" title: MaixPy Quick Start
    The only official website for MaixPy: wiki.sipeed.com/maixpy
    MaixPy examples and source code: github.com/sipeed/MaixPy

    > For an introduction to MaixPy, please see the [MaixPy official website homepage](../../index.html) ## Get a MaixCAM Device * **MaixCAM**: Purchase the MaixCAM 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). **It is highly recommended to purchase a package that includes a screen, as it greatly enhances the development experience.** If you do not need a screen for actual deployment in a production environment, you can start with a screen included kit for initial development, and then either remove the screen or purchase a screenless version for mass production later on. * **TF card reader**: To flash the system. * **USB to serial port module**: If you want to debug serial communication, it is recommended to prepare one. You can buy any one from Taobao or buy them together at Sipeed store, such as this [dual serial port to USB module](https://item.taobao.com/item.htm?spm a1z10.5 c s.w4002 24984936573.13.73cc59d6AkB9bS&id 610365562537). >! 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. If you don't have a router, you can use your phone to open a hotspot. Click `Settings` on the device and select `WiFi`. There are two ways to connect to the `WiFi` hotspot: * Scan the WiFi sharing code: * Use your phone to share the `WiFi` hotspot QR code, or go to [maixhub.com/wifi](https://maixhub.com/wifi) to generate a QR code. * Click the `Scan QR code` button, the camera screen will appear, scan the QR code generated previously to connect. * Search for hotspots: * Click the `Scan` button to start scanning the surrounding `WiFi`, you can click multiple times to refresh the list. * Find your WiFi hotspot. * Enter the password and click the `Connect` button to connect. Then wait for the `IP` address to be obtained, which may take `10` to `30` seconds. If the interface does not refresh, you can exit the `WiFi` function and re enter to view it, or you can also see the `IP` information in `Settings` > `Device Information`. ### 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: 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. > 如果应用没有做串口输出结果，你也可以自己基于对应功能的例程，自行按照[串口使用文档](./peripheral/uart.html)添加串口输出结果。 > If APP no serial output, you can also do it by yourself, follow function examples and [UART usage doc](./peripheral/uart.html) to add function and serial output. ## 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: ## 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/audio/record.html":{"title":"MaixPy Audio Record","content":" title: MaixPy Audio Record update: date: 2024 05 20 author: lxowalle version: 1.0.0 content: Initial document ## Introduction This document provides methods for recording ### How to use An example of a recording ```python from maix import audio, time, app r audio.Recorder() r.volume(12) print(\"sample_rate:{} format:{} channel:{}\".format(r.sample_rate(), r.format(), r.channel())) while not app.need_exit(): data r.record() print(\"data size\", len(data)) time.sleep_ms(10) print(\"record finish!\") ``` Steps： 1. Import the audio, time and app modules: ```python from maix import audio, time, app ``` 2. Initialize Recorder ```python r audio.Recorder() r.volume(12) ``` Note that the default sample rate is 48k, the sample format is little endian format signed 16 bit, and the sample channel is 1. You can also customise the parameters like this `r audio.Recorder(sample_rate 48000, format audio.Format.FMT_S16_LE, channel 1)`. So far only tested with sample rate 48000, format `FMT_S16_LE`, and number of sampling channels 1. `r.volume(12)` is used to set the volume, the volume range is [0,24] 3. Start recording ```python data r.record() ``` `data` is `bytes` type data in `PCM` format that holds the currently recorded audio. The `PCM` format is set when initialising the `Recorder` object, see step 2. 4. Done, you can do voice processing on the `PCM` data returned by `r.record()` when doing your own applications."},"/maixpy/doc/en/audio/play.html":{"title":"MaixPy Playback Audio","content":" title: MaixPy Playback Audio update: date: 2024 05 20 author: lxowalle version: 1.0.0 content: Initial document ## Introduction This document provides instructions on how to play audio ## How to use ### Hardware operation ![image 20240520134637905](../../../static/image/maixcam_hardware_back.png) The `MaixCAM` does not have a built in speaker, so you will need to solder a `1W` speaker yourself. The pins for soldering the speaker are shown in the diagram above on the `VOP` and `VON` pins corresponding to the Speaker. Note: If the `MaixCAM` has copper posts attached to these pins, they can be soldered directly to the posts, or on the other side of the board for aesthetic reasons. ### Code Method of playing a PCM file ```python from maix import audio, time, app p audio.Player() with open('/root/output.pcm', 'rb') as f: ctx f.read() p.play(bytes(ctx)) while not app.need_exit(): time.sleep_ms(10) print(\"play finish!\") ``` Steps： 1. Import the audio, time and app modules: ```python from maix import audio, time, app ``` 2. Initialize the player: ```python p audio.Player() ``` Note that the default sample rate is 48k, the sample format is little endian format signed 16 bit, and the sample channel is 1. You can also customise the parameters like this `p audio.Player(sample_rate 48000, format audio.Format.FMT_S16_LE, channel 1)`. So far only tested with sample rate 48000, format `FMT_S16_LE`, and number of sampling channels 1. 3. Open and playback a PCM file ```python with open('/root/output.pcm', 'rb') as f: ctx f.read() p.play(bytes(ctx)) while not app.need_exit(): time.sleep_ms(10) ``` `with open(‘xxx’,‘rb’) as f:` open file `xxx` and get file object `f` `ctx f.read()` reads the contents of the file into `ctx` `p.play(bytes(ctx))` plays the audio, `p` is the opened player object, `ctx` is the `PCM` data converted to type bytes `time.sleep_ms(10)` Here there is a loop to wait for the playback to complete, as the playback operation is performed asynchronously, and if the program exits early, then it may result in the audio not being played completely. 4. Done"},"/maixpy/doc/en/audio/recognize.html":{"title":"","content":""},"/maixpy/doc/en/pro/compile_os.html":{"title":"","content":""},"/maixpy/doc/en/video/record.html":{"title":"MaixPy Video Record","content":" title: MaixPy Video Record update: date: 2024 05 20 author: lxowalle version: 1.0.0 content: Initial document ## Introduction This document provides instructions on how to use the video recording feature ## Example 1 An example of recording a video in `h265` format. ```python from maix import video, image, camera, app, time cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) e video.Encoder() f open('/root/output.h265', 'wb') record_ms 2000 start_ms time.ticks_ms() while not app.need_exit(): img cam.read() frame e.encode(img) print(frame.size()) f.write(frame.to_bytes()) if time.ticks_ms() start_ms > record_ms: app.set_exit_flag(True) ``` 步骤： 1. import module and Initialize the camera ```python from maix import video, image, camera, app, time cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) ``` `camera.Camera()` is used to initialise the camera, here the camera resolution is initialised to `640x480`, currently the `Encoder` only supports the `NV21` format, so set the image format to `image.Format.FMT_YVU420SP`. 2. Initialise the `Encoder` module ```python e video.Encoder() ``` The `video.Encoder()` module currently only supports processing `image.Format.FMT_YVU420SP` format images, which supports `h265` and `h264` encoding, and defaults to `h265` encoding. If you want to use `h264` encoding, then you can change the initialisation parameter to ` video.Encoder(type video.VideoType.VIDEO_H264_CBR)`. Note that only one encoder can exist at the same time 3. Encoding the camera image ```python img cam.read() frame e.encode(img) ``` `img cam.read()` read camera image and save to `img` `frame e.encode(img)` encode `img` and save result to `frame` 4. Save the encoded result to file ```python f open('/root/output.h265', 'wb') f.write(frame.to_bytes(False)) ``` `f open(xxx)` opens and creates a file `f.write(frame.to_bytes(False))` converts the encoding result `frame` to type `bytes` and then calls `f.write()` to write the data to the file 5. Timed 2s exit ```python record_ms 2000 start_ms time.ticks_ms() while not app.need_exit(): if time.ticks_ms() start_ms > record_ms: app.set_exit_flag(True) ``` Here is the application logic for the timed exit, see the code for yourself 6. Done ## Example 2 An example of recording a video in `h265` format. ```python from maix import video, time, image, camera, app cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) e video.Encoder(capture True) e.bind_camera(cam) f open('/root/output.h265', 'wb') record_ms 2000 start_ms time.ticks_ms() while not app.need_exit(): frame e.encode() img e.capture() print(frame.size()) f.write(frame.to_bytes(True)) if time.ticks_ms() start_ms > record_ms: app.set_exit_flag(True) ``` Similar to example 1, the difference is that the `Encoder` object's `bind_camera` method is called, and the `Encoder` takes the initiative to get the camera image, which has the advantage of using the hardware features to increase the encoding speed. ``` e video.Encoder(capture True) e.bind_camera(cam) frame e.encode() img e.capture() ``` `e video.Encoder(capture True)` enables the `capture` parameter to allow encoding to capture encoded images when encoding `e.bind_camera(cam)` binds the camera to the `Encoder` object `frame e.encode()` Instead of passing in `img` when encoding, fetch the image from the camera internally `img e.capture()` captures the encoded image from the `Encoder` object, which can be used for image processing ## Convert to MP4 format If you want to record video in `mp4` format, you can record `H265` video first, and then use the `ffmpeg` tool in the system to convert to `mp4` format. ```python import os # Pack h265 to mp4 # /root/output.h265 is the h265 file path # /root/output.mp4 is the mp4 file path os.system('ffmpeg loglevel quiet i /root/output.h265 c:v copy c:a copy /root/output.mp4 y') ```"},"/maixpy/doc/en/video/rtsp_streaming.html":{"title":"MaixPy Video Streaming RTSP Push Streaming","content":" title: MaixPy Video Streaming RTSP Push Streaming update: date: 2024 05 20 author: lxowalle version: 1.0.0 content: Initial documentation ## Introduction This document provides methods for pushing streaming camera image via RTSP ## How to use ```python from maix import time, rtsp, camera, image server rtsp.Rtsp() cam camera.Camera(2560, 1440, image.Format.FMT_YVU420SP) server.bind_camera(cam) server.start() print(server.get_url()) while True: time.sleep(1) ``` Steps: 1. Import the image、camera、image and rtsp modules: ```python from maix import time, rtsp, camera, image ``` 2. Initialize the camera: ```python cam camera.Camera(2560, 1440, image.Format.FMT_YVU420SP) # Initialise camera, output resolution 2560x1440 NV21 format ``` Note that the RTSP module currently only supports the NV21 format, so the camera needs to be configured to output in NV21 format. 3. Initialise and start the Rtsp object ```python server rtsp.Rtsp() server.bind_camera(cam) server.start() ``` ``server rtsp.Rtsp()`` used to create an ``Rtsp`` object `server.bind_camera(cam)` is used to bind a `Camera` object, after which the original `Camera` object can no longer be used. `server.start()` is used to start the `rtsp` push stream. 4. Print the URL of the current RTSP stream ``python print(server.get_url()) `` ``server.get_url()`` is used to get the ``playback address`` of ``RTSP``. 6. Finished, after running the above code, you can play the video stream through [VLC](https://www.videolan.org/vlc/) software, the tested version of `VLC` is `3.0.20`. The default playback address is `rtsp://device ip:8554/live`. ## OSD Drawing lines and frames via OSD TODO"},"/maixpy/doc/en/video/rtmp_streaming.html":{"title":"MaixPy Video Streaming RTMP Push Streaming","content":" title: MaixPy Video Streaming RTMP Push Streaming update: date: 2024 05 31 author: lxowalle version: 1.0.0 content: initial document ## Introduction This document provides methods for pushing H264 video streams via RTMP ## How to use The following example shows pushing an h264 video stream to `rtmp://192.168.0.30:1935/live/stream` ```python from maix import camera, time, rtmp, image cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) # rtmp://192.168.0.30:1935/live/stream host '192.168.0.30' port 1935 app 'live' stream 'stream' bitrate 1000_000 r rtmp.Rtmp(host, port, app, stream, bitrate) r.bind_camera(cam) r.start() while True: time.sleep(1) ``` Steps: 1. Import the camera、rtmp、time and image modules: ```python from maix import camera, time, rtmp, image ``` 2. Initialize the camera: ```python cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) # Initialise camera, output resolution 640x480 NV21 format ``` Note that the RTMP module currently only supports the NV21 format, so the camera needs to be configured to output in NV21 format. 3. Initialise and start the Rtmp object ```python r rtmp.Rtmp(host, port, app, stream, bitrate) r.bind_camera(cam) r.start() ``` `r rtmp.Rtmp(host, port, app, stream, bitrate)` is used to create an `Rtmp` object, where `host` refers to the ip address or domain of the rtmp server, `app` refers to the name of the application that is open to the rtmp server, and `stream` refers to the name of the rtmp stream, which can also be used as the key for pushing the stream `r.bind_camera(cam)` is used to bind a `Camera` object, the original `Camera` object can not be used after binding. `r.start()` is used to start the `rtmp` stream. 4. Done ## Push streaming test to Bilibili ### Launch bilibili live stream 1. Click on Live Streaming ![](../../../static/image/bilibili_click_live.png) 2. Click on Live Streaming Settings ![](../../../static/image/bilibili_click_live_setting.png) 3. Find the live streaming address ![](../../../static/image/bilibili_check_live_link.png) 4. Scroll down, select a category, and click Start Live! ![](../../../static/image/bilibili_live_start.png) 5. Get the push stream address ![](../../../static/image/bilibili_check_rtmp_url.png) server address: `rtmp://live push.bilivideo.com/live bvc` key：`?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1` Push stream address: `rtmp://live push.bilivideo.com/live bvc/?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1` ### Run the RTMP client ```python from maix import camera, time, rtmp, image cam camera.Camera(640, 480, image.Format.FMT_YVU420SP) # rtmp://live push.bilivideo.com/live bvc/?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1 host 'live push.bilivideo.com' port 1935 app 'live bvc' stream '?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1' bitrate 1000_000 r rtmp.Rtmp(host, port, app, stream, bitrate) r.bind_camera(cam) r.start() while True: time.sleep(1) ``` Above get bilibili's push stream address as `rtmp://live push.bilivideo.com/live bvc/?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1` Can be detached: 1. server address is `live push.bilivideo.com` 2. port is `1935`, if there is no port number, the default is `1935` 3. application name is `live bvc` 4. stream name is `?streamname live_xxxx&key 1fbfxxxxxxxxxxxxxffe0&schedule rtmp&pflag 1` Run the code and you will be able to see the `maixcam` screen in the live stream, if you find that the live stream is not displayed, try to close the live stream first, then reopen it and run the code again. Try it~!"},"/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 date: 2024 05 20 author: lxowalle version: 1.0.1 content: update JPEG HTTP usage ## Introduction Sometimes it is necessary to send images to a server, or to push video from a webcam to a server, so here are two ways to do it. One of the simplest methods 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. Set up an HTTP server, so that the PC side can be accessed directly through the browser. ## Methods for pushing streams as a client ```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`. ## Methods for pushing streams as a server ```python from maix import camera, time, app, http html \"\"\" JPG Stream

    MaixPy JPG Stream

    \"\"\" cam camera.Camera(320, 240) stream http.JpegStreamer() stream.set_html(html) stream.start() print(\"http://{}:{}\".format(stream.host(), stream.port())) while not app.need_exit(): t time.ticks_ms() img cam.read() jpg img.to_jpeg() stream.write(jpg) print(f\"time: {time.ticks_ms() t}ms, fps: {1000 / (time.ticks_ms() t)}\") ``` Steps: 1. Import the image, camera and http modules: ```python from maix import image, camera, http ``` 2. Initialize the camera: ```python cam camera.Camera(320, 240) ``` 3. Initialize Stream Object ```python stream http.JpegStreamer() stream.start() ``` `http.JpegStreamer()` is used to create a `JpegStreamer` object, which will start an `http server` that will be used to publish `jpeg` image streams to clients. `stream.start()` is used to start the `http server`. 4. Custom html styles (optional) ```python html \"\"\" JPG Stream

    MaixPy JPG Stream

    \"\"\" stream.set_html(html) ``` `html xxx` is the `html` code that can be used to customise the style of your web page. Note that the core code is ``, be sure not to miss this line of code. `stream.set_html(html)` is used to set the custom `html` code, this step is optional. The default browsing address is `http://device_ip:8000`. 5. Getting images from the camera and pushing streams ```python while 1: img cam.read() jpg img.to_jpeg() stream.write(jpg) ``` `img cam.read()` gets an image from the camera, when initialised as `cam camera.Camera(320, 240)` the `img` object is an RGB image with a resolution of 320x240. `jpg img.to_jpeg()` converts the image to `jpeg` format `stream.write(jpg)` writes the image format to the server and the `http` server will send this image to the `http` client. 6. 6. Done, after running the code above, you can see the video stream directly through your browser, the default address is `http://device_ip:8000`. Open your browser and take a look!"},"/maixpy/doc/en/modules/thermal_cam.html":{"title":"","content":""},"/maixpy/doc/en/modules/temp_humi.html":{"title":"Reading Temperature and Humidity Sensors with MaixPy","content":" title: Reading Temperature and Humidity Sensors with MaixPy ## Introduction By attaching a temperature and humidity sensor module to MaixCAM, you can easily read the environmental temperature and humidity. This example uses the `Si7021` sensor, which can be driven via `I2C`. The complete code is available at [MaixPy/examples/sensors/temp_humi_si7021.py](https://github.com/sipeed/MaixPy/blob/main/examples/sensors/temp_humi_si7021.py). Note that the system image needs to be version `> 2024.6.3_maixpy_v4.2.1`."},"/maixpy/doc/en/modules/tof.html":{"title":"","content":""},"/maixpy/doc/en/modules/acc.html":{"title":"","content":""},"/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 Refer to [MaixCAM FAQ](https://wiki.sipeed.com/hardware/zh/maixcam/faq.html) ## What are the differences between Runtime, MaixPy, and system image? Which one should I upgrade? * **Runtime** is the runtime environment. Many system functions depend on it, including MaixPy. If you encounter the problem of being unable to run the program, first check and update it online. * The system image includes the basic operating system, hardware drivers, built in applications, and MaixPy firmware, etc. It is the basic environment. It is best to keep it up to date, especially in the [Release](https://github.com/sipeed/MaixPy/releases) page. If the version update mentions that the system has been updated, it is strongly recommended to update the system, because some MaixPy functions may depend on the drivers in the system. > Updating the system will format all previous data. Please back up useful data in the device system before updating. * **MaixPy** is a dependent library for running the MaixPy program. If you do not need to update the system function, and the update log does not mention that the system has important updates such as drivers, you can update MaixPy alone."},"/maixpy/doc/en/vision/touchscreen.html":{"title":"MaixPy / MaixCAM Touchscreen Usage Guide","content":" title: MaixPy / MaixCAM Touchscreen Usage Guide ## Introduction MaixCAM comes equipped with a touchscreen, which, when used in conjunction with applications, can facilitate numerous engaging functionalities. We can utilize APIs to detect touch interactions on the touchscreen. ## Reading Touch Input with MaixPy MaixPy offers a straightforward `maix.touchscreen.TouchScreen` class for reading touch inputs. Here's an example: ```python from maix import touchscreen, app, time ts touchscreen.TouchScreen() pressed_already False last_x 0 last_y 0 last_pressed False while not app.need_exit(): x, y, pressed ts.read() if x ! last_x or y ! last_y or pressed ! last_pressed: print(x, y, pressed) last_x x last_y y last_pressed pressed if pressed: pressed_already True else: if pressed_already: print(f\"clicked, x: {x}, y: {y}\") pressed_already False time.sleep_ms(1) # sleep some time to free some CPU usage ``` ## Interactivity with the Screen Integrating the screen can enable various interactive user experiences. More examples can be found in the [MaixPy/examples/vision/touchscreen](https://github.com/sipeed/MaixPy) directory. As previously described, to display content on the screen, typically, a `maix.image.Image` object is created and displayed using `disp.show(img)`. Implementing a button is as simple as drawing one on the image and then detecting touches within its area, ensuring that the image's dimensions match those of the screen: ```python from maix import touchscreen, app, time, display, image ts touchscreen.TouchScreen() disp display.Display() img image.Image(disp.width(), disp.height()) # draw exit button exit_label \"< Exit\" size image.string_size(exit_label) exit_btn_pos [0, 0, 8*2 + size.width(), 12 * 2 + size.height()] img.draw_string(8, 12, exit_label, image.COLOR_WHITE) img.draw_rect(exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3], image.COLOR_WHITE, 2) def is_in_button(x, y, btn_pos): return x > btn_pos[0] and x < btn_pos[0] + btn_pos[2] and y > btn_pos[1] and y < btn_pos[1] + btn_pos[3] while not app.need_exit(): x, y, pressed ts.read() if is_in_button(x, y, exit_btn_pos): app.set_exit_flag(True) img.draw_circle(x, y, 1, image.Color.from_rgb(255, 255, 255), 2) disp.show(img) ``` ## Handling Different Screen and Image Sizes In the example above, the `img` matches the screen size. If your `img` and screen sizes differ (e.g., using `img image.Image(240, 240)` on a `640x480` screen), the default behavior of `disp.show(img)` is `image.Fit.FIT_CONTAIN`, which scales the image to `480x480` and fills the sides with black. If a button is drawn on the `240x240` image, such as at coordinates `(0, 0, 60, 40)`, the button will also be scaled up. Thus, the coordinates for touch detection should be adjusted to `((640 480) / 2, 0, 480/240*60, 480/240*40)`, which translates to `(80, 0, 120, 80)`. For convenience in scaling images and quickly calculating the positions and sizes of points or rectangles in the scaled image, the `image.resize_map_pos` function is provided: ```python from maix import touchscreen, app, time, display, image ts touchscreen.TouchScreen() disp display.Display() img image.Image(240, 240) img.draw_rect(0, 0, img.width(), img.height(), image.COLOR_WHITE) # draw exit button exit_label \"< Exit\" size image.string_size(exit_label) exit_btn_pos [0, 0, 8*2 + size.width(), 12 * 2 + size.height()] img.draw_string(8, 12, exit_label, image.COLOR_WHITE) img.draw_rect(exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3], image.COLOR_WHITE, 2) # 图像按键坐标映射到屏幕上的坐标 exit_btn_disp_pos image.resize_map_pos(img.width(), img.height(), disp.width(), disp.height(), image.Fit.FIT_CONTAIN, exit_btn_pos[0], exit_btn_pos[1], exit_btn_pos[2], exit_btn_pos[3]) def is_in_button(x, y, btn_pos): return x > btn_pos[0] and x < btn_pos[0] + btn_pos[2] and y > btn_pos[1] and y < btn_pos[1] + btn_pos[3] while not app.need_exit(): x, y, pressed ts.read() if is_in_button(x, y, exit_btn_disp_pos): app.set_exit_flag(True) # 屏幕的坐标映射回图像上对应的坐标，然后在图像上画点 x, y image.resize_map_pos_reverse(img.width(), img.height(), disp.width(), disp.height(), image.Fit.FIT_CONTAIN, x, y) img.draw_circle(x, y, 1, image.Color.from_rgb(255, 255, 255), 2) disp.show(img, fit image.Fit.FIT_CONTAIN) ```"},"/maixpy/doc/en/vision/customize_model_yolov5.html":{"title":"Offline Training of YOLOv5 Model for Custom Object Detection with MaixPy","content":" title: Offline Training of YOLOv5 Model for Custom Object Detection with MaixPy update: date: 2024 6 20 version: v1.0 author: neucrack content: Documentation written ## Introduction The default official model provides detection for 80 types of objects. If this does not meet your needs, you can train your own detection objects using two methods: * Use [MaixHub Online Training](./maixhub_train.html), which is convenient and fast, without needing to buy a server or set up an environment, just a few clicks of the mouse. * Set up a training environment on your own computer or server. The former is simple and quick, while the latter uses your own computer and the number of training images is not limited, but the latter is much more difficult. **Note:** This article explains how to customize training, but some basic knowledge is assumed. If you do not have this knowledge, please learn it yourself: * This article will not explain how to install the training environment. Please search and install it yourself (Pytorch environment installation) and test it. * This article will not explain the basic concepts of machine learning or basic Linux usage knowledge. If you think there is something in this article that needs improvement, feel free to click `Edit this article` in the upper right corner to contribute and submit a documentation PR. ## Process and Goals of this Article To use our model on MaixPy (MaixCAM), the following process is required: * Set up the training environment (this is not covered in this article, please search for Pytorch training environment setup). * Pull the [yolov5](https://github.com/ultralytics/yolov5) source code to your local machine. * Prepare the dataset and format it as required by the yolov5 project. * Train the model to get an `onnx` model file, which is the final output file of this article. * Convert the `onnx` model to a `MUD` file supported by MaixPy, which is detailed in [MaixCAM Model Conversion](../ai_model_converter/maixcam.html). * Use MaixPy to load and run the model. ## Reference Articles Since this is a relatively common operational process, this article only provides an overview. For specific details, you can refer to the **[YOLOv5 official code and documentation](https://github.com/ultralytics/yolov5)** (**recommended**), and search for training tutorials to ultimately export the onnx file. Here are some articles from the MaixHub community: * [Deploy yolov5s custom model on maixcam](https://maixhub.com/share/23) * [【Process Sharing】YOLOv5 training custom dataset and deploying on Maixcam](https://maixhub.com/share/32) * [YOLOv5 cat and dog recognition model—free cloud training (reproducible by beginners)](https://maixhub.com/share/25) If you find any good articles, feel free to modify this article and submit a PR. ## Exporting YOLOv5 ONNX Model File YOLOv5 provides an export option. Execute the following command in the `yolov5` directory: ```shell python export.py weights ../yolov5s.pt include onnx img 224 320 ``` This command loads the `pt` parameter file and converts it to `onnx`, while also specifying the resolution. Note that the height comes first, followed by the width. The model was trained with `640x640`, but we re specified the resolution to improve the running speed. The resolution `320x224` is used because it is closer to the MaixCAM screen ratio for better display. You can set it according to your needs. ## MaixCAM MUD File When converting onnx to `mud` format model files, refer to [MaixCAM Model Conversion](../ai_model_converter/maixcam.html). You will eventually get a `mud` file and a `cvimodel` file. The content of the `mud` file is: ```ini [basic] type cvimodel model yolov8n.cvimodel [extra] model_type yolov8 input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 labels person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush ``` Replace the parameters according to the content of your training. For example, if you train to detect digits `0 9`, then just replace `labels 0,1,2,3,4,5,6,7,8,9`, and then place the two files in the same directory and load the `mud` file when running the model. ## Upload share on MaixHub Share your model on [MaixHub model zoo](https://maixhub.com/model/zoo?platform maixcam) 上传并分享你的模型，可以多提供几个分辨率供大家选择。"},"/maixpy/doc/en/vision/face_detection.html":{"title":"MaixPy Face Detection and Keypoint Detection","content":" title: MaixPy Face Detection and Keypoint Detection ## Introduction Face detection can be applied in many scenarios, such as providing the face detection step for face recognition, or for face tracking applications, etc. The face detection provided here can not only detect faces but also detect 5 key points, including two eyes, one nose, and two corners of the mouth. ![face detection](../../assets/face_detection.jpg) ## Using Face Detection in MaixPy MaixPy officially provides three face detection models from the open source projects [Face Detector 1MB with landmark](https://github.com/biubug6/Face Detector 1MB with landmark), [Retinaface](https://github.com/biubug6/Pytorch_Retinaface), and [YOLOv8 face](https://github.com/derronqi/yolov8 face). All three models can be used. `YOLOv8 face` performs better but is slightly slower, so you can choose based on your testing. Using `YOLOv8 face` (requires MaixPy version > 4.3.8): ```python from maix import camera, display, image, nn, app detector nn.YOLOv8(model \"/root/models/yolov8n_face.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, keypoint_th 0.5) 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) detector.draw_pose(img, obj.points, 2, image.COLOR_RED) dis.show(img) ``` For the other two models: Here, a line of commented out code is used to load the `Retinaface` model. Choose which line of code to use based on the model you download. ```python from maix import camera, display, image, nn, app import math detector nn.Retinaface(model \"/root/models/retinaface.mud\") # detector nn.FaceDetector(model \"/root/models/face_detector.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) ``` ## Model Downloads and Other Resolution Models Download the models; the compressed package contains multiple resolutions to choose from. Higher resolution models are more accurate but take longer to process: * [Face Detector 1MB with landmark](https://maixhub.com/model/zoo/377) * [Retinaface](https://maixhub.com/model/zoo/378) * [YOLOv8 face](https://maixhub.com/model/zoo/407)"},"/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:
    Brightness range [l_min, l_max]
    Green to red component range [a_min, a_max]
    Blue to yellow component range [b_min, b_max]
    Multiple thresholds can be set simultaneously Set two thresholds to detect red and green
    ```img.find_blobs(thresholds [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```
    Red threshold is [0, 80, 40, 80, 10, 80]
    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
    ```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
    ```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
    ```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
    ```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. ### Increasing the speed of line tracking Here are a few ways to increase the speed of line tracking 1. Choose a suitable resolution The larger the resolution, the slower the calculation speed, you can choose a more suitable resolution according to the recognition distance and accuracy requirements. 2. Use gray scale image When using gray scale recognition, the algorithm will only process one channel, there is a faster recognition speed, in the environment of a single color will be very useful. Note that only `l_min` and `l_max` are valid when passing `thresholds` to `get_regression` when using gray scale image recognition. Methods for get gray scale image: ```python # Example 1 cam camera.Camera(320, 240， image.Format.FMT_GRAYSCALE) \t# Support after MaixPy v4.2.1 gray_img cam.read()\t\t\t\t\t\t\t\t\t\t\t# get gray scale image # Example 2 cam camera.Camera(320, 240) img cam.read() gray_img img.to_format(image.Format.FMT_GRAYSCALE)\t\t\t# get gray scale image ``` ## 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 ### 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/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:
    ```img.find_apriltags(roi [50, 50, 100, 100])``` families Apriltag label family type Scan for labels from the TAG36H11 family:
    ```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/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:
    Brightness range [l_min, l_max]
    Green to red component range [a_min, a_max]
    Blue to yellow component range [b_min, b_max]
    Multiple thresholds can be set simultaneously Set two thresholds to detect red and green
    ```img.find_blobs(thresholds [[0, 80, 40, 80, 10, 80], [0, 80, 120, 10, 0, 30]])```
    Red threshold is [0, 80, 40, 80, 10, 80]
    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
    ```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
    ```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
    ```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
    ```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. ### 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/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/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\") if img is None: raise Exception(f\"load image failed\") 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`. ## Chinese support and custom fonts The `image` module supports loading `ttf/otf` fonts. The default font only supports English. If you want to display Chinese or custom fonts, you can first download the font file to the device and then load the font. The system also has several built in fonts, under the `/maixapp/share/font` directory, code example: ```python from maix import image, display, app, time image.load_font(\"sourcehansans\", \"/maixapp/share/font/SourceHanSansCN Regular.otf\", size 32) print(\"fonts:\", image.fonts()) image.set_default_font(\"sourcehansans\") disp display.Display() img image.Image(disp.width(), disp.height()) img.draw_string(2, 2, \"Hello! Hello, world!\", image.Color.from_rgba(255, 0, 0)) disp.show(img) while not app.need_exit(): time.sleep(1) ``` Load the font file, then set the default font, or you can set the default font without setting the default font, and set the parameters in the writing function: ```python img.draw_string(2, 2, \"你好！Hello, world!\", image.Color.from_rgba(255, 0, 0), font \"sourcehansans\") ``` Note that the `string_size` method will also use the default font to calculate the size, and you can also use the `font` parameter to set the font to be calculated separately. ## 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/opencv.html":{"title":"Use OpenCV","content":" title: Use OpenCV ## Introduction For MaixCAM, since it uses Linux and the performance can support using the Python version of OpenCV, you can use the `cv2` module directly in addition to the `maix` module. The examples in this article and more can be found in [MaixPy/examples/vision/opencv](https://github.com/sipeed/MaixPy/tree/main/examples/vision/opencv). **Note that OpenCV functions are basically CPU calculated. If you can use maix modules, try not to use OpenCV, because many maix functions are hardware accelerated.** ## Load an Image ```python import cv2 file_path \"/maixapp/share/icon/detector.png\" img cv2.imread(file_path) print(img) ``` Since the `cv2` module is quite large, `import cv2` may take some time. ## Display Image on Screen To display an image on the screen, convert it to a `maix.image.Image` object and then use `display` to show it: ```python from maix import display, image, time import cv2 disp display.Display() file_path \"/maixapp/share/icon/detector.png\" img cv2.imread(file_path) img_show image.cv2image(img) disp.show(img_show) while not app.need_exit(): time.sleep(1) ``` ## Use OpenCV Functions For example, edge detection: Based on the code above, use the `cv2.Canny` function: ```python from maix import image, display, app, time import cv2 file_path \"/maixapp/share/icon/detector.png\" img0 cv2.imread(file_path) disp display.Display() while not app.need_exit(): img img0.copy() # canny method t time.ticks_ms() edged cv2.Canny(img, 180, 60) t2 time.ticks_ms() t # show by maix.display t time.ticks_ms() img_show image.cv2image(edged) print(f\"edge time: {t2}ms, convert time: {time.ticks_ms() t}ms\") disp.show(img_show) ``` ## Use Camera On a PC, we use OpenCV's `VideoCapture` class to read from the camera. For MaixCAM, OpenCV does not support this directly, so we use the `maix.camera` module to read from the camera and then use it with OpenCV. Convert a `maix.image.Image` object to a `numpy.ndarray` object using the `image.image2cv` function: ```python from maix import image, display, app, time, camera import cv2 disp display.Display() cam camera.Camera(320, 240) while not app.need_exit(): img cam.read() # convert maix.image.Image object to numpy.ndarray object t time.ticks_ms() img image.image2cv(img) print(\"time: \", time.ticks_ms() t) # canny method edged cv2.Canny(img, 180, 60) # show by maix.display img_show image.cv2image(edged) disp.show(img_show) ```"},"/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 Usually, to recognize new categories, we need to collect a dataset on a computer and retrain the model, which is a cumbersome and difficult process. Here, we provide a method that allows for instant learning of new objects directly on the device without the need for computer side training, suitable for less complex scenarios. For example, if there is a bottle and a phone in front of you, you can use the device to take a picture of each as the basis for two classifications. Then, you collect a few more pictures of them from different angles, extract their features and save them. During recognition, the feature values of the image are compared with the saved feature values, and the classification that is more similar to the saved features is considered the corresponding classification. ## Using the Self Learning Classifier in MaixPy The default image comes with the [Self Learning Classification APP](https://maixhub.com/app/30), which you can use directly to get familiar with the process. ![](../../assets/self_learn_classifier.jpg) Steps: * Click the `+ Class` button to collect n classification (class) images. The object needs to be within the white frame on the screen while collecting the images. * Click the `+ Sample` button to collect m sample images. Collect some images for each classification. The order does not matter, and the number is flexible. It's best to take pictures from different angles, but not too different. * Click the `Learn` button to start learning. The device will automatically classify and learn based on the collected classification and sample images, obtaining the characteristics of the classifications. * Align the object with the center of the screen, recognize the image, and output the result. The screen will show the classification it belongs to and the similarity distance to this classification. The closer the similarity distance, the more similar it is. * The feature values ​​learned by this APP will be saved to `/root/my_classes.bin`, so the last one will be automatically loaded after exiting the application or restarting it. Simplified version of the code, for the complete version, please refer to the [examples](https://github.com/sipeed/maixpy/tree/main/examples/vision/ai_vision) for the full code. ```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) ``` ## Storing and Loading Learned Feature Values Use the `save` function to store the learned feature values. This will generate a binary file containing the feature values of the objects. When you need to use it again, simply use the `load` function to load the feature values. ```python classifier.save(\"/root/my_classes.bin\") classifier.load(\"/root/my_classes.bin\") ``` If you have named each classification and stored them in the `labels` variable, you can also use: ```python classifier.save(\"/root/my_classes.bin\", labels labels) labels classifier.load(\"/root/my_classes.bin\") ```"},"/maixpy/doc/en/vision/ocr.html":{"title":"MaixPy 实现 OCR 图片文字提取","content":" title: MaixPy 实现 OCR 图片文字提取 TODO:"},"/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:
    `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/customize_model_yolov8.html":{"title":"Offline Training of YOLOv8 Model for Custom Object and Keypoint Detection with MaixPy","content":" title: Offline Training of YOLOv8 Model for Custom Object and Keypoint Detection with MaixPy update: date: 2024 6 21 version: v1.0 author: neucrack content: Documentation written ## Introduction The default official model provides detection for 80 types of objects. If this does not meet your needs, you can train your own detection objects by setting up a training environment on your computer or server. YOLOv8 supports not only object detection but also keypoint detection with yolov8 pose. Besides the official human keypoints, you can create your own keypoint dataset to train and detect specified objects and keypoints. **Note:** This article explains how to customize training, but some basic knowledge is assumed. If you do not have this knowledge, please learn it yourself: * This article will not explain how to install the training environment. Please search and install it yourself (Pytorch environment installation) and test it. * This article will not explain the basic concepts of machine learning or basic Linux usage knowledge. If you think there is something in this article that needs improvement, feel free to click `Edit this article` in the upper right corner to contribute and submit a documentation PR. ## Process and Goals of this Article To use our model on MaixPy (MaixCAM), the following process is required: * Set up the training environment (this is not covered in this article, please search for Pytorch training environment setup). * Pull the [yolov8](https://github.com/ultralytics/ultralytics) source code to your local machine. * Prepare the dataset and format it as required by the yolov5 project. * Train the model to get an `onnx` model file, which is the final output file of this article. * Convert the `onnx` model to a `MUD` file supported by MaixPy, which is detailed in [MaixCAM Model Conversion](../ai_model_converter/maixcam.html). * Use MaixPy to load and run the model. ## Reference Articles Since this is a relatively common operational process, this article only provides an overview. For specific details, you can refer to the **[YOLOv8 official code and documentation](https://github.com/ultralytics/ultralytics)** (**recommended**), and search for training tutorials to ultimately export the onnx file. If you find any good articles, feel free to modify this article and submit a PR. ## Exporting YOLOv8 ONNX Model Create an `export_onnx.py` file in the `ultralytics` directory: ```python from ultralytics import YOLO import sys print(sys.path) net_name sys.argv[1] # yolov8n.pt yolov8n pose.pt # https://docs.ultralytics.com/models/yolov8/#supported tasks and modes input_width int(sys.argv[2]) input_height int(sys.argv[3]) # Load a model model YOLO(net_name) # load an official model # model YOLO(\"path/to/best.pt\") # load a custom model # Predict with the model results model(\"https://ultralytics.com/images/bus.jpg\") # predict on an image path model.export(format \"onnx\", imgsz [input_width, input_height]) # export the model to ONNX format print(path) ``` Then execute `python export_onnx.py yolov8n.pt 320 224` to export the `onnx` model. Here, the input resolution is re specified. The model was trained with `640x640`, but we re specified the resolution to improve the running speed. The resolution `320x224` is used because it is closer to the MaixCAM screen ratio for better display. You can set it according to your needs. ## Converting to MaixCAM Supported Model and MUD File MaixPy/MaixCDK currently supports both YOLOv8 detection and YOLOv8 pose human pose keypoint detection (as of 2024.6.21). Follow [MaixCAM Model Conversion](../ai_model_converter/maixcam.html) for model conversion. Note the choice of model output nodes: * For YOLOv8, extract `/model.22/dfl/conv/Conv_output_0,/model.22/Sigmoid_output_0` outputs from the onnx. * For keypoint detection (yolov8 pose), extract `/model.22/dfl/conv/Conv_output_0,/model.22/Sigmoid_output_0,/model.22/Concat_output_0` outputs from the onnx. ![YOLOv8 Output 1](../../assets/yolov8_out1.jpg) ![YOLOv8 Output 2](../../assets/yolov8_out2.jpg) For object detection, the mud file is: ```ini [basic] type cvimodel model yolov8n.cvimodel [extra] model_type yolov8 input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 labels person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic light, fire hydrant, stop sign, parking meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports ball, kite, baseball bat, baseball glove, skateboard, surfboard, tennis racket, bottle, wine glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot dog, pizza, donut, cake, chair, couch, potted plant, bed, dining table, toilet, tv, laptop, mouse, remote, keyboard, cell phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy bear, hair drier, toothbrush ``` Replace `labels` according to your training objects. For keypoint detection (yolov8 pose), the mud file is: ```ini [basic] type cvimodel model yolov8n_pose.cvimodel [extra] model_type yolov8 type pose input_type rgb mean 0, 0, 0 scale 0.00392156862745098, 0.00392156862745098, 0.00392156862745098 labels person ``` The default is human pose keypoint detection, so `labels` has only one `person`. Replace it according to the objects you are detecting. ## Upload share on MaixHub Share your model on [MaixHub model zoo](https://maixhub.com/model/zoo?platform maixcam) 上传并分享你的模型，可以多提供几个分辨率供大家选择。"},"/maixpy/doc/en/vision/yolov5.html":{"title":"Using YOLOv5 / YOLOv8 Models for Object Detection in MaixPy","content":" title: Using YOLOv5 / YOLOv8 Models for Object Detection in MaixPy ## Concept of Object Detection Object detection refers to identifying the location and category of objects in images or videos, such as detecting apples, airplanes, etc., and marking their positions. Unlike classification, object detection includes positional information, so the result is generally a rectangle marking the object's position. ## Using Object Detection in MaixPy MaixPy provides `YOLOv5` and `YOLOv8` models by default, which can be used directly: > YOLOv8 requires MaixPy > 4.3.0. ```python from maix import camera, display, image, nn, app detector nn.YOLOv5(model \"/root/models/yolov5s.mud\") # detector nn.YOLOv8(model \"/root/models/yolov8n.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) ``` Video demonstration:
    Here, the camera captures an image, which is then passed to the `detector` for detection. The results (classification names and positions) are displayed on the screen. You can switch between `YOLOv5` and `YOLOv8` by replacing them in the code. Make sure to update the model file path accordingly. The list of 80 supported object categories can be found in the appendix. For more API usage, refer to the documentation of the [maix.nn](/api/maix/nn.html) module. ## More Input Resolutions The default model input resolution is `320x224`, which closely matches the provided screen resolution. You can manually download models with other resolutions if needed: YOLOv5: [https://maixhub.com/model/zoo/365](https://maixhub.com/model/zoo/365) YOLOv8: [https://maixhub.com/model/zoo/400](https://maixhub.com/model/zoo/400) Higher resolutions increase accuracy but also require more processing time. Choose the appropriate resolution based on your application. ## Which to Use: YOLOv5 or YOLOv8? We provide `YOLOv5s` and `YOLOv8n` models. The former is larger and more accurate, while the latter is slightly faster but with marginally lower accuracy. You can test both to see which suits your needs better. You can also try `YOLOv8s`, which offers higher accuracy but lower frame rates(e.g. yolov8s_320x224 slower than yolov8n_320x224 about 10ms）. Models can be downloaded from the mentioned model library. ## Can Camera Resolution and Model Resolution Differ? When using the `detector.detect(img)` function, if `img` resolution differs from the model's resolution, the function will automatically call `img.resize` to adjust the image to the model's input resolution. The `resize` method uses `image.Fit.FIT_CONTAIN` by default, maintaining the aspect ratio and padding with black. The detected coordinates will map back to the original `img` coordinates. ## Training Your Own Object Detection Model on MaixHub If the default 80 class model doesn't meet your needs, visit [MaixHub](https://maixhub.com) to learn and train your object detection model. Select `Object Detection Model` when creating a project. Refer to [MaixHub online train doc](./maixhub_train.html). Alternatively, check out the models shared by community members in the [MaixHub Model Library](https://maixhub.com/model/zoo?platform maixcam). ## Offline Training of Your Own Object Detection Model We strongly recommend using MaixHub for online training. Offline training is more complex and not suggested for beginners. This method assumes some pre existing knowledge not covered in this document. For more details, see [Offline Training YOLOv5 Model](./customize_model_yolov5.html). ## Appendix: 80 Categories The 80 object categories from the COCO dataset are: ```txt person bicycle car motorcycle airplane bus train truck boat traffic light fire hydrant stop sign parking meter bench bird cat dog horse sheep cow elephant bear zebra giraffe backpack umbrella handbag tie suitcase frisbee skis snowboard sports ball kite baseball bat baseball glove skateboard surfboard tennis racket bottle wine glass cup fork knife spoon bowl banana apple sandwich orange broccoli carrot hot dog pizza donut cake chair couch potted plant bed dining table toilet tv laptop mouse remote keyboard cell phone microwave oven toaster sink refrigerator book clock vase scissors teddy bear hair drier toothbrush ```"},"/maixpy/doc/en/vision/body_key_points.html":{"title":"Title: MaixPy Human Keypoint Pose Detection","content":"# Title: MaixPy Human Keypoint Pose Detection ## Introduction With MaixPy, you can easily detect the coordinates of keypoints on human joints, useful for applications like posture detection, such as sitting posture analysis, or input for motion sensing games. MaixPy implements human pose detection based on [YOLOv8 Pose](https://github.com/ultralytics/ultralytics), which can detect `17` keypoints on the human body. ![](../../assets/body_keypoints.jpg) ## Usage Using MaixPy's `maix.nn.YOLOv8` class, you can easily implement this functionality: ```python from maix import camera, display, image, nn, app detector nn.YOLOv8(model \"/root/models/yolov8n_pose.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, keypoint_th 0.5) 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) detector.draw_pose(img, obj.points, 8 if detector.input_width() > 480 else 4, image.COLOR_RED) dis.show(img) ``` And you can also find code in [MaixPy/examples/vision](https://github.com/sipeed/MaixPy/tree/main/examples/vision/ai_vision) directory. As you can see, by using `YOLOv8 Pose`, we directly utilize the `YOLOv8` class. The only difference from the `YOLOv8` object detection model is the model file, and the `detect` function returns an additional `points` value, which is a list of `17` integer coordinates arranged in sequence. For example, the first value is the x coordinate of the nose, the second value is the y coordinate of the nose, and so on, in the following order: ```python 1. Nose 2. Left Eye 3. Right Eye 4. Left Ear 5. Right Ear 6. Left Shoulder 7. Right Shoulder 8. Left Elbow 9. Right Elbow 10. Left Wrist 11. Right Wrist 12. Left Hip 13. Right Hip 14. Left Knee 15. Right Knee 16. Left Ankle 17. Right Ankle ``` If certain parts are occluded, the corresponding values will be ` 1`. ## Higher Input Resolution Models The default model input resolution is `320x224`. If you wish to use a model with a higher resolution, you can download it from the [MaixHub Model Library](https://maixhub.com/model/zoo/401) and transfer it to your device. Higher resolutions theoretically offer better accuracy but come with a decrease in processing speed. Choose the resolution based on your use case. Additionally, if the provided resolutions do not meet your requirements, you can train your own model using the [YOLOv8 Pose](https://github.com/ultralytics/ultralytics) source code to export your own ONNX model, which can then be converted to a model supported by MaixCAM (method detailed in subsequent articles)."},"/maixpy/doc/en/peripheral/pinmap.html":{"title":"Using PINMAP in MaixPy","content":" title: Using PINMAP in MaixPy update: date: 2024 06 11 author: iawak9lkm version: 1.0.0 content: Initial document ## Pinmap Introduction In System on Chip (SoC) design, a pin usually has more than one function, and this design method is called pin multiplexing. There are several main reasons for this: * It saves the number of SoC pins. SoCs integrate a large number of functional modules, such as CPUs, GPUs, memory controllers, I/O interfaces, communication modules, and so on. Assigning separate pins for each function would result in a very large number of pins being required, increasing the complexity and cost of the package. Through pin multiplexing, one pin can support different functions in different modes, thus significantly reducing the total number of pins. * It reduces the cost of chip packaging and manufacturing. Designers can choose smaller package sizes by reducing the number of pins, thus reducing packaging and manufacturing costs. Smaller packages not only reduce material costs, but also reduce the amount of space the chip takes up on the board, facilitating the design of more compact electronic products. * It improves design flexibility. Pin multiplexing provides greater design flexibility. Different combinations of pin functions may be required in different application scenarios, and different pin functions can be enabled according to specific needs through software configuration. For example, the same pin can be used as a UART interface in one practical application and an SPI bus interface in another. * It simplifies the PCB layout. Reducing the number of pins simplifies the layout design of a printed circuit board (PCB). Fewer pins mean fewer wiring layers and vias, which simplifies PCB design and reduces manufacturing challenges and costs. * Optimize performance. In some cases, signal paths and performance can be optimized by multiplexing pins. For example, by selecting the proper combination of pin functions, interference and noise in the signal transmission path can be reduced, improving the overall performance and reliability of the system. Pinmap displays and manages the individual pin configurations of the chip, which typically include the name of each pin and its function (usually multiple functions). We use the MaixCAM GPIO A28 as an example. * `A28` is the pin name. * `GPIOA28`/`UART2_TX`/`JTAG_TDI` are the functions supported by this pin as listed in the Soc manual, and the function of this pin at the same time can only be one of these three functions. With Pinmap, we can set the specified chip pin for the specified function. ## Using Pinmap in MaixPy The following diagram lists the pin numbers and their functions on the MaixCAM board. ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) Or read the [SG2002 Chip Manual](https://cn.dl.sipeed.com/fileList/LICHEE/LicheeRV_Nano/07_Datasheet/SG2002_Preliminary_Datasheet_V1.0 alpha_CN.pdf) Pinmux section for the remaining pin numbers and functions. It's actually quite easy to use Pinmap to manage pin functions through MaixPy. ```python from maix.peripheral import pinmap print(pinmap.get_pins()) f pinmap.get_pin_functions(\"A28\") print(f\"GPIO A28 pin functions:{f}\") print(f\"Set GPIO A28 to {f[0]} function\") pinmap.set_pin_function(\"A28\", f[0]) ``` In the example, we start by listing all the pins available for management. Then we query `GPIO A28` for all the functions available. Finally the function of the pin is set to the first function listed (GPIO). For a more detailed description of the Pinmap API, see the [Pinmap API documentation](../../../api/maix/peripheral/pinmap.html)."},"/maixpy/doc/en/peripheral/i2c.html":{"title":"Using I2C with MaixPy","content":" title: Using I2C with MaixPy > Note: Requires MaixPy image and firmware > 4.2.1 The `I2C` and corresponding pins of `MaixCAM` can be seen in the diagram: ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) For MaixCAM, due to limited pin resources, the pins for `I2C1` and `I2C3` overlap with those of the WiFi module (SDIO1). Therefore, you can only use either WiFi or hardware I2C, but not both. Additionally, there is an `I2C5`, which is simulated by software at the lower driver level. It is recommended to use this one, as the drivers are already set up, and its use is the same as using hardware `I2C`. By default, the pins for `I2C5` are configured as `GPIO`. Therefore, before using the `i2c` module, you should first use the `pinmap` module to set the pin functions to `I2C5` as follows: ```python from maix import i2c, pinmap pinmap.set_pin_function(\"A15\", \"I2C5_SCL\") pinmap.set_pin_function(\"A27\", \"I2C5_SDA\") bus1 i2c.I2C(5, i2c.Mode.MASTER) slaves bus1.scan() print(\"find slaves:\", slaves) ``` For more APIs, see [i2c API documentation](https://wiki.sipeed.com/maixpy/api/maix/peripheral/i2c.html). As mentioned above, for the `MaixCAM`, you must choose between using hardware `I2C` and `WiFi`. If you need to use `I2C`, you must disable `WiFi` and use the `pinmap` module to set the pin functions for `I2C`, then operate using the `maix.i2c` module. > TODO: Provide a method to disable WiFi (requires disabling the WiFi driver in the system, which is more complex). ```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/adc.html":{"title":"Using ADC in MaixPy","content":" title: Using ADC in MaixPy update: date: 2024 06 11 author: iawak9lkm version: 1.0.0 content: Initial document ## ADC Introduction An ADC, which can also be called an analog to digital converter, converts an input voltage signal into an output digital signal. As the ADC converted digital signal itself does not have practical significance, only represents a relative size. Therefore, any ADC needs a reference analog as a conversion standard, the reference standard is generally the largest convertible signal size. The digital output of the ADC indicates the size of the input signal relative to the reference signal. ADC peripherals generally have two main parameters: resolution and reference voltage. * Resolution: The resolution of an ADC is expressed as the number of bits in a binary (or decimal) number. It describes the ability of the A/D converter to discriminate the input signal. Generally speaking, an A/D converter with n bit output can distinguish 2^n different levels of input analog voltage, and the minimum value of input voltage that can be distinguished is 1/(2^n) of the full scale input. For a given maximum input voltage, the more output bits, the higher the resolution. * Reference Voltage: The ADC peripheral reference voltage is the voltage that is compared to a known voltage during AD conversion to find the value of the unknown voltage. The reference voltage can be thought of as the highest upper limit voltage and can be reduced to improve resolution when the signal voltage is low. With the board's ADC, it is possible to capture external voltages and have the board verify that the voltages are up to snuff or perform specific tasks when specific voltages are detected (e.g., the ADC detects multiple buttons). ## Using ADC in MaixPy Using ADC with MaixPy is easy: ```python from maix.peripheral import adc from maix import time a adc.ADC(0, adc.RES_BIT_12) raw_data a.read() print(f\"ADC raw data:{raw_data}\") time.sleep_ms(50) vol a.read_vol() print(f\"ADC vol:{vol}\") ``` Use ADC0 to read the raw conversion data from it, or read the voltage data directly from it. See the ADC [API documentation](../../../api/maix/peripheral/adc.html) for a detailed description of the ADC API. ## Some notes on MaixCAM's ADC MaixCAM elicits an IO that connects to the ADC, this IO is GPIO B3. ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) This IO is ADC by default and does not require additional configuration. MaixCAM's ADC peripheral has a sampling accuracy of 12 bits, which means that the sampling output range is from 0 to 4095. The sampling accuracy is 1/4096 of the reference voltage. The MaixCAM's ADC peripheral cannot scan at a frequency higher than 320K/s, which is the reason for the additional wait time between ADC samples in the previous example. The MaixCAM's ADC peripheral has an internal reference voltage of 1.5V, which may vary slightly in actual use.Since the typical internal reference voltage is 1.5 V, the ADC range of Soc is 0 to 1.5 V. Since the ADC range of this range is small, MaixCAM has designed a voltage divider circuit for the ADC peripheral to increase the ADC range. The reference voltage Vin_max of this voltage divider circuit is about 4.6~5.0V, due to the error of resistor resistance in the circuit, the impedance of ADC external device, and the deviation of internal reference voltage. A higher precision default value has been chosen in the API, and there is generally no need to pass this parameter. ![](https://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/peripheral/adc.png) If you need high ADC accuracy, you can calculate the reference voltage for this voltage divider circuit by following the steps below: * You need to first measure to get the actual input voltage of ADC_PIN, which we call Vin. * Then you need to measure to get the actual input voltage at ADC1, which we call Vadc. The location of resistor R10 can be found in this BOM file. * You need to keep the same voltage input to ADC_PIN as in step 1 and then execute these commands in the shell: ```shell echo 1 > /sys/class/cvi saradc/cvi saradc0/device/cv_saradc cat /sys/class/cvi saradc/cvi saradc0/device/cv_saradc ``` This gives you the raw measured value of the ADC, which we call adc_data. * You need to know the resistance values of the resistors R6 and R10 in the picture, record them.Typically, the MaixCAM has a resistance value of 10KΩ (10 000Ω) for R6 and 5.1KΩ (5 100Ω) for R10. * Finally, you need to pass the results from the above steps to these python codes to get the range [0,Vin_max] of the ADC_PIN port. ```python def maixcam_get_vin_max(Vin:float, Vadc:float, adc_data:int, r6:int, r10:int, adc_max:int 4095): Vref (Vadc/adc_data)*(adc_max+1) r3 Vadc*r6/(Vin Vadc) Vin_max (Vref/r3)*(r6+r3) return Vin_max Vin 3.3\t\t# step 1 Vadc 1.06\t\t# step 2 adc_data 2700\t# step 3 r6 10000\t\t# step 4 r10 5100\t\t# step 4 if __name__ '__main__': print(maixcam_get_vin_max(Vin, Vadc, adc_data, r6, r10)) ``` Now pass the result to the third parameter of `adc.ADC()` and you will get a highly accurate ADC."},"/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/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/peripheral/spi.html":{"title":"Using SPI in MaixPy","content":" title: Using SPI in MaixPy update: date: 2024 06 11 author: iawak9lkm version: 1.0.0 content: Initial document ## SPI Introduction SPI (Serial Peripheral Interface) is a synchronous peripheral interface that enables the SoC to communicate serially with various peripheral devices to exchange information. Common peripherals are Flash RAM, network controllers, LCD display drivers, and A/D converters. SPI uses Master Slave mode, which supports one or more Slave devices. On a hardware circuit, SPI usually consists of 4 wires which are: * `MISO`(Master Output Slave Input): This pin sends data in slave mode or receives data in master mode. * `MOSI`(Master Input Slave Output): This pin sends data in master mode or receives data in slave mode. * `SCK`: Serial bus clock, output by the master device and input by the slave device. * `NSS/CS`: Slave Device Selection. It acts as a chip select pin, allowing the master device to communicate with specific slave devices individually, avoiding conflicts on the bus. In terms of communication protocols, SPI behavior is generally like this: * SPI supports one master device and multiple slave devices. When the master device needs to communicate with a specific slave device, it selects the CS pin connected to that slave device to enable this transfer.This means that a slave device has only one CS pin for the master device to select itself, and the number of chip select pins for the master device depends on how many slave devices are connected to its SPI bus. * SPI has four modes, depending on the configuration of polarity (CPOL) and phase (CPHA). Polarity affects the level of the clock signal when the SPI bus is idle. 1. CPOL 1, it indicates a high level at idle. 2. CPOL 0, it indicates a low level at idle. The phase determines the edge at which the SPI bus acquires data. There are two types of edges, rising edge and falling edge. 1. CPHA 0, it indicates that sampling starts from the first edge. 2. CPHA 1, it indicates that sampling starts from the second edge. Polarity and phase are combined to form the four modes of SPI: Mode CPOL CPHA 0 0 0 1 0 1 2 1 0 3 1 1 * SPI typically supports both full duplex transmission and half duplex transmission. * SPI does not specify a maximum transmission rate, it does not have an address scheme; SPI does not specify a communication response mechanism, it does not specify flow control rules. ## Using SPI in MaixPy This is the pinout of MaixCAM. ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) You need to use `maix.peripheral.pinmap` to complete the pin mapping for SPI before use. **Note: The MaixCAM's SPI can only be used as an SPI master device. MaixCAM's SPI does not support modifying the valid level of the hardware CS pins at this time. The active level of all SPI hardware CS is low. If you need to use other CS active levels, configure the software CS pins and their active levels in the SPI API. SPI4 is the software simulated SPI, the measured maximum rate is 1.25MHz, and the usage is the same as hardware SPI.** Using SPI with MaixPy is easy: ```python from maix import spi, pinmap pin_function { \"A24\": \"SPI4_CS\", \"A23\": \"SPI4_MISO\", \"A25\": \"SPI4_MOSI\", \"A22\": \"SPI4_SCK\" } for pin, func in pin_function.items(): if 0 ! pinmap.set_pin_function(pin, func): print(f\"Failed: pin{pin}, func{func}\") exit( 1) spidev spi.SPI(4, spi.Mode.MASTER, 1250000) ### Example of full parameter passing. # spidev spi.SPI(id 4, # SPI ID # mode spi.Mode.MASTER, # SPI mode # freq 1250000, # SPI speed # polarity 0, # CPOL 0/1, default is 0 # phase 0, # CPHA 0/1, default is 0 # bits 8, # Bits of SPI, default is 8 # cs_enable True, # Use soft CS pin? True/False, default is False # cs 'GPIOA19') # Soft cs pin number, default is 'GPIOA19' b bytes(range(0, 8)) res spidev.write_read(b, len(b)) if res b: print(\"loopback test succeed\") else: print(\"loopback test failed\") print(f\"send:{b}\\nread:{res}\") ``` You need to connect the `MOSI` and `MISO` of this SPI first. Configure the required pins with `pinmap` and then enable full duplex communication, the return value will be equal to the sent value. See the [SPI API documentation]((../../../api/maix/peripheral/spi.md)) for a more detailed description of the SPI API."},"/maixpy/doc/en/peripheral/uart.html":{"title":"","content":"Translation to English: title: MaixPy UART Serial Port Usage Introduction ## Introduction to Serial Ports A serial port is a method of communication that includes definitions of hardware and communication protocols. * Hardware includes: * 3 pins: `GND`, `RX`, `TX`. The communication between two parties involves cross connecting RX and TX, i.e., one's TX sends to the other's RX, and both parties' GNDs are connected. * Controller, usually internal within the chip, also known as UART peripheral, typically a chip has one or more UART controllers, each with corresponding pins. * Communication Protocol: To enable smooth communication between both parties, a set of protocols is established, which includes commonly used parameters like baud rate, parity bits, etc. Baud rate is the most frequently used parameter. Using the board’s serial port, you can communicate data with other microcontrollers or SoCs, such as implementing human detection on MaixCAM and then sending the coordinates through the serial port to an STM32 microcontroller. ## Using Serial Ports in MaixPy For MaixCAM, a serial port is defaulted from the USB port, which can be used directly by plugging in the accompanying Type C adapter board. Alternatively, without an adapter board, you can use the `A16(TX)` and `A17(RX)` pins on the board directly, which are equivalent to the pins led out from the USB port. **Note** when using the USB lead serial port on MaixCAM: the Type C plug and unplug orientation can switch the `RX` and `TX` on the adapter board. So, if you find communication is not happening, it might be due to the RX and TX being reversed; try flipping the Type C connector to see if communication normalizes. This is considered a design flaw, but generally, as frequent unplugging is not common, this can be adapted to. Once both communicating boards are connected (communication between the two involves cross connecting RX and TX, and both parties' GNDs are connected), you can use the software. Using a serial port 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)) ``` This lists all serial port devices in the system, then uses the first one, which is the one led out from the Type C as mentioned above. For more serial port APIs, see [UART API Documentation](../../../api/maix/peripheral/uart.html). ## Notes on using the MaixCAM serial port Some developers may ask: Why does the computer not show a serial port device after plugging in the USB? A: Because the device's USB is a virtual USB network card by default, it has no serial port function. If you want to access the device's terminal, please use ssh to connect. For MaixCAM, the `serial port 0` led out from the Type C adapter board is directly connected to the `A16(TX)` and `A17(RX)` pins, which can be directly connected to the serial port pins of other devices such as microcontrollers; If you want to communicate with a computer, you need to use a USB to serial port board (such as [this](https://item.taobao.com/item.htm?spm a1z10.5 c s.w4002 24984936573.13.73cc59d6AkB9bS&id 610365562537)) to connect to the computer. It should be noted that **MaixCAM's `serial port 0` will print a part of the boot log when it is turned on**, and the words `serial ready` will be printed after the startup is complete. If you need to communicate with the microcontroller, you need to discard this part of the information. If there is a problem with the system startup, you can also diagnose the problem by checking the startup print of `serial port 0`. ## Sending and Receiving Data The `write_str` function is used to send strings. In Python, there are two fundamental data types, `str` and `bytes`, where the former is a string, and the latter is raw byte data, for example: * `\"A\"` becomes `b\"A\"` using the `encode()` method, conversely `b\"A\"` becomes `\"A\"` using the `decode()` method. * `str` can't display some invisible characters, like ASCII code value `0`, represented as `\\0` in strings, generally used as an end character, whereas in `bytes` type, it can be stored as `b\"\\x00\"`. * It's even more useful for non ASCII encoded strings, e.g., the Chinese character `好` in UTF 8 encoding is represented by three bytes `\\xe5\\xa5\\xbd`, which can be obtained by `\"好\".encode(\"utf 8\")` to produce `b\"\\xe5\\xa5\\xbd\"`, or converted back to `\"好\"` using `b'\\xe5\\xa5\\xbd'.decode(\"utf 8)`. Thus, if you need to send byte data, use the `write()` method. For `str` type, you can avoid using `write_str` and instead send using `serial.write(str_content.encode())`. Also, if you have a `list` type of data, you can construct a `bytes` object using the `bytes()` method, like: ```python a [1, 2, 3] serial.write(bytes(a)) ``` Similarly, the data obtained by the `read` method is also of `bytes` type. ## Other Usage ```python from maix import app, uart, time import sys 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 ``` Additionally, a `sleep _ms` is included in the loop as a simple way to release the CPU, aiming to ensure the program does not consume all CPU resources. This is the simplest and most straightforward method. ## Using Other Serial Ports Each pin may correspond to different peripheral functions, also known as pin multiplexing. As shown in the diagram below, each pin corresponds to different functions, for example, pin `A17` (as labeled on the board) corresponds to `GPIOA17`, `UART0_RX`, `PWM5`, by default set to `UART0_RX`. ![](http://wiki.sipeed.com/hardware/zh/lichee/assets/RV_Nano/intro/RV_Nano_3.jpg) Normally, you can directly use `UART0` as mentioned above. For other serial ports, whose pins are not defaulted to serial peripheral functions, you need to first set up the mapping using `pinmap.set_pin_function`. For example, to use `UART1`, first set the pin function mapping for serial, then use the device number `/dev/ttyS1`. Note that `uart.list_devices()` does not by default return serial ports that require manual mapping, so you can manually pass parameters: ```python from maix import app, uart, pinmap, time pinmap.set_pin_function(\"A18\", \"UART1_RX\") pinmap.set_pin_function(\"A19\", \"UART1_TX\") device \"/dev/ttyS1\" serial1 uart.UART(device, 115200) ``` ## Using Serial Communication Protocols With serial communication, you can choose to transmit information in a way that suits your preferences, either by directly sending string results or by using Python's `struct` library to encode into a binary protocol. Additionally, MaixPy also has a built in communication protocol that you can use directly. This communication protocol specifies the format in which both parties transmit content, facilitating the parsing and recognition of information. It is a binary protocol that includes a frame header, data content, checksum, etc. The complete protocol definition can be found at [Maix Serial Communication Protocol Standard](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md). It might seem difficult if you have never dealt with communication protocols, but you can understand it after going through the example below several times. For instance, if we have an object detection task, and we want to send the detected object information via serial port to other devices (like an STM32 or Arduino microcontroller), telling them what objects were detected and their coordinates. Complete example: [MaixPy/examples/protocol/comm_protocol_yolov5.py](https://github.com/sipeed/MaixPy/tree/main/examples/protocol/comm_protocol_yolov5.py) First, we need to detect the object, refer to the `yolov5` object detection example, and here we skip other details to focus on what the detection results look like: ```python 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) ``` As you can see, `objs` contains multiple detection results, and here we draw boxes on the screen. We can also find a way to send these results via the serial port. We do not need to manually initialize the serial port, just use the built in `maix.comm, maix.protocol` modules, and calling `comm.CommProtocol` will automatically initialize the serial port with a default baud rate of `115200`. The serial port protocol settings can be found in the device `System Settings >Communication Protocol`. System settings might also include other communication methods like `tcp`, the default is `uart`, and you can also use `maix.app.get_sys_config_kv(\"comm\", \"method\")` to check if the current setting is `uart`. ```python from maix import comm, protocol, app from maix.err import Err import struct def encode_objs(objs): ''' Encode object info into a bytes body for protocol 2B x(LE) + 2B y(LE) + 2B w(LE) + 2B h(LE) + 2B idx ... ''' body b\"\" for obj in objs: body + struct.pack(\" 0: body encode_objs(objs) p.report(APP_CMD_DETECT_RES, body) # ... ``` Here, the `encode_objs` function packages all detected object information into a `bytes` type of data, and then the `p.report` function sends the results out. The content of `body` is simply defined as `2B x(LE) + 2B y(LE) + 2B w(LE) + 2B h(LE) + 2B idx ...`, meaning: * Multiple objects detected in this image are arranged in order in `body`, each target occupies 10 bytes, totaling `body_len / 10` objects. * The first and second bytes represent the top left `x` coordinate of the detected object, measured in pixels. Since the `yolov5` results might have negative coordinates, we use a `short` type to represent them, encoded in little endian (LE). > Here, little endian means the lower byte comes first, for example, the coordinate `x` is `100`, hex `0x64`, represented by two bytes as `short` would be `0x0064`, and little endian encoded into `bytes` would be `0x64` first,resulting in `b'\\x64\\x00'`. * Similarly, encode the subsequent data sequentially, with each object resulting in a `10` byte long `bytes` type data. * Loop to encode all object information and concatenate into a `bytes` object. When calling the `report` function, the underlying system will automatically concatenate protocol headers, checksums, etc., according to the protocol, resulting in a frame of complete data being received at the other end. After receiving the information at the other end, it must also be decoded according to the protocol. If the receiving end uses MaixPy, you can directly: ```python while not app.need_exit(): msg p.get_msg() if msg and msg.is_report and msg.cmd APP_CMD_DETECT_RES: print(\"receive objs:\", decode_objs(msg.get_body())) p.resp_ok(msg.cmd, b'1') ``` For other devices such as `STM32` or `Arduino`, refer to the C language functions in the appendix of [Maix Serial Communication Protocol Standard](https://github.com/sipeed/MaixCDK/blob/master/docs/doc/convention/protocol.md) for encoding and decoding."},"/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. **Note:** The pins on the `MaixCAM` are tolerant to `3.3V`. Do not input `5V` voltage. ## 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(\"GPIOA14\", 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(\"GPIOA19\", gpio.Mode.IN) while 1: print(led.value()) time.sleep_ms(1) # sleep to make cpu free ```"},"/maixpy/doc/en/no_translate.html":{"title":"no translation","content":" title: no translation class: md_page
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    "}} \ No newline at end of file diff --git a/maixpy/static/search_index/index_3.json b/maixpy/static/search_index/index_3.json new file mode 100644 index 0000000..b294b32 --- /dev/null +++ b/maixpy/static/search_index/index_3.json @@ -0,0 +1 @@ +{"/maixpy/index.html":{"title":"MaixPy","content":" title: MaixPy id: home_page

    MaixPy (v4)

    快速落地 AI 视觉、听觉应用

    [![GitHub Repo stars](https://img.shields.io/github/stars/sipeed/MaixPy?style social)](https://github.com/sipeed/MaixPy)[![Apache 2.0](https://img.shields.io/badge/license Apache%20v2.0 orange.svg)](\"https://github.com/sipeed/MaixPy/blob/main/LICENSE.html)[![PyPI](https://img.shields.io/pypi/v/maixpy.svg)](https://pypi.python.org/pypi/maixpy/)[![PyPI Downloads](https://img.shields.io/pypi/dm/maixpy?label pypi%20downloads)](https://pypi.org/project/maixpy/)[![GitHub repo size](https://img.shields.io/github/repo size/sipeed/maixpy)](https://github.com/sipeed/MaixPy) [![Build MaixCAM](https://github.com/sipeed/MaixPy/actions/workflows/build_maixcam.yml/badge.svg)](https://github.com/sipeed/MaixPy/actions/workflows/build_maixcam.yml)[![Trigger wiki](https://github.com/sipeed/MaixPy/actions/workflows/trigger_wiki.yml/badge.svg)](https://github.com/sipeed/MaixPy/actions/workflows/trigger_wiki.yml)
    [English](./en/) 中文
    > MaixPy v1 (Maix I K210) 用户请查看 MaixPy v1 文档。 MaixPy v4 不支持 Maix I Maix II 系列硬件，请更新到 [MaixCAM](https://wiki.sipeed.com/maixcam) 硬件平台。 > 喜欢 MaixPy 请到 GitHub 给 [ MaixPy 源码](https://github.com/sipeed/MaixPy) 点个 Star ⭐️ 以鼓励我们开发更多功能。

    简易的 API 设计， 10 行代码进行 AI 图像识别：

    ```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) ```

    硬件外设控制，不在话下：

    串口收发： ```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)) ```
    I2C 收发： ```python from maix import i2c devices i2c.list_devices() dev1 i2c.I2C(devices[0], freq 100000) slaves dev1.scan() print(\"find slaves:\", slaves) dev1.writeto(0x12, b'hello') print(\"received:\", dev1.readfrom(0x12, 5)) ```

    便捷的 MaixVision 工作站

    简化开发环境，让开发更简单快速：

    在线 AI 训练平台 MaixHub

    无需 AI 基础和昂贵的训练设备，一键训练模型，一键部署到 MaixCAM。 ## 性能强劲 MaixCAM 硬件平台 ![MaixCAM](/static/image/maixcam.png)
    * **CPU**: 1GHz RISC V(Linux)/ARM A53 + 700MHz RISC V(RTOS) + 25~300MHz 8051(Low Power) > 大核 RISC V 和 ARM A53 二选一运行，MaixPy 使用 RISC V 核心。 * **NPU**: 1Tops@INT8 NPU, 支持 BF16，支持 YOLOv5 YOLOv8 等。 * **内存**: 256MB DDR3。 * **通信**: USB2.0/WiFi6/BLE5.4。 * **外设**: IIC/PWM/SPI/UART/WDT/GPIO/ADC * **多媒体**：4M 摄像头，2.3\" 552x368 高清电容触摸屏，H.264/H.265/MJPEG 2K 硬件编解码。 * **价格**: [169 元 / 249 元。](https://wiki.sipeed.com/store) （缺货时咨询店家） 更多细节看: [MaixCAM](https://wiki.sipeed.com/maixcam) > 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。
    ## 特性介绍 以下为部分功能简介，更多请看[文档](/doc/zh/index.html)、[应用商店](https://maixhub.com/app) 或者社区分享[MaixHub](https://maixhub.com/share)。

    Python + MaixVision IDE

    简单的API，带有硬件加速，包含许多库，如numpy，opencv，MaixVision IDE 编程

    C++版本

    MaixCDK C++版本的SDK，与MaixPy的API相同

    作为串口模块

    其它 MCU 通过串口命令控制

    APP商店

    将您的APP分享给社区，并一键安装APPs。

    提供 MaixPy v1 兼容 API

    快速从MaixPy v1(K210)迁移到MaixPy v4

    AI 分类

    识别物体类别

    AI 对象检测

    识别物体类别和坐标

    AI 人脸识别

    识别不同人脸特征

    AI 人体关键点检测

    姿态识别、体感游戏

    AI 自学习分类器

    无需在PC上训练，在设备上瞬间学习任意物体

    AI 自学习检测器

    无需在PC上训练，在设备上瞬间学习任意物体

    AI 物体轨迹跟踪

    轨迹追踪，流量统计

    AI 监控，串流

    安防监控，可串流，甚至可以向直播平台 比如 Bilibili.com 直播

    查找颜色

    查找颜色斑点

    巡线

    小车巡线，物流搬运

    QR码和AprilTag

    识别QR码和AprilTag

    OCR

    识别图片中的字符，旧物数字化

    语音识别

    实时连续语音识别

    桌面监视器

    监视PC信息，如CPU，内存，网络等。

    天气站

    监视天气信息，如温度，湿度等。

    热红外摄像头

    选配摄像头，温度图像获取/测量

    HDMI 捕获视频

    选配，通过 HDMI 捕获图像，作为服务器监控（KVM）、外挂 AI、推流设备等

    ## 谁在用 MaixPy？ * **AI 算法工程师**： 轻松将你的 AI 模型部署到嵌入式设备。 > MaixPy 提供了易于使用的 API 来访问 NPU，以及帮助你开发 AI 模型的文档。 * **STEM**：想要教学生 AI 和嵌入式开发的老师。 > MaixPy 提供了易于使用的 API，PC 工具，在线 AI 训练服务... 让你专注于教授 AI，而不是硬件和复杂的软件使用。 * **创客**: 想要制作一些酷炫的项目，但不想学习复杂的硬件和软件。 > MaixPy 提供了 Python API，所以你需要做的就是学习基础 Python 语法，而 MaixPy 的 API 非常易于使用，你甚至可以在几分钟内完成你的项目。 * **工程师**: 想要做一些项目，但希望尽快有一个原型。 > MaixPy 易于构建项目，并提供相应的 C++ SDK，所以你可以直接使用 MaixPy 来部署或在几分钟内将 Python 代码转换为 C++。 * **学生**： 想要学习 AI，嵌入式开发。 > 我们提供了许多文档和教程，以及大量开源代码，帮助你找到学习路线，并逐步成长。从简单的 Python 编程到视觉，AI，音频，Linux，RTOS等。 * **企业**: 想要开发 AI 视觉产品，但没有时间或工程师来开发复杂的嵌入式系统。 > 使用 MaixPy 甚至图形编程来开发你的产品，不需要更多的员工和时间。例如，向你的生产线添加一个 AI QA 系统，或者根据你的需求向你的办公室添加一个 AI 安全监控器。 * **竞赛者**: 想要赢得比赛的比赛人们。 > MaixPy 集成了许多功能，易于使用，加快你作品产出速度，以在有限的时间内赢得比赛，国内常见比赛都有很多同学使用 MaixPy 赢得比赛。 ## 性能对比 相比上两代 Maix 系列产品有限的 NPU 算子支持和内存限制，MaixCAM 在保持超高性价比的同时，性能和体验有了很大的提升，强烈建议升级到最新的 MaixCAM 以及 MaixPy v4。 特征 Maix I K210 Maix II v831 MaixCAM CPU 400MHz RISC V x2 800MHz ARM7 **1GHz RISC V(Linux)
    700MHz RISC V(RTOS)
    25~300MHz 8051(Low Power)** 内存 6MB SRAM 64MB DDR2 **256MB DDR3** NPU 0.25Tops@INT8
    official says 1T but... 0.25Tops@INT8 **1Tops@INT8** Encoder ✖ 1080p@30fps **2K@30fps** 屏幕 2.4\" 320x240 1.3\" 240x240 **2.28\" 552x368** / 5\" 1280x720 / 7\" 1280x800 / 10“ 1280x800 触摸屏 ✖ ✖ **2.3\" 552x368** 摄像头 30W 200W **500W** WiFi 2.4G 2.4G **WiFi6** 2.4G/5G USB ✖ **USB2.0** **USB2.0** 以太网 ✖ 100M(选配) 100M(选配) SD 卡接口 SPI **SDIO** **SDIO** BLE ✖ ✖ **BLE5.4** 操作系统 RTOS Tina Linux **Linux + RTOS** 编程语言 C / C++ / MicroPython C / C++ / **Python3** C / **C++ / Python3** Software MaixPy MaixPy3 **MaixCDK + MaixPy v4 + opencv + numpy + ...** PC 软件 MaixPy IDE MaixPy3 IDE **MaixVision** Workstation 文档 ⭐️⭐️⭐️⭐️ ⭐️⭐️⭐️ 🌟🌟🌟🌟🌟 在线 AI 训练 ⭐️⭐️⭐️ ⭐️⭐️⭐️⭐️ 🌟🌟🌟🌟🌟 官方应用 ⭐️⭐️ ⭐️⭐️⭐️ 🌟🌟🌟🌟🌟 AI 分类(224x224) MobileNetv1 50fps
    MobileNetv2 ✖
    Resnet ✖ MobileNet ✖
    Resnet18 20fps
    Resnet50 ✖ MobileNetv2 **130fps**
    Resnet18 **62fps**
    Resnet50 **28fps** AI 检测 YOLOv2(224x224) 15fps YOLOv2(224x224) 15fps **YOLOv5s(224x224) 100fps
    YOLOv5s(320x256) 70fps
    YOLOv5s(640x640) 15fps
    YOLOv8n(640x640) 23fps** 易用性 ⭐️⭐️⭐️⭐️ ⭐️⭐️⭐️ 🌟🌟🌟🌟🌟 ## Maix 生态 ![](/static/image/maix_ecosystem.png) ## MaixPy v1, MaixPy3 and MaixPy v4 有什么区别？ * MaixPy v1 使用 MicroPython 编程语言，仅支持 Sipeed Maix I K210 系列硬件，有限的第三方包。 * MaixPy3 专为 Sipeed Maix II Dock v831 设计，不是长期支持版本。 * MaixPy v4 使用 Python 编程语言，因此我们可以直接使用许多包。MaixPy v4 支持 Sipeed 的新硬件平台，这是一个长期支持版本，未来的硬件平台将支持这个版本。MaixPy v4 有一个 MaixPy v1 兼容的 API，所以你可以快速将你的 MaixPy v1 项目迁移到 MaixPy v4。 (MaixPy v4 不支持 Maix I K210 系列，如果你正在使用 Maix I K210 系列，建议升级硬件平台以使用此版本，以获得更多功能和更好的性能。) ## 开源协议 所有在本仓库中的文件都遵循 [Apache License 2.0 Sipeed Ltd.](https://github.com/sipeed/maixpy/blob/main/LICENSE) 协议，除了第三方库或者有自己的协议。 ## 社区 * 项目分享: [maixhub.com/share](https://maixhub.com/share) * 讨论: [maixhub.com/discussion](https://maixhub.com/discussion) * QQ 群: 862340358 * Telegram: [t.me/maixpy](https://t.me/maixpy)"},"/maixpy/404.html":{"title":"","content":" layout: 404.html "}} \ No newline at end of file diff --git a/maixpy/static/search_index/index_4.json b/maixpy/static/search_index/index_4.json new file mode 100644 index 0000000..c2a4caf --- /dev/null +++ b/maixpy/static/search_index/index_4.json @@ -0,0 +1 @@ +{"/maixpy/en/index.html":{"title":"MaixPy","content":" title: MaixPy id: home_page

    MaixPy (v4)

    Easily create AI projects with Python on edge device

    [![GitHub Repo stars](https://img.shields.io/github/stars/sipeed/MaixPy?style social)](https://github.com/sipeed/MaixPy)[![Apache 2.0](https://img.shields.io/badge/license Apache%20v2.0 orange.svg)](\"https://github.com/sipeed/MaixPy/blob/main/LICENSE.html)[![PyPI](https://img.shields.io/pypi/v/maixpy.svg)](https://pypi.python.org/pypi/maixpy/)[![PyPI Downloads](https://img.shields.io/pypi/dm/maixpy?label pypi%20downloads)](https://pypi.org/project/maixpy/)[![GitHub repo size](https://img.shields.io/github/repo size/sipeed/maixpy)](https://github.com/sipeed/MaixPy) [![Build MaixCAM](https://github.com/sipeed/MaixPy/actions/workflows/build_maixcam.yml/badge.svg)](https://github.com/sipeed/MaixPy/actions/workflows/build_maixcam.yml)[![Trigger wiki](https://github.com/sipeed/MaixPy/actions/workflows/trigger_wiki.yml/badge.svg)](https://github.com/sipeed/MaixPy/actions/workflows/trigger_wiki.yml)
    English [中文](/)
    > MaixPy v1 (Maix I K210) refer to MaixPy v1 doc。 MaixPy v4 not support Maix I Maix II, please upgrade to [MaixCAM](https://wiki.sipeed.com/maixcam) 硬件平台。 > Give a star ⭐️ to [ MaixPy source code](https://github.com/sipeed/MaixPy) on GitHub to let us known you love it, and encourage us to add more features.

    Easy to use API, AI vision classify in 10 lines

    ```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) ```

    Hardware peripheral control:

    Serial send and receive: ```python from maix import uart dvices uart.list_devices() serial uart.UART(devices[0], 115200) serial.write_str(\"hello world\") print(\"received:\", serial.read(timeout 2000)) ```
    I2C send and receive: ```python from maix import i2c devices i2c.list_devices() dev1 i2c.I2C(devices[0], freq 100000) slaves dev1.scan() print(\"find slaves:\", slaves) dev1.writeto(0x12, b'hello') print(\"received:\", dev1.readfrom(0x12, 5)) ```

    MaixVision Workstation

    Simplify the development environment, make development easier and faster:

    Online AI training platform MaixHub

    One click training AI model and deployment to MaixCAM even you have no AI knowledge and expensive training equipment. ## Powerful MaixCAM hardware platform ![MaixCAM](/static/image/maixcam.png)
    * **CPU**: 1GHz RISC V(Linux)/ARM A53 + 700MHz RISC V(RTOS) + 25~300MHz 8051(Low Power) > Big core can choose one of RISC V and ARM A53. * **NPU**: 1Tops@INT8 NPU, support BF16, support YOLOv5 YOLOv8 etc. * **Memory**: 256MB DDR3. * **Connecting**: USB2.0/WiFi6/BLE5.4. * **Peripheral**: IIC/PWM/SPI/UART/WDT/ADC * **MultiMedia**: 4M Camera, 2.3\" 552x368 Touchscreen, H.264/H.265/MJPEG codec. * **Price**: [169/249 RMB](https://wiki.sipeed.com/store) (out of stock, please consult the store) More detalils: [MaixCAM](https://wiki.sipeed.com/maixcam) > Attention, only MaixCAM is supported, other boards with the same chip are not supported, including Sipeed's boards with the same chip, please be careful not to waste time and money by buying the wrong one.
    ## Features Below are some of the features, for more please see the [documentation](/doc/en/index.html), [app store](https://maixhub.com/app) or community sharing [MaixHub](https://maixhub.com/share).

    Python + MaixVision IDE

    Simple API, with hardware acceleration, including many libraries, such as numpy, opencv, MaixVision IDE programming

    C++ Version

    MaixCDK C++ version SDK，API the same as MaixPy's

    As a serial module

    Other MCU control by serial command

    App Store

    Share your APP to community, and one click install APPs.

    MaixPy v1 compatible package

    Quickly migrate from MaixPy v1(K210) to MaixPy v4

    AI Classifier

    Classify object type

    AI Object Detection

    Classify object type and position

    AI Face Recognition

    Recognize different face

    AI Body Keypoint Detection

    Pose recognition, body sense game

    AI Self Learning Classifier

    No need to train on PC, learning any object on device in a flash

    AI Self Learning Detector

    No need to train on PC, learning any object on device in a flash

    AI Object Tracking

    Trajectory tracking, traffic statistics

    AI Monitor, Stream

    Security monitor, can stream, even can live to platforms like Bilibili.com

    Find Blobs

    Find color blobs

    Line Tracking

    Car line tracking, logistics handling

    QR Code and AprilTag

    Recognize QR code and AprilTag

    OCR

    Recognize characters in the image, digitize old items

    Speech Recognition

    Real time continuous speech recognition

    Desktop Monitor

    Monitor PC information, such as CPU, memory, network, etc.

    Weather Station

    Monitor weather information, such as temperature, humidity, etc.

    Thermal Camera

    Optional camera, temprature image capture/measure

    HDMI Capture Video

    Optional, Capture HDMI image, as server monitor(KVM), external AI, streaming device etc.

    ## Who are using MaixPy? * **AI Algorithm Engineer** who want to deploy your AI model to embedded devices. > MaixPy provide easy to use API to access NPU, and docs to help you develop your AI model. * **STEM** teacher who want to teach AI and embeded to students. > MaixPy provide easy to use API, PC tools, online AI train service ... Let you focus on teaching AI, not the hardware and complicated software usage. * **Maker** who want to make some cool projects but don't want to learn complicated hardware and software. > MaixPy provide Python API, so all you need is learn basic Python syntax, and MaixPy's API is so easy to use, you can make your project even in a few minutes. * **Engineer** who want to make some projects but want a prototype as soon as possible. > MaixPy is easy to build projects, and provide corresponding C++ SDK, so you can directly use MaixPy to deploy or transfer Python code to C++ in a few minutes. * **Students** who want to learn AI, embedded development. > We provide many docs and tutorials, and lot of open source code, to help you find learning route, and grow up step by step. From simple Python programming to `Vision`, `AI`, `Audio`, `Linux`, `RTOS` etc. * **Enterprise** who want to develop AI vision products but have no time or engineers to develop complicated embedded system. > Use MaixPy even graphic programming to develop your products with no more employees and time. For example, add a AI QA system to your production line, or add a AI security monitor to your office as your demand. * **Contestants** who want to win the competition. > MaixPy integrate many functions and easy to use, fasten your work to win the competition in limited time. There are already many contestants win the competition with MaixPy. ## Performance comparison K210 and v831 are outdated, they have many limitations in memory, performance, NPU operators missing etc.
    No matter you are using them or new comer, it's recommended to upgrade to MaixCAM and MaixPy v4.
    Here's the comparison between them: Feature Maix I K210 Maix II v831 MaixCAM CPU 400MHz RISC V x2 800MHz ARM7 **1GHz RISC V(Linux)
    700MHz RISC V(RTOS)
    25~300MHz 8051(Low Power)** Memory 6MB SRAM 64MB DDR2 **256MB DDR3** NPU 0.25Tops@INT8
    official says 1T but... 0.25Tops@INT8 **1Tops@INT8** Encoder ✖ 1080p@30fps **2K@30fps** Screen 2.4\" 320x240 1.3\" 240x240 **2.28\" 552x368** / 5\" 1280x720 / 7\" 1280x800 / 10“ 1280x800 TouchScreen ✖ ✖ **2.3\" 552x368** Camera 30W 200W **500W** WiFi 2.4G 2.4G **WiFi6** 2.4G/5G USB ✖ **USB2.0** **USB2.0** Eth ✖ 100M(Optional) 100M(Optional) SD Interface SPI **SDIO** **SDIO** BLE ✖ ✖ **BLE5.4** OS RTOS Tina Linux **Linux + RTOS** Language C / C++ / MicroPython C / C++ / **Python3** C / **C++ / Python3** Software MaixPy MaixPy3 **MaixCDK + MaixPy v4 + opencv + numpy + ...** PC software MaixPy IDE MaixPy3 IDE **MaixVision** Workstation Docs ⭐️⭐️⭐️⭐️ ⭐️⭐️⭐️ 🌟🌟🌟🌟🌟 Online AI train ⭐️⭐️⭐️ ⭐️⭐️⭐️⭐️ 🌟🌟🌟🌟🌟 Official APPs ⭐️⭐️ ⭐️⭐️⭐️ 🌟🌟🌟🌟🌟 AI classify(224x224) MobileNetv1 50fps
    MobileNetv2 ✖
    Resnet ✖ MobileNet ✖
    Resnet18 20fps
    Resnet50 ✖ MobileNetv2 **130fps**
    Resnet18 **62fps**
    Resnet50 **28fps** AI detect YOLOv2(224x224) 15fps YOLOv2(224x224) 15fps **YOLOv5s(224x224) 100fps
    YOLOv5s(320x256) 70fps
    YOLOv5s(640x640) 15fps
    YOLOv8n(640x640) 23fps** Ease of use ⭐️⭐️⭐️⭐️ ⭐️⭐️⭐️ 🌟🌟🌟🌟🌟 ## Maix ecosystem ![](/static/image/maix_ecosystem.png) ## What difference between MaixPy v1, MaixPy3 and MaixPy v4? * MaixPy v1 use MicroPython programming language, only support Sipeed Maix I K210 series hardware, have limited third party packages. * MaixPy3 is designed for Sipeed Maix II Dock v831, not a long term support version. * MaixPy v4 use Python programming language, so there's much package we can use directly. MaixPy v4 support new hardware platforms of Sipeed, it's a long term support version, the future's hardware platforms will support this version. MaixPy v4 have a MaixPy v1 compatible API, so you can quickly migrate your MaixPy v1 project to MaixPy v4. (MaixPy v4 Will not support Maix I K210 series, if you are using Maix I K210 series, it's recommended to upgrade hardware platform to use this to get more features and better performance.) ## License All files in this repository are under the terms of the [Apache License 2.0 Sipeed Ltd.](./LICENSE) except the third party libraries or have their own license. ## Community * Project sharing: [maixhub.com/share](https://maixhub.com/share) * Discussion: [maixhub.com/discussion](https://maixhub.com/discussion) * QQ group: 862340358 * Telegram: [t.me/maixpy](https://t.me/maixpy)"},"/maixpy/en/no_translate.html":{"title":"no translation","content":" title: no translation class: md_page
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68;case 47:this.begin("callback_name");break;case 49:this.popState(),this.begin("callback_args");break;case 50:return 66;case 52:return 67;case 53:case 54:case 55:case 56:return 64;case 57:case 58:return 57;case 59:case 60:return 59;case 61:return 58;case 62:return 56;case 63:return 60;case 64:return 61;case 65:return 32;case 66:return 44;case 67:return 81;case 68:return"DOT";case 69:return"PLUS";case 70:return 78;case 71:case 72:return"EQUALS";case 73:return 85;case 74:return"PUNCTUATION";case 75:return 84;case 76:return 83;case 77:return 80;case 78:return 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4B\uAA60-\uAA76\uAA7A\uAA80-\uAAAF\uAAB1\uAAB5]|[\uAAB6\uAAB9-\uAABD\uAAC0\uAAC2\uAADB-\uAADD\uAAE0-\uAAEA\uAAF2-\uAAF4]|[\uAB01-\uAB06\uAB09-\uAB0E\uAB11-\uAB16\uAB20-\uAB26\uAB28-\uAB2E]|[\uABC0-\uABE2\uAC00-\uD7A3\uD7B0-\uD7C6\uD7CB-\uD7FB\uF900-\uFA6D]|[\uFA70-\uFAD9\uFB00-\uFB06\uFB13-\uFB17\uFB1D\uFB1F-\uFB28\uFB2A-\uFB36]|[\uFB38-\uFB3C\uFB3E\uFB40\uFB41\uFB43\uFB44\uFB46-\uFBB1\uFBD3-\uFD3D]|[\uFD50-\uFD8F\uFD92-\uFDC7\uFDF0-\uFDFB\uFE70-\uFE74\uFE76-\uFEFC]|[\uFF21-\uFF3A\uFF41-\uFF5A\uFF66-\uFFBE\uFFC2-\uFFC7\uFFCA-\uFFCF]|[\uFFD2-\uFFD7\uFFDA-\uFFDC])/,/^(?:\s)/,/^(?:$)/],conditions:{acc_descr_multiline:{rules:[16,17],inclusive:!1},acc_descr:{rules:[14],inclusive:!1},acc_title:{rules:[12],inclusive:!1},arg_directive:{rules:[7,8],inclusive:!1},type_directive:{rules:[6,7],inclusive:!1},open_directive:{rules:[5],inclusive:!1},callback_args:{rules:[51,52],inclusive:!1},callback_name:{rules:[48,49,50],inclusive:!1},href:{rules:[45,46],inclusive:!1},struct:{rules:[23,24,25,26,27],inclusive:!1},generic:{rules:[36,37],inclusive:!1},bqstring:{rules:[42,43],inclusive:!1},string:{rules:[39,40],inclusive:!1},INITIAL:{rules:[0,1,2,3,4,9,10,11,13,15,18,19,20,21,22,28,29,30,31,32,33,34,35,38,41,44,47,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78],inclusive:!0}}};function z(){this.yy={}}return j.lexer=U,z.prototype=j,j.Parser=z,new z}();e.parser=r,e.Parser=r.Parser,e.parse=function(){return r.parse.apply(r,arguments)},e.main=function(t){t[1]||(console.log("Usage: "+t[0]+" FILE"),process.exit(1));var r=n(8218).readFileSync(n(6470).normalize(t[1]),"utf8");return e.parser.parse(r)},n.c[n.s]===t&&e.main(process.argv.slice(1))},5890:(t,e,n)=>{t=n.nmd(t);var r=function(){var t=function(t,e,n,r){for(n=n||{},r=t.length;r--;n[t[r]]=e);return n},e=[1,2],n=[1,5],r=[6,9,11,23,25,27,29,30,48],i=[1,17],a=[1,18],o=[1,19],s=[1,20],c=[1,21],u=[1,24],l=[1,29],h=[1,30],f=[1,31],d=[1,32],p=[1,44],g=[30,45,46],y=[4,6,9,11,23,25,27,29,30,48],m=[41,42,43,44],v=[22,36],b=[1,62],_={trace:function(){},yy:{},symbols_:{error:2,start:3,ER_DIAGRAM:4,document:5,EOF:6,directive:7,line:8,SPACE:9,statement:10,NEWLINE:11,openDirective:12,typeDirective:13,closeDirective:14,":":15,argDirective:16,entityName:17,relSpec:18,role:19,BLOCK_START:20,attributes:21,BLOCK_STOP:22,title:23,title_value:24,acc_title:25,acc_title_value:26,acc_descr:27,acc_descr_value:28,acc_descr_multiline_value:29,ALPHANUM:30,attribute:31,attributeType:32,attributeName:33,attributeKeyType:34,attributeComment:35,ATTRIBUTE_WORD:36,ATTRIBUTE_KEY:37,COMMENT:38,cardinality:39,relType:40,ZERO_OR_ONE:41,ZERO_OR_MORE:42,ONE_OR_MORE:43,ONLY_ONE:44,NON_IDENTIFYING:45,IDENTIFYING:46,WORD:47,open_directive:48,type_directive:49,arg_directive:50,close_directive:51,$accept:0,$end:1},terminals_:{2:"error",4:"ER_DIAGRAM",6:"EOF",9:"SPACE",11:"NEWLINE",15:":",20:"BLOCK_START",22:"BLOCK_STOP",23:"title",24:"title_value",25:"acc_title",26:"acc_title_value",27:"acc_descr",28:"acc_descr_value",29:"acc_descr_multiline_value",30:"ALPHANUM",36:"ATTRIBUTE_WORD",37:"ATTRIBUTE_KEY",38:"COMMENT",41:"ZERO_OR_ONE",42:"ZERO_OR_MORE",43:"ONE_OR_MORE",44:"ONLY_ONE",45:"NON_IDENTIFYING",46:"IDENTIFYING",47:"WORD",48:"open_directive",49:"type_directive",50:"arg_directive",51:"close_directive"},productions_:[0,[3,3],[3,2],[5,0],[5,2],[8,2],[8,1],[8,1],[8,1],[7,4],[7,6],[10,1],[10,5],[10,4],[10,3],[10,1],[10,2],[10,2],[10,2],[10,1],[17,1],[21,1],[21,2],[31,2],[31,3],[31,3],[31,4],[32,1],[33,1],[34,1],[35,1],[18,3],[39,1],[39,1],[39,1],[39,1],[40,1],[40,1],[19,1],[19,1],[12,1],[13,1],[16,1],[14,1]],performAction:function(t,e,n,r,i,a,o){var s=a.length-1;switch(i){case 1:break;case 3:case 7:case 8:this.$=[];break;case 4:a[s-1].push(a[s]),this.$=a[s-1];break;case 5:case 6:case 20:case 27:case 28:case 29:case 39:this.$=a[s];break;case 12:r.addEntity(a[s-4]),r.addEntity(a[s-2]),r.addRelationship(a[s-4],a[s],a[s-2],a[s-3]);break;case 13:r.addEntity(a[s-3]),r.addAttributes(a[s-3],a[s-1]);break;case 14:r.addEntity(a[s-2]);break;case 15:r.addEntity(a[s]);break;case 16:case 17:this.$=a[s].trim(),r.setTitle(this.$);break;case 18:case 19:this.$=a[s].trim(),r.setAccDescription(this.$);break;case 21:this.$=[a[s]];break;case 22:a[s].push(a[s-1]),this.$=a[s];break;case 23:this.$={attributeType:a[s-1],attributeName:a[s]};break;case 24:this.$={attributeType:a[s-2],attributeName:a[s-1],attributeKeyType:a[s]};break;case 25:this.$={attributeType:a[s-2],attributeName:a[s-1],attributeComment:a[s]};break;case 26:this.$={attributeType:a[s-3],attributeName:a[s-2],attributeKeyType:a[s-1],attributeComment:a[s]};break;case 30:case 38:this.$=a[s].replace(/"/g,"");break;case 31:this.$={cardA:a[s],relType:a[s-1],cardB:a[s-2]};break;case 32:this.$=r.Cardinality.ZERO_OR_ONE;break;case 33:this.$=r.Cardinality.ZERO_OR_MORE;break;case 34:this.$=r.Cardinality.ONE_OR_MORE;break;case 35:this.$=r.Cardinality.ONLY_ONE;break;case 36:this.$=r.Identification.NON_IDENTIFYING;break;case 37:this.$=r.Identification.IDENTIFYING;break;case 40:r.parseDirective("%%{","open_directive");break;case 41:r.parseDirective(a[s],"type_directive");break;case 42:a[s]=a[s].trim().replace(/'/g,'"'),r.parseDirective(a[s],"arg_directive");break;case 43:r.parseDirective("}%%","close_directive","er")}},table:[{3:1,4:e,7:3,12:4,48:n},{1:[3]},t(r,[2,3],{5:6}),{3:7,4:e,7:3,12:4,48:n},{13:8,49:[1,9]},{49:[2,40]},{6:[1,10],7:15,8:11,9:[1,12],10:13,11:[1,14],12:4,17:16,23:i,25:a,27:o,29:s,30:c,48:n},{1:[2,2]},{14:22,15:[1,23],51:u},t([15,51],[2,41]),t(r,[2,8],{1:[2,1]}),t(r,[2,4]),{7:15,10:25,12:4,17:16,23:i,25:a,27:o,29:s,30:c,48:n},t(r,[2,6]),t(r,[2,7]),t(r,[2,11]),t(r,[2,15],{18:26,39:28,20:[1,27],41:l,42:h,43:f,44:d}),{24:[1,33]},{26:[1,34]},{28:[1,35]},t(r,[2,19]),t([6,9,11,15,20,23,25,27,29,30,41,42,43,44,48],[2,20]),{11:[1,36]},{16:37,50:[1,38]},{11:[2,43]},t(r,[2,5]),{17:39,30:c},{21:40,22:[1,41],31:42,32:43,36:p},{40:45,45:[1,46],46:[1,47]},t(g,[2,32]),t(g,[2,33]),t(g,[2,34]),t(g,[2,35]),t(r,[2,16]),t(r,[2,17]),t(r,[2,18]),t(y,[2,9]),{14:48,51:u},{51:[2,42]},{15:[1,49]},{22:[1,50]},t(r,[2,14]),{21:51,22:[2,21],31:42,32:43,36:p},{33:52,36:[1,53]},{36:[2,27]},{39:54,41:l,42:h,43:f,44:d},t(m,[2,36]),t(m,[2,37]),{11:[1,55]},{19:56,30:[1,58],47:[1,57]},t(r,[2,13]),{22:[2,22]},t(v,[2,23],{34:59,35:60,37:[1,61],38:b}),t([22,36,37,38],[2,28]),{30:[2,31]},t(y,[2,10]),t(r,[2,12]),t(r,[2,38]),t(r,[2,39]),t(v,[2,24],{35:63,38:b}),t(v,[2,25]),t([22,36,38],[2,29]),t(v,[2,30]),t(v,[2,26])],defaultActions:{5:[2,40],7:[2,2],24:[2,43],38:[2,42],44:[2,27],51:[2,22],54:[2,31]},parseError:function(t,e){if(!e.recoverable){var n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line "+(c+1)+":\n"+p.showPosition()+"\nExpecting "+A.join(", ")+", got '"+(this.terminals_[_]||_)+"'":"Parse error on line "+(c+1)+": Unexpected "+(_==f?"end of input":"'"+(this.terminals_[_]||_)+"'"),this.parseError(N,{text:p.match,token:this.terminals_[_]||_,line:p.yylineno,loc:m,expected:A})}if(k[0]instanceof Array&&k.length>1)throw new Error("Parse Error: multiple actions possible at state: "+w+", token: "+_);switch(k[0]){case 1:n.push(_),i.push(p.yytext),a.push(p.yylloc),n.push(k[1]),_=null,x?(_=x,x=null):(u=p.yyleng,s=p.yytext,c=p.yylineno,m=p.yylloc,l>0&&l--);break;case 2:if(E=this.productions_[k[1]][1],M.$=i[i.length-E],M._$={first_line:a[a.length-(E||1)].first_line,last_line:a[a.length-1].last_line,first_column:a[a.length-(E||1)].first_column,last_column:a[a.length-1].last_column},v&&(M._$.range=[a[a.length-(E||1)].range[0],a[a.length-1].range[1]]),void 0!==(T=this.performAction.apply(M,[s,u,c,g.yy,k[1],i,a].concat(d))))return T;E&&(n=n.slice(0,-1*E*2),i=i.slice(0,-1*E),a=a.slice(0,-1*E)),n.push(this.productions_[k[1]][0]),i.push(M.$),a.push(M._$),S=o[n[n.length-2]][n[n.length-1]],n.push(S);break;case 3:return!0}}return!0}},x={EOF:1,parseError:function(t,e){if(!this.yy.parser)throw new Error(t);this.yy.parser.parseError(t,e)},setInput:function(t,e){return this.yy=e||this.yy||{},this._input=t,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var t=this._input[0];return this.yytext+=t,this.yyleng++,this.offset++,this.match+=t,this.matched+=t,t.match(/(?:\r\n?|\n).*/g)?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),t},unput:function(t){var e=t.length,n=t.split(/(?:\r\n?|\n)/g);this._input=t+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-e),this.offset-=e;var r=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),n.length-1&&(this.yylineno-=n.length-1);var i=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:n?(n.length===r.length?this.yylloc.first_column:0)+r[r.length-n.length].length-n[0].length:this.yylloc.first_column-e},this.options.ranges&&(this.yylloc.range=[i[0],i[0]+this.yyleng-e]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){return this.options.backtrack_lexer?(this._backtrack=!0,this):this.parseError("Lexical error on line "+(this.yylineno+1)+". You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},less:function(t){this.unput(this.match.slice(t))},pastInput:function(){var t=this.matched.substr(0,this.matched.length-this.match.length);return(t.length>20?"...":"")+t.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var t=this.match;return t.length<20&&(t+=this._input.substr(0,20-t.length)),(t.substr(0,20)+(t.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var t=this.pastInput(),e=new Array(t.length+1).join("-");return t+this.upcomingInput()+"\n"+e+"^"},test_match:function(t,e){var n,r,i;if(this.options.backtrack_lexer&&(i={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(i.yylloc.range=this.yylloc.range.slice(0))),(r=t[0].match(/(?:\r\n?|\n).*/g))&&(this.yylineno+=r.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:r?r[r.length-1].length-r[r.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+t[0].length},this.yytext+=t[0],this.match+=t[0],this.matches=t,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(t[0].length),this.matched+=t[0],n=this.performAction.call(this,this.yy,this,e,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),n)return n;if(this._backtrack){for(var a in i)this[a]=i[a];return!1}return!1},next:function(){if(this.done)return this.EOF;var t,e,n,r;this._input||(this.done=!0),this._more||(this.yytext="",this.match="");for(var i=this._currentRules(),a=0;ae[0].length)){if(e=n,r=a,this.options.backtrack_lexer){if(!1!==(t=this.test_match(n,i[a])))return t;if(this._backtrack){e=!1;continue}return!1}if(!this.options.flex)break}return e?!1!==(t=this.test_match(e,i[r]))&&t:""===this._input?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+". Unrecognized text.\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){return this.next()||this.lex()},begin:function(t){this.conditionStack.push(t)},popState:function(){return this.conditionStack.length-1>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(t){return(t=this.conditionStack.length-1-Math.abs(t||0))>=0?this.conditionStack[t]:"INITIAL"},pushState:function(t){this.begin(t)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(t,e,n,r){switch(n){case 0:return this.begin("acc_title"),25;case 1:return this.popState(),"acc_title_value";case 2:return this.begin("acc_descr"),27;case 3:return this.popState(),"acc_descr_value";case 4:this.begin("acc_descr_multiline");break;case 5:this.popState();break;case 6:return"acc_descr_multiline_value";case 7:return this.begin("open_directive"),48;case 8:return this.begin("type_directive"),49;case 9:return this.popState(),this.begin("arg_directive"),15;case 10:return this.popState(),this.popState(),51;case 11:return 50;case 12:case 13:case 15:case 20:case 24:break;case 14:return 11;case 16:return 9;case 17:return 47;case 18:return 4;case 19:return this.begin("block"),20;case 21:return 37;case 22:return 36;case 23:return 38;case 25:return this.popState(),22;case 26:case 39:return e.yytext[0];case 27:case 31:return 41;case 28:case 32:return 42;case 29:case 33:return 43;case 30:return 44;case 34:case 36:case 37:return 45;case 35:return 46;case 38:return 30;case 40:return 6}},rules:[/^(?:accTitle\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*\{\s*)/i,/^(?:[\}])/i,/^(?:[^\}]*)/i,/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:%(?!\{)[^\n]*)/i,/^(?:[^\}]%%[^\n]*)/i,/^(?:[\n]+)/i,/^(?:\s+)/i,/^(?:[\s]+)/i,/^(?:"[^"]*")/i,/^(?:erDiagram\b)/i,/^(?:\{)/i,/^(?:\s+)/i,/^(?:(?:PK)|(?:FK))/i,/^(?:[A-Za-z][A-Za-z0-9\-_]*)/i,/^(?:"[^"]*")/i,/^(?:[\n]+)/i,/^(?:\})/i,/^(?:.)/i,/^(?:\|o\b)/i,/^(?:\}o\b)/i,/^(?:\}\|)/i,/^(?:\|\|)/i,/^(?:o\|)/i,/^(?:o\{)/i,/^(?:\|\{)/i,/^(?:\.\.)/i,/^(?:--)/i,/^(?:\.-)/i,/^(?:-\.)/i,/^(?:[A-Za-z][A-Za-z0-9\-_]*)/i,/^(?:.)/i,/^(?:$)/i],conditions:{acc_descr_multiline:{rules:[5,6],inclusive:!1},acc_descr:{rules:[3],inclusive:!1},acc_title:{rules:[1],inclusive:!1},open_directive:{rules:[8],inclusive:!1},type_directive:{rules:[9,10],inclusive:!1},arg_directive:{rules:[10,11],inclusive:!1},block:{rules:[20,21,22,23,24,25,26],inclusive:!1},INITIAL:{rules:[0,2,4,7,12,13,14,15,16,17,18,19,27,28,29,30,31,32,33,34,35,36,37,38,39,40],inclusive:!0}}};function 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n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line "+(c+1)+":\n"+p.showPosition()+"\nExpecting "+A.join(", ")+", got '"+(this.terminals_[_]||_)+"'":"Parse error on line "+(c+1)+": Unexpected "+(_==f?"end of input":"'"+(this.terminals_[_]||_)+"'"),this.parseError(N,{text:p.match,token:this.terminals_[_]||_,line:p.yylineno,loc:m,expected:A})}if(k[0]instanceof Array&&k.length>1)throw new Error("Parse Error: multiple actions possible at state: "+w+", token: "+_);switch(k[0]){case 1:n.push(_),i.push(p.yytext),a.push(p.yylloc),n.push(k[1]),_=null,x?(_=x,x=null):(u=p.yyleng,s=p.yytext,c=p.yylineno,m=p.yylloc,l>0&&l--);break;case 2:if(E=this.productions_[k[1]][1],M.$=i[i.length-E],M._$={first_line:a[a.length-(E||1)].first_line,last_line:a[a.length-1].last_line,first_column:a[a.length-(E||1)].first_column,last_column:a[a.length-1].last_column},v&&(M._$.range=[a[a.length-(E||1)].range[0],a[a.length-1].range[1]]),void 0!==(T=this.performAction.apply(M,[s,u,c,g.yy,k[1],i,a].concat(d))))return T;E&&(n=n.slice(0,-1*E*2),i=i.slice(0,-1*E),a=a.slice(0,-1*E)),n.push(this.productions_[k[1]][0]),i.push(M.$),a.push(M._$),S=o[n[n.length-2]][n[n.length-1]],n.push(S);break;case 3:return!0}}return!0}},ne={EOF:1,parseError:function(t,e){if(!this.yy.parser)throw new Error(t);this.yy.parser.parseError(t,e)},setInput:function(t,e){return this.yy=e||this.yy||{},this._input=t,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var t=this._input[0];return this.yytext+=t,this.yyleng++,this.offset++,this.match+=t,this.matched+=t,t.match(/(?:\r\n?|\n).*/g)?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),t},unput:function(t){var e=t.length,n=t.split(/(?:\r\n?|\n)/g);this._input=t+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-e),this.offset-=e;var r=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),n.length-1&&(this.yylineno-=n.length-1);var i=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:n?(n.length===r.length?this.yylloc.first_column:0)+r[r.length-n.length].length-n[0].length:this.yylloc.first_column-e},this.options.ranges&&(this.yylloc.range=[i[0],i[0]+this.yyleng-e]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){return this.options.backtrack_lexer?(this._backtrack=!0,this):this.parseError("Lexical error on line "+(this.yylineno+1)+". You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},less:function(t){this.unput(this.match.slice(t))},pastInput:function(){var t=this.matched.substr(0,this.matched.length-this.match.length);return(t.length>20?"...":"")+t.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var t=this.match;return t.length<20&&(t+=this._input.substr(0,20-t.length)),(t.substr(0,20)+(t.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var t=this.pastInput(),e=new Array(t.length+1).join("-");return t+this.upcomingInput()+"\n"+e+"^"},test_match:function(t,e){var n,r,i;if(this.options.backtrack_lexer&&(i={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(i.yylloc.range=this.yylloc.range.slice(0))),(r=t[0].match(/(?:\r\n?|\n).*/g))&&(this.yylineno+=r.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:r?r[r.length-1].length-r[r.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+t[0].length},this.yytext+=t[0],this.match+=t[0],this.matches=t,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(t[0].length),this.matched+=t[0],n=this.performAction.call(this,this.yy,this,e,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),n)return n;if(this._backtrack){for(var a in i)this[a]=i[a];return!1}return!1},next:function(){if(this.done)return this.EOF;var t,e,n,r;this._input||(this.done=!0),this._more||(this.yytext="",this.match="");for(var i=this._currentRules(),a=0;ae[0].length)){if(e=n,r=a,this.options.backtrack_lexer){if(!1!==(t=this.test_match(n,i[a])))return t;if(this._backtrack){e=!1;continue}return!1}if(!this.options.flex)break}return e?!1!==(t=this.test_match(e,i[r]))&&t:""===this._input?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+". Unrecognized text.\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){return this.next()||this.lex()},begin:function(t){this.conditionStack.push(t)},popState:function(){return this.conditionStack.length-1>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(t){return(t=this.conditionStack.length-1-Math.abs(t||0))>=0?this.conditionStack[t]:"INITIAL"},pushState:function(t){this.begin(t)},stateStackSize:function(){return this.conditionStack.length},options:{},performAction:function(t,e,n,r){switch(n){case 0:return this.begin("open_directive"),12;case 1:return this.begin("type_directive"),13;case 2:return this.popState(),this.begin("arg_directive"),10;case 3:return this.popState(),this.popState(),15;case 4:return 14;case 5:case 6:break;case 7:return this.begin("acc_title"),44;case 8:return this.popState(),"acc_title_value";case 9:return this.begin("acc_descr"),46;case 10:return this.popState(),"acc_descr_value";case 11:this.begin("acc_descr_multiline");break;case 12:case 15:case 24:case 27:case 30:case 33:this.popState();break;case 13:return"acc_descr_multiline_value";case 14:this.begin("string");break;case 16:return"STR";case 17:return 86;case 18:return 95;case 19:return 87;case 20:return 104;case 21:return 88;case 22:return 89;case 23:this.begin("href");break;case 25:return 100;case 26:this.begin("callbackname");break;case 28:this.popState(),this.begin("callbackargs");break;case 29:return 98;case 31:return 99;case 32:this.begin("click");break;case 34:return 90;case 35:case 36:return t.lex.firstGraph()&&this.begin("dir"),24;case 37:return 38;case 38:return 42;case 39:case 40:case 41:case 42:return 101;case 43:return this.popState(),25;case 44:case 45:case 46:case 47:case 48:case 49:case 50:case 51:case 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108:return 72;case 109:return 133;case 110:return 21;case 111:return 22;case 112:return 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re(){this.yy={}}return ee.lexer=ne,re.prototype=ee,ee.Parser=re,new re}();e.parser=r,e.Parser=r.Parser,e.parse=function(){return r.parse.apply(r,arguments)},e.main=function(t){t[1]||(console.log("Usage: "+t[0]+" FILE"),process.exit(1));var r=n(5354).readFileSync(n(6470).normalize(t[1]),"utf8");return e.parser.parse(r)},n.c[n.s]===t&&e.main(process.argv.slice(1))},9959:(t,e,n)=>{t=n.nmd(t);var r=function(){var t=function(t,e,n,r){for(n=n||{},r=t.length;r--;n[t[r]]=e);return n},e=[1,3],n=[1,5],r=[7,9,11,12,13,14,15,16,17,18,19,20,22,24,25,27,34,39],i=[1,15],a=[1,16],o=[1,17],s=[1,18],c=[1,19],u=[1,20],l=[1,21],h=[1,22],f=[1,23],d=[1,24],p=[1,25],g=[1,26],y=[1,28],m=[1,30],v=[1,33],b=[5,7,9,11,12,13,14,15,16,17,18,19,20,22,24,25,27,34,39],_={trace:function(){},yy:{},symbols_:{error:2,start:3,directive:4,gantt:5,document:6,EOF:7,line:8,SPACE:9,statement:10,NL:11,dateFormat:12,inclusiveEndDates:13,topAxis:14,axisFormat:15,excludes:16,includes:17,todayMarker:18,title:19,acc_title:20,acc_title_value:21,acc_descr:22,acc_descr_value:23,acc_descr_multiline_value:24,section:25,clickStatement:26,taskTxt:27,taskData:28,openDirective:29,typeDirective:30,closeDirective:31,":":32,argDirective:33,click:34,callbackname:35,callbackargs:36,href:37,clickStatementDebug:38,open_directive:39,type_directive:40,arg_directive:41,close_directive:42,$accept:0,$end:1},terminals_:{2:"error",5:"gantt",7:"EOF",9:"SPACE",11:"NL",12:"dateFormat",13:"inclusiveEndDates",14:"topAxis",15:"axisFormat",16:"excludes",17:"includes",18:"todayMarker",19:"title",20:"acc_title",21:"acc_title_value",22:"acc_descr",23:"acc_descr_value",24:"acc_descr_multiline_value",25:"section",27:"taskTxt",28:"taskData",32:":",34:"click",35:"callbackname",36:"callbackargs",37:"href",39:"open_directive",40:"type_directive",41:"arg_directive",42:"close_directive"},productions_:[0,[3,2],[3,3],[6,0],[6,2],[8,2],[8,1],[8,1],[8,1],[10,1],[10,1],[10,1],[10,1],[10,1],[10,1],[10,1],[10,1],[10,2],[10,2],[10,1],[10,1],[10,1],[10,2],[10,1],[4,4],[4,6],[26,2],[26,3],[26,3],[26,4],[26,3],[26,4],[26,2],[38,2],[38,3],[38,3],[38,4],[38,3],[38,4],[38,2],[29,1],[30,1],[33,1],[31,1]],performAction:function(t,e,n,r,i,a,o){var s=a.length-1;switch(i){case 2:return a[s-1];case 3:case 7:case 8:this.$=[];break;case 4:a[s-1].push(a[s]),this.$=a[s-1];break;case 5:case 6:this.$=a[s];break;case 9:r.setDateFormat(a[s].substr(11)),this.$=a[s].substr(11);break;case 10:r.enableInclusiveEndDates(),this.$=a[s].substr(18);break;case 11:r.TopAxis(),this.$=a[s].substr(8);break;case 12:r.setAxisFormat(a[s].substr(11)),this.$=a[s].substr(11);break;case 13:r.setExcludes(a[s].substr(9)),this.$=a[s].substr(9);break;case 14:r.setIncludes(a[s].substr(9)),this.$=a[s].substr(9);break;case 15:r.setTodayMarker(a[s].substr(12)),this.$=a[s].substr(12);break;case 16:r.setTitle(a[s].substr(6)),this.$=a[s].substr(6);break;case 17:this.$=a[s].trim(),r.setTitle(this.$);break;case 18:case 19:this.$=a[s].trim(),r.setAccDescription(this.$);break;case 20:r.addSection(a[s].substr(8)),this.$=a[s].substr(8);break;case 22:r.addTask(a[s-1],a[s]),this.$="task";break;case 26:this.$=a[s-1],r.setClickEvent(a[s-1],a[s],null);break;case 27:this.$=a[s-2],r.setClickEvent(a[s-2],a[s-1],a[s]);break;case 28:this.$=a[s-2],r.setClickEvent(a[s-2],a[s-1],null),r.setLink(a[s-2],a[s]);break;case 29:this.$=a[s-3],r.setClickEvent(a[s-3],a[s-2],a[s-1]),r.setLink(a[s-3],a[s]);break;case 30:this.$=a[s-2],r.setClickEvent(a[s-2],a[s],null),r.setLink(a[s-2],a[s-1]);break;case 31:this.$=a[s-3],r.setClickEvent(a[s-3],a[s-1],a[s]),r.setLink(a[s-3],a[s-2]);break;case 32:this.$=a[s-1],r.setLink(a[s-1],a[s]);break;case 33:case 39:this.$=a[s-1]+" "+a[s];break;case 34:case 35:case 37:this.$=a[s-2]+" "+a[s-1]+" "+a[s];break;case 36:case 38:this.$=a[s-3]+" "+a[s-2]+" "+a[s-1]+" "+a[s];break;case 40:r.parseDirective("%%{","open_directive");break;case 41:r.parseDirective(a[s],"type_directive");break;case 42:a[s]=a[s].trim().replace(/'/g,'"'),r.parseDirective(a[s],"arg_directive");break;case 43:r.parseDirective("}%%","close_directive","gantt")}},table:[{3:1,4:2,5:e,29:4,39:n},{1:[3]},{3:6,4:2,5:e,29:4,39:n},t(r,[2,3],{6:7}),{30:8,40:[1,9]},{40:[2,40]},{1:[2,1]},{4:29,7:[1,10],8:11,9:[1,12],10:13,11:[1,14],12:i,13:a,14:o,15:s,16:c,17:u,18:l,19:h,20:f,22:d,24:p,25:g,26:27,27:y,29:4,34:m,39:n},{31:31,32:[1,32],42:v},t([32,42],[2,41]),t(r,[2,8],{1:[2,2]}),t(r,[2,4]),{4:29,10:34,12:i,13:a,14:o,15:s,16:c,17:u,18:l,19:h,20:f,22:d,24:p,25:g,26:27,27:y,29:4,34:m,39:n},t(r,[2,6]),t(r,[2,7]),t(r,[2,9]),t(r,[2,10]),t(r,[2,11]),t(r,[2,12]),t(r,[2,13]),t(r,[2,14]),t(r,[2,15]),t(r,[2,16]),{21:[1,35]},{23:[1,36]},t(r,[2,19]),t(r,[2,20]),t(r,[2,21]),{28:[1,37]},t(r,[2,23]),{35:[1,38],37:[1,39]},{11:[1,40]},{33:41,41:[1,42]},{11:[2,43]},t(r,[2,5]),t(r,[2,17]),t(r,[2,18]),t(r,[2,22]),t(r,[2,26],{36:[1,43],37:[1,44]}),t(r,[2,32],{35:[1,45]}),t(b,[2,24]),{31:46,42:v},{42:[2,42]},t(r,[2,27],{37:[1,47]}),t(r,[2,28]),t(r,[2,30],{36:[1,48]}),{11:[1,49]},t(r,[2,29]),t(r,[2,31]),t(b,[2,25])],defaultActions:{5:[2,40],6:[2,1],33:[2,43],42:[2,42]},parseError:function(t,e){if(!e.recoverable){var n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line "+(c+1)+":\n"+p.showPosition()+"\nExpecting "+A.join(", ")+", got '"+(this.terminals_[_]||_)+"'":"Parse error on line "+(c+1)+": Unexpected "+(_==f?"end of input":"'"+(this.terminals_[_]||_)+"'"),this.parseError(N,{text:p.match,token:this.terminals_[_]||_,line:p.yylineno,loc:m,expected:A})}if(k[0]instanceof Array&&k.length>1)throw new Error("Parse Error: multiple actions possible at state: "+w+", token: "+_);switch(k[0]){case 1:n.push(_),i.push(p.yytext),a.push(p.yylloc),n.push(k[1]),_=null,x?(_=x,x=null):(u=p.yyleng,s=p.yytext,c=p.yylineno,m=p.yylloc,l>0&&l--);break;case 2:if(E=this.productions_[k[1]][1],M.$=i[i.length-E],M._$={first_line:a[a.length-(E||1)].first_line,last_line:a[a.length-1].last_line,first_column:a[a.length-(E||1)].first_column,last_column:a[a.length-1].last_column},v&&(M._$.range=[a[a.length-(E||1)].range[0],a[a.length-1].range[1]]),void 0!==(T=this.performAction.apply(M,[s,u,c,g.yy,k[1],i,a].concat(d))))return T;E&&(n=n.slice(0,-1*E*2),i=i.slice(0,-1*E),a=a.slice(0,-1*E)),n.push(this.productions_[k[1]][0]),i.push(M.$),a.push(M._$),S=o[n[n.length-2]][n[n.length-1]],n.push(S);break;case 3:return!0}}return!0}},x={EOF:1,parseError:function(t,e){if(!this.yy.parser)throw new Error(t);this.yy.parser.parseError(t,e)},setInput:function(t,e){return this.yy=e||this.yy||{},this._input=t,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var t=this._input[0];return this.yytext+=t,this.yyleng++,this.offset++,this.match+=t,this.matched+=t,t.match(/(?:\r\n?|\n).*/g)?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),t},unput:function(t){var e=t.length,n=t.split(/(?:\r\n?|\n)/g);this._input=t+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-e),this.offset-=e;var r=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),n.length-1&&(this.yylineno-=n.length-1);var i=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:n?(n.length===r.length?this.yylloc.first_column:0)+r[r.length-n.length].length-n[0].length:this.yylloc.first_column-e},this.options.ranges&&(this.yylloc.range=[i[0],i[0]+this.yyleng-e]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){return this.options.backtrack_lexer?(this._backtrack=!0,this):this.parseError("Lexical error on line "+(this.yylineno+1)+". You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},less:function(t){this.unput(this.match.slice(t))},pastInput:function(){var t=this.matched.substr(0,this.matched.length-this.match.length);return(t.length>20?"...":"")+t.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var t=this.match;return t.length<20&&(t+=this._input.substr(0,20-t.length)),(t.substr(0,20)+(t.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var t=this.pastInput(),e=new Array(t.length+1).join("-");return t+this.upcomingInput()+"\n"+e+"^"},test_match:function(t,e){var n,r,i;if(this.options.backtrack_lexer&&(i={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(i.yylloc.range=this.yylloc.range.slice(0))),(r=t[0].match(/(?:\r\n?|\n).*/g))&&(this.yylineno+=r.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:r?r[r.length-1].length-r[r.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+t[0].length},this.yytext+=t[0],this.match+=t[0],this.matches=t,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(t[0].length),this.matched+=t[0],n=this.performAction.call(this,this.yy,this,e,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),n)return n;if(this._backtrack){for(var a in i)this[a]=i[a];return!1}return!1},next:function(){if(this.done)return this.EOF;var t,e,n,r;this._input||(this.done=!0),this._more||(this.yytext="",this.match="");for(var i=this._currentRules(),a=0;ae[0].length)){if(e=n,r=a,this.options.backtrack_lexer){if(!1!==(t=this.test_match(n,i[a])))return t;if(this._backtrack){e=!1;continue}return!1}if(!this.options.flex)break}return e?!1!==(t=this.test_match(e,i[r]))&&t:""===this._input?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+". Unrecognized text.\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){return this.next()||this.lex()},begin:function(t){this.conditionStack.push(t)},popState:function(){return this.conditionStack.length-1>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(t){return(t=this.conditionStack.length-1-Math.abs(t||0))>=0?this.conditionStack[t]:"INITIAL"},pushState:function(t){this.begin(t)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(t,e,n,r){switch(n){case 0:return this.begin("open_directive"),39;case 1:return this.begin("type_directive"),40;case 2:return this.popState(),this.begin("arg_directive"),32;case 3:return this.popState(),this.popState(),42;case 4:return 41;case 5:return this.begin("acc_title"),20;case 6:return this.popState(),"acc_title_value";case 7:return this.begin("acc_descr"),22;case 8:return this.popState(),"acc_descr_value";case 9:this.begin("acc_descr_multiline");break;case 10:case 20:case 23:case 26:case 29:this.popState();break;case 11:return"acc_descr_multiline_value";case 12:case 13:case 14:case 16:case 17:case 18:break;case 15:return 11;case 19:this.begin("href");break;case 21:return 37;case 22:this.begin("callbackname");break;case 24:this.popState(),this.begin("callbackargs");break;case 25:return 35;case 27:return 36;case 28:this.begin("click");break;case 30:return 34;case 31:return 5;case 32:return 12;case 33:return 13;case 34:return 14;case 35:return 15;case 36:return 17;case 37:return 16;case 38:return 18;case 39:return"date";case 40:return 19;case 41:return"accDescription";case 42:return 25;case 43:return 27;case 44:return 28;case 45:return 32;case 46:return 7;case 47:return"INVALID"}},rules:[/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:accTitle\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*\{\s*)/i,/^(?:[\}])/i,/^(?:[^\}]*)/i,/^(?:%%(?!\{)*[^\n]*)/i,/^(?:[^\}]%%*[^\n]*)/i,/^(?:%%*[^\n]*[\n]*)/i,/^(?:[\n]+)/i,/^(?:\s+)/i,/^(?:#[^\n]*)/i,/^(?:%[^\n]*)/i,/^(?:href[\s]+["])/i,/^(?:["])/i,/^(?:[^"]*)/i,/^(?:call[\s]+)/i,/^(?:\([\s]*\))/i,/^(?:\()/i,/^(?:[^(]*)/i,/^(?:\))/i,/^(?:[^)]*)/i,/^(?:click[\s]+)/i,/^(?:[\s\n])/i,/^(?:[^\s\n]*)/i,/^(?:gantt\b)/i,/^(?:dateFormat\s[^#\n;]+)/i,/^(?:inclusiveEndDates\b)/i,/^(?:topAxis\b)/i,/^(?:axisFormat\s[^#\n;]+)/i,/^(?:includes\s[^#\n;]+)/i,/^(?:excludes\s[^#\n;]+)/i,/^(?:todayMarker\s[^\n;]+)/i,/^(?:\d\d\d\d-\d\d-\d\d\b)/i,/^(?:title\s[^#\n;]+)/i,/^(?:accDescription\s[^#\n;]+)/i,/^(?:section\s[^#:\n;]+)/i,/^(?:[^#:\n;]+)/i,/^(?::[^#\n;]+)/i,/^(?::)/i,/^(?:$)/i,/^(?:.)/i],conditions:{acc_descr_multiline:{rules:[10,11],inclusive:!1},acc_descr:{rules:[8],inclusive:!1},acc_title:{rules:[6],inclusive:!1},close_directive:{rules:[],inclusive:!1},arg_directive:{rules:[3,4],inclusive:!1},type_directive:{rules:[2,3],inclusive:!1},open_directive:{rules:[1],inclusive:!1},callbackargs:{rules:[26,27],inclusive:!1},callbackname:{rules:[23,24,25],inclusive:!1},href:{rules:[20,21],inclusive:!1},click:{rules:[29,30],inclusive:!1},INITIAL:{rules:[0,5,7,9,12,13,14,15,16,17,18,19,22,28,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47],inclusive:!0}}};function w(){this.yy={}}return _.lexer=x,w.prototype=_,_.Parser=w,new w}();e.parser=r,e.Parser=r.Parser,e.parse=function(){return r.parse.apply(r,arguments)},e.main=function(t){t[1]||(console.log("Usage: "+t[0]+" FILE"),process.exit(1));var r=n(6878).readFileSync(n(6470).normalize(t[1]),"utf8");return e.parser.parse(r)},n.c[n.s]===t&&e.main(process.argv.slice(1))},2553:(t,e,n)=>{t=n.nmd(t);var r=function(){var t=function(t,e,n,r){for(n=n||{},r=t.length;r--;n[t[r]]=e);return n},e=[1,4],n=[1,7],r=[1,5],i=[1,9],a=[1,6],o=[2,6],s=[1,16],c=[6,8,14,19,21,23,24,26,28,31,34,47,51],u=[8,14,19,21,23,24,26,28,31,34],l=[8,13,14,19,21,23,24,26,28,31,34],h=[1,26],f=[6,8,14,47,51],d=[8,14,51],p=[1,61],g=[1,62],y=[1,63],m=[8,14,32,38,39,51],v={trace:function(){},yy:{},symbols_:{error:2,start:3,eol:4,directive:5,GG:6,document:7,EOF:8,":":9,DIR:10,options:11,body:12,OPT:13,NL:14,line:15,statement:16,commitStatement:17,mergeStatement:18,acc_title:19,acc_title_value:20,acc_descr:21,acc_descr_value:22,acc_descr_multiline_value:23,section:24,branchStatement:25,CHECKOUT:26,ID:27,BRANCH:28,ORDER:29,NUM:30,MERGE:31,COMMIT_TAG:32,STR:33,COMMIT:34,commit_arg:35,COMMIT_TYPE:36,commitType:37,COMMIT_ID:38,COMMIT_MSG:39,NORMAL:40,REVERSE:41,HIGHLIGHT:42,openDirective:43,typeDirective:44,closeDirective:45,argDirective:46,open_directive:47,type_directive:48,arg_directive:49,close_directive:50,";":51,$accept:0,$end:1},terminals_:{2:"error",6:"GG",8:"EOF",9:":",10:"DIR",13:"OPT",14:"NL",19:"acc_title",20:"acc_title_value",21:"acc_descr",22:"acc_descr_value",23:"acc_descr_multiline_value",24:"section",26:"CHECKOUT",27:"ID",28:"BRANCH",29:"ORDER",30:"NUM",31:"MERGE",32:"COMMIT_TAG",33:"STR",34:"COMMIT",36:"COMMIT_TYPE",38:"COMMIT_ID",39:"COMMIT_MSG",40:"NORMAL",41:"REVERSE",42:"HIGHLIGHT",47:"open_directive",48:"type_directive",49:"arg_directive",50:"close_directive",51:";"},productions_:[0,[3,2],[3,2],[3,3],[3,4],[3,5],[7,0],[7,2],[11,2],[11,1],[12,0],[12,2],[15,2],[15,1],[16,1],[16,1],[16,2],[16,2],[16,1],[16,1],[16,1],[16,2],[25,2],[25,4],[18,2],[18,4],[17,2],[17,3],[17,3],[17,5],[17,5],[17,3],[17,5],[17,5],[17,5],[17,5],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,3],[17,5],[17,5],[17,5],[17,5],[17,5],[17,5],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,7],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[17,9],[35,0],[35,1],[37,1],[37,1],[37,1],[5,3],[5,5],[43,1],[44,1],[46,1],[45,1],[4,1],[4,1],[4,1]],performAction:function(t,e,n,r,i,a,o){var 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33:r.commit("",a[s],r.commitType.NORMAL,a[s-2]);break;case 34:r.commit("",a[s-2],a[s],"");break;case 35:r.commit("",a[s],a[s-2],"");break;case 36:r.commit("",a[s-4],a[s-2],a[s]);break;case 37:r.commit("",a[s-4],a[s],a[s-2]);break;case 38:r.commit("",a[s-2],a[s-4],a[s]);break;case 39:r.commit("",a[s],a[s-4],a[s-2]);break;case 40:r.commit("",a[s],a[s-2],a[s-4]);break;case 41:r.commit("",a[s-2],a[s],a[s-4]);break;case 42:r.commit(a[s],"",r.commitType.NORMAL,"");break;case 43:r.commit(a[s],"",r.commitType.NORMAL,a[s-2]);break;case 44:r.commit(a[s-2],"",r.commitType.NORMAL,a[s]);break;case 45:r.commit(a[s-2],"",a[s],"");break;case 46:r.commit(a[s],"",a[s-2],"");break;case 47:r.commit(a[s],a[s-2],r.commitType.NORMAL,"");break;case 48:r.commit(a[s-2],a[s],r.commitType.NORMAL,"");break;case 49:r.commit(a[s-4],"",a[s-2],a[s]);break;case 50:r.commit(a[s-4],"",a[s],a[s-2]);break;case 51:r.commit(a[s-2],"",a[s-4],a[s]);break;case 52:r.commit(a[s],"",a[s-4],a[s-2]);break;case 53:r.commit(a[s],"",a[s-2],a[s-4]);break;case 54:r.commit(a[s-2],"",a[s],a[s-4]);break;case 55:r.commit(a[s-4],a[s],a[s-2],"");break;case 56:r.commit(a[s-4],a[s-2],a[s],"");break;case 57:r.commit(a[s-2],a[s],a[s-4],"");break;case 58:r.commit(a[s],a[s-2],a[s-4],"");break;case 59:r.commit(a[s],a[s-4],a[s-2],"");break;case 60:r.commit(a[s-2],a[s-4],a[s],"");break;case 61:r.commit(a[s-4],a[s],r.commitType.NORMAL,a[s-2]);break;case 62:r.commit(a[s-4],a[s-2],r.commitType.NORMAL,a[s]);break;case 63:r.commit(a[s-2],a[s],r.commitType.NORMAL,a[s-4]);break;case 64:r.commit(a[s],a[s-2],r.commitType.NORMAL,a[s-4]);break;case 65:r.commit(a[s],a[s-4],r.commitType.NORMAL,a[s-2]);break;case 66:r.commit(a[s-2],a[s-4],r.commitType.NORMAL,a[s]);break;case 67:r.commit(a[s-6],a[s-4],a[s-2],a[s]);break;case 68:r.commit(a[s-6],a[s-4],a[s],a[s-2]);break;case 69:r.commit(a[s-6],a[s-2],a[s-4],a[s]);break;case 70:r.commit(a[s-6],a[s],a[s-4],a[s-2]);break;case 71:r.commit(a[s-6],a[s-2],a[s],a[s-4]);break;case 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101:r.parseDirective("}%%","close_directive","gitGraph")}},table:[{3:1,4:2,5:3,6:e,8:n,14:r,43:8,47:i,51:a},{1:[3]},{3:10,4:2,5:3,6:e,8:n,14:r,43:8,47:i,51:a},{3:11,4:2,5:3,6:e,8:n,14:r,43:8,47:i,51:a},{7:12,8:o,9:[1,13],10:[1,14],11:15,14:s},t(c,[2,102]),t(c,[2,103]),t(c,[2,104]),{44:17,48:[1,18]},{48:[2,98]},{1:[2,1]},{1:[2,2]},{8:[1,19]},{7:20,8:o,11:15,14:s},{9:[1,21]},t(u,[2,10],{12:22,13:[1,23]}),t(l,[2,9]),{9:[1,25],45:24,50:h},t([9,50],[2,99]),{1:[2,3]},{8:[1,27]},{7:28,8:o,11:15,14:s},{8:[2,7],14:[1,31],15:29,16:30,17:32,18:33,19:[1,34],21:[1,35],23:[1,36],24:[1,37],25:38,26:[1,39],28:[1,42],31:[1,41],34:[1,40]},t(l,[2,8]),t(f,[2,96]),{46:43,49:[1,44]},t(f,[2,101]),{1:[2,4]},{8:[1,45]},t(u,[2,11]),{4:46,8:n,14:r,51:a},t(u,[2,13]),t(d,[2,14]),t(d,[2,15]),{20:[1,47]},{22:[1,48]},t(d,[2,18]),t(d,[2,19]),t(d,[2,20]),{27:[1,49]},t(d,[2,91],{35:50,32:[1,51],33:[1,55],36:[1,52],38:[1,53],39:[1,54]}),{27:[1,56]},{27:[1,57]},{45:58,50:h},{50:[2,100]},{1:[2,5]},t(u,[2,12]),t(d,[2,16]),t(d,[2,17]),t(d,[2,21]),t(d,[2,26]),{33:[1,59]},{37:60,40:p,41:g,42:y},{33:[1,64]},{33:[1,65]},t(d,[2,92]),t(d,[2,24],{32:[1,66]}),t(d,[2,22],{29:[1,67]}),t(f,[2,97]),t(d,[2,27],{36:[1,68],38:[1,69],39:[1,70]}),t(d,[2,28],{32:[1,71],38:[1,72],39:[1,73]}),t(m,[2,93]),t(m,[2,94]),t(m,[2,95]),t(d,[2,31],{32:[1,74],36:[1,75],39:[1,76]}),t(d,[2,42],{32:[1,77],36:[1,78],38:[1,79]}),{33:[1,80]},{30:[1,81]},{37:82,40:p,41:g,42:y},{33:[1,83]},{33:[1,84]},{33:[1,85]},{33:[1,86]},{33:[1,87]},{33:[1,88]},{37:89,40:p,41:g,42:y},{33:[1,90]},{33:[1,91]},{37:92,40:p,41:g,42:y},{33:[1,93]},t(d,[2,25]),t(d,[2,23]),t(d,[2,29],{38:[1,94],39:[1,95]}),t(d,[2,33],{36:[1,96],39:[1,97]}),t(d,[2,43],{36:[1,98],38:[1,99]}),t(d,[2,30],{38:[1,100],39:[1,101]}),t(d,[2,35],{32:[1,102],39:[1,103]}),t(d,[2,46],{32:[1,104],38:[1,105]}),t(d,[2,32],{36:[1,106],39:[1,107]}),t(d,[2,34],{32:[1,108],39:[1,109]}),t(d,[2,47],{32:[1,111],36:[1,110]}),t(d,[2,44],{36:[1,112],38:[1,113]}),t(d,[2,45],{32:[1,114],38:[1,115]}),t(d,[2,48],{32:[1,117],36:[1,116]}),{33:[1,118]},{33:[1,119]},{37:120,40:p,41:g,42:y},{33:[1,121]},{37:122,40:p,41:g,42:y},{33:[1,123]},{33:[1,124]},{33:[1,125]},{33:[1,126]},{33:[1,127]},{33:[1,128]},{33:[1,129]},{37:130,40:p,41:g,42:y},{33:[1,131]},{33:[1,132]},{33:[1,133]},{37:134,40:p,41:g,42:y},{33:[1,135]},{37:136,40:p,41:g,42:y},{33:[1,137]},{33:[1,138]},{33:[1,139]},{37:140,40:p,41:g,42:y},{33:[1,141]},t(d,[2,40],{39:[1,142]}),t(d,[2,53],{38:[1,143]}),t(d,[2,41],{39:[1,144]}),t(d,[2,64],{36:[1,145]}),t(d,[2,54],{38:[1,146]}),t(d,[2,63],{36:[1,147]}),t(d,[2,39],{39:[1,148]}),t(d,[2,52],{38:[1,149]}),t(d,[2,38],{39:[1,150]}),t(d,[2,58],{32:[1,151]}),t(d,[2,51],{38:[1,152]}),t(d,[2,57],{32:[1,153]}),t(d,[2,37],{39:[1,154]}),t(d,[2,65],{36:[1,155]}),t(d,[2,36],{39:[1,156]}),t(d,[2,59],{32:[1,157]}),t(d,[2,60],{32:[1,158]}),t(d,[2,66],{36:[1,159]}),t(d,[2,50],{38:[1,160]}),t(d,[2,61],{36:[1,161]}),t(d,[2,49],{38:[1,162]}),t(d,[2,55],{32:[1,163]}),t(d,[2,56],{32:[1,164]}),t(d,[2,62],{36:[1,165]}),{33:[1,166]},{33:[1,167]},{33:[1,168]},{37:169,40:p,41:g,42:y},{33:[1,170]},{37:171,40:p,41:g,42:y},{33:[1,172]},{33:[1,173]},{33:[1,174]},{33:[1,175]},{33:[1,176]},{33:[1,177]},{33:[1,178]},{37:179,40:p,41:g,42:y},{33:[1,180]},{33:[1,181]},{33:[1,182]},{37:183,40:p,41:g,42:y},{33:[1,184]},{37:185,40:p,41:g,42:y},{33:[1,186]},{33:[1,187]},{33:[1,188]},{37:189,40:p,41:g,42:y},t(d,[2,81]),t(d,[2,82]),t(d,[2,79]),t(d,[2,80]),t(d,[2,84]),t(d,[2,83]),t(d,[2,88]),t(d,[2,87]),t(d,[2,86]),t(d,[2,85]),t(d,[2,90]),t(d,[2,89]),t(d,[2,78]),t(d,[2,77]),t(d,[2,76]),t(d,[2,75]),t(d,[2,73]),t(d,[2,74]),t(d,[2,72]),t(d,[2,71]),t(d,[2,70]),t(d,[2,69]),t(d,[2,67]),t(d,[2,68])],defaultActions:{9:[2,98],10:[2,1],11:[2,2],19:[2,3],27:[2,4],44:[2,100],45:[2,5]},parseError:function(t,e){if(!e.recoverable){var n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line 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T;E&&(n=n.slice(0,-1*E*2),i=i.slice(0,-1*E),a=a.slice(0,-1*E)),n.push(this.productions_[k[1]][0]),i.push(M.$),a.push(M._$),S=o[n[n.length-2]][n[n.length-1]],n.push(S);break;case 3:return!0}}return!0}},b={EOF:1,parseError:function(t,e){if(!this.yy.parser)throw new Error(t);this.yy.parser.parseError(t,e)},setInput:function(t,e){return this.yy=e||this.yy||{},this._input=t,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var t=this._input[0];return this.yytext+=t,this.yyleng++,this.offset++,this.match+=t,this.matched+=t,t.match(/(?:\r\n?|\n).*/g)?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),t},unput:function(t){var e=t.length,n=t.split(/(?:\r\n?|\n)/g);this._input=t+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-e),this.offset-=e;var r=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),n.length-1&&(this.yylineno-=n.length-1);var i=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:n?(n.length===r.length?this.yylloc.first_column:0)+r[r.length-n.length].length-n[0].length:this.yylloc.first_column-e},this.options.ranges&&(this.yylloc.range=[i[0],i[0]+this.yyleng-e]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){return this.options.backtrack_lexer?(this._backtrack=!0,this):this.parseError("Lexical error on line "+(this.yylineno+1)+". You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},less:function(t){this.unput(this.match.slice(t))},pastInput:function(){var t=this.matched.substr(0,this.matched.length-this.match.length);return(t.length>20?"...":"")+t.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var t=this.match;return t.length<20&&(t+=this._input.substr(0,20-t.length)),(t.substr(0,20)+(t.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var t=this.pastInput(),e=new Array(t.length+1).join("-");return t+this.upcomingInput()+"\n"+e+"^"},test_match:function(t,e){var n,r,i;if(this.options.backtrack_lexer&&(i={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(i.yylloc.range=this.yylloc.range.slice(0))),(r=t[0].match(/(?:\r\n?|\n).*/g))&&(this.yylineno+=r.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:r?r[r.length-1].length-r[r.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+t[0].length},this.yytext+=t[0],this.match+=t[0],this.matches=t,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(t[0].length),this.matched+=t[0],n=this.performAction.call(this,this.yy,this,e,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),n)return n;if(this._backtrack){for(var a in i)this[a]=i[a];return!1}return!1},next:function(){if(this.done)return this.EOF;var t,e,n,r;this._input||(this.done=!0),this._more||(this.yytext="",this.match="");for(var i=this._currentRules(),a=0;ae[0].length)){if(e=n,r=a,this.options.backtrack_lexer){if(!1!==(t=this.test_match(n,i[a])))return t;if(this._backtrack){e=!1;continue}return!1}if(!this.options.flex)break}return e?!1!==(t=this.test_match(e,i[r]))&&t:""===this._input?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+". Unrecognized text.\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){return this.next()||this.lex()},begin:function(t){this.conditionStack.push(t)},popState:function(){return this.conditionStack.length-1>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(t){return(t=this.conditionStack.length-1-Math.abs(t||0))>=0?this.conditionStack[t]:"INITIAL"},pushState:function(t){this.begin(t)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(t,e,n,r){switch(n){case 0:return this.begin("open_directive"),47;case 1:return this.begin("type_directive"),48;case 2:return this.popState(),this.begin("arg_directive"),9;case 3:return this.popState(),this.popState(),50;case 4:return 49;case 5:return this.begin("acc_title"),19;case 6:return this.popState(),"acc_title_value";case 7:return this.begin("acc_descr"),21;case 8:return this.popState(),"acc_descr_value";case 9:this.begin("acc_descr_multiline");break;case 10:case 34:case 37:this.popState();break;case 11:return"acc_descr_multiline_value";case 12:return 14;case 13:case 14:case 15:break;case 16:return 6;case 17:return 34;case 18:return 38;case 19:return 36;case 20:return 39;case 21:return 40;case 22:return 41;case 23:return 42;case 24:return 32;case 25:return 28;case 26:return 29;case 27:return 31;case 28:return 26;case 29:case 30:return 10;case 31:return 9;case 32:return"CARET";case 33:this.begin("options");break;case 35:return 13;case 36:this.begin("string");break;case 38:return 33;case 39:return 30;case 40:return 27;case 41:return 8}},rules:[/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:accTitle\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*\{\s*)/i,/^(?:[\}])/i,/^(?:[^\}]*)/i,/^(?:(\r?\n)+)/i,/^(?:\s+)/i,/^(?:#[^\n]*)/i,/^(?:%[^\n]*)/i,/^(?:gitGraph\b)/i,/^(?:commit\b)/i,/^(?:id:)/i,/^(?:type:)/i,/^(?:msg:)/i,/^(?:NORMAL\b)/i,/^(?:REVERSE\b)/i,/^(?:HIGHLIGHT\b)/i,/^(?:tag:)/i,/^(?:branch\b)/i,/^(?:order:)/i,/^(?:merge\b)/i,/^(?:checkout\b)/i,/^(?:LR\b)/i,/^(?:BT\b)/i,/^(?::)/i,/^(?:\^)/i,/^(?:options\r?\n)/i,/^(?:[ \r\n\t]+end\b)/i,/^(?:[\s\S]+(?=[ \r\n\t]+end))/i,/^(?:["])/i,/^(?:["])/i,/^(?:[^"]*)/i,/^(?:[0-9]+)/i,/^(?:[a-zA-Z][-_\./a-zA-Z0-9]*[-_a-zA-Z0-9])/i,/^(?:$)/i],conditions:{acc_descr_multiline:{rules:[10,11],inclusive:!1},acc_descr:{rules:[8],inclusive:!1},acc_title:{rules:[6],inclusive:!1},close_directive:{rules:[],inclusive:!1},arg_directive:{rules:[3,4],inclusive:!1},type_directive:{rules:[2,3],inclusive:!1},open_directive:{rules:[1],inclusive:!1},options:{rules:[34,35],inclusive:!1},string:{rules:[37,38],inclusive:!1},INITIAL:{rules:[0,5,7,9,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,36,39,40,41],inclusive:!0}}};function _(){this.yy={}}return v.lexer=b,_.prototype=v,v.Parser=_,new _}();e.parser=r,e.Parser=r.Parser,e.parse=function(){return r.parse.apply(r,arguments)},e.main=function(t){t[1]||(console.log("Usage: "+t[0]+" FILE"),process.exit(1));var r=n(8183).readFileSync(n(6470).normalize(t[1]),"utf8");return e.parser.parse(r)},n.c[n.s]===t&&e.main(process.argv.slice(1))},6765:(t,e,n)=>{t=n.nmd(t);var r=function(){var t=function(t,e,n,r){for(n=n||{},r=t.length;r--;n[t[r]]=e);return n},e=[6,9,10],n={trace:function(){},yy:{},symbols_:{error:2,start:3,info:4,document:5,EOF:6,line:7,statement:8,NL:9,showInfo:10,$accept:0,$end:1},terminals_:{2:"error",4:"info",6:"EOF",9:"NL",10:"showInfo"},productions_:[0,[3,3],[5,0],[5,2],[7,1],[7,1],[8,1]],performAction:function(t,e,n,r,i,a,o){switch(a.length,i){case 1:return r;case 4:break;case 6:r.setInfo(!0)}},table:[{3:1,4:[1,2]},{1:[3]},t(e,[2,2],{5:3}),{6:[1,4],7:5,8:6,9:[1,7],10:[1,8]},{1:[2,1]},t(e,[2,3]),t(e,[2,4]),t(e,[2,5]),t(e,[2,6])],defaultActions:{4:[2,1]},parseError:function(t,e){if(!e.recoverable){var n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line "+(c+1)+":\n"+p.showPosition()+"\nExpecting "+A.join(", ")+", got '"+(this.terminals_[_]||_)+"'":"Parse error on line "+(c+1)+": Unexpected "+(_==f?"end of input":"'"+(this.terminals_[_]||_)+"'"),this.parseError(N,{text:p.match,token:this.terminals_[_]||_,line:p.yylineno,loc:m,expected:A})}if(k[0]instanceof Array&&k.length>1)throw new Error("Parse Error: multiple actions possible at state: "+w+", token: "+_);switch(k[0]){case 1:n.push(_),i.push(p.yytext),a.push(p.yylloc),n.push(k[1]),_=null,x?(_=x,x=null):(u=p.yyleng,s=p.yytext,c=p.yylineno,m=p.yylloc,l>0&&l--);break;case 2:if(E=this.productions_[k[1]][1],M.$=i[i.length-E],M._$={first_line:a[a.length-(E||1)].first_line,last_line:a[a.length-1].last_line,first_column:a[a.length-(E||1)].first_column,last_column:a[a.length-1].last_column},v&&(M._$.range=[a[a.length-(E||1)].range[0],a[a.length-1].range[1]]),void 0!==(T=this.performAction.apply(M,[s,u,c,g.yy,k[1],i,a].concat(d))))return T;E&&(n=n.slice(0,-1*E*2),i=i.slice(0,-1*E),a=a.slice(0,-1*E)),n.push(this.productions_[k[1]][0]),i.push(M.$),a.push(M._$),S=o[n[n.length-2]][n[n.length-1]],n.push(S);break;case 3:return!0}}return!0}},r={EOF:1,parseError:function(t,e){if(!this.yy.parser)throw new Error(t);this.yy.parser.parseError(t,e)},setInput:function(t,e){return this.yy=e||this.yy||{},this._input=t,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var t=this._input[0];return this.yytext+=t,this.yyleng++,this.offset++,this.match+=t,this.matched+=t,t.match(/(?:\r\n?|\n).*/g)?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),t},unput:function(t){var e=t.length,n=t.split(/(?:\r\n?|\n)/g);this._input=t+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-e),this.offset-=e;var r=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),n.length-1&&(this.yylineno-=n.length-1);var i=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:n?(n.length===r.length?this.yylloc.first_column:0)+r[r.length-n.length].length-n[0].length:this.yylloc.first_column-e},this.options.ranges&&(this.yylloc.range=[i[0],i[0]+this.yyleng-e]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){return this.options.backtrack_lexer?(this._backtrack=!0,this):this.parseError("Lexical error on line "+(this.yylineno+1)+". You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},less:function(t){this.unput(this.match.slice(t))},pastInput:function(){var t=this.matched.substr(0,this.matched.length-this.match.length);return(t.length>20?"...":"")+t.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var t=this.match;return t.length<20&&(t+=this._input.substr(0,20-t.length)),(t.substr(0,20)+(t.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var t=this.pastInput(),e=new Array(t.length+1).join("-");return t+this.upcomingInput()+"\n"+e+"^"},test_match:function(t,e){var n,r,i;if(this.options.backtrack_lexer&&(i={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(i.yylloc.range=this.yylloc.range.slice(0))),(r=t[0].match(/(?:\r\n?|\n).*/g))&&(this.yylineno+=r.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:r?r[r.length-1].length-r[r.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+t[0].length},this.yytext+=t[0],this.match+=t[0],this.matches=t,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(t[0].length),this.matched+=t[0],n=this.performAction.call(this,this.yy,this,e,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),n)return n;if(this._backtrack){for(var a in i)this[a]=i[a];return!1}return!1},next:function(){if(this.done)return this.EOF;var t,e,n,r;this._input||(this.done=!0),this._more||(this.yytext="",this.match="");for(var i=this._currentRules(),a=0;ae[0].length)){if(e=n,r=a,this.options.backtrack_lexer){if(!1!==(t=this.test_match(n,i[a])))return t;if(this._backtrack){e=!1;continue}return!1}if(!this.options.flex)break}return e?!1!==(t=this.test_match(e,i[r]))&&t:""===this._input?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+". Unrecognized text.\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){return this.next()||this.lex()},begin:function(t){this.conditionStack.push(t)},popState:function(){return this.conditionStack.length-1>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(t){return(t=this.conditionStack.length-1-Math.abs(t||0))>=0?this.conditionStack[t]:"INITIAL"},pushState:function(t){this.begin(t)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(t,e,n,r){switch(n){case 0:return 4;case 1:return 9;case 2:return"space";case 3:return 10;case 4:return 6;case 5:return"TXT"}},rules:[/^(?:info\b)/i,/^(?:[\s\n\r]+)/i,/^(?:[\s]+)/i,/^(?:showInfo\b)/i,/^(?:$)/i,/^(?:.)/i],conditions:{INITIAL:{rules:[0,1,2,3,4,5],inclusive:!0}}};function i(){this.yy={}}return n.lexer=r,i.prototype=n,n.Parser=i,new i}();e.parser=r,e.Parser=r.Parser,e.parse=function(){return r.parse.apply(r,arguments)},e.main=function(t){t[1]||(console.log("Usage: "+t[0]+" FILE"),process.exit(1));var r=n(1428).readFileSync(n(6470).normalize(t[1]),"utf8");return e.parser.parse(r)},n.c[n.s]===t&&e.main(process.argv.slice(1))},7062:(t,e,n)=>{t=n.nmd(t);var r=function(){var t=function(t,e,n,r){for(n=n||{},r=t.length;r--;n[t[r]]=e);return n},e=[1,4],n=[1,5],r=[1,6],i=[1,7],a=[1,9],o=[1,11,13,15,17,19,20,26,27,28,29],s=[2,5],c=[1,6,11,13,15,17,19,20,26,27,28,29],u=[26,27,28],l=[2,8],h=[1,18],f=[1,19],d=[1,20],p=[1,21],g=[1,22],y=[1,23],m=[1,28],v=[6,26,27,28,29],b={trace:function(){},yy:{},symbols_:{error:2,start:3,eol:4,directive:5,PIE:6,document:7,showData:8,line:9,statement:10,txt:11,value:12,title:13,title_value:14,acc_title:15,acc_title_value:16,acc_descr:17,acc_descr_value:18,acc_descr_multiline_value:19,section:20,openDirective:21,typeDirective:22,closeDirective:23,":":24,argDirective:25,NEWLINE:26,";":27,EOF:28,open_directive:29,type_directive:30,arg_directive:31,close_directive:32,$accept:0,$end:1},terminals_:{2:"error",6:"PIE",8:"showData",11:"txt",12:"value",13:"title",14:"title_value",15:"acc_title",16:"acc_title_value",17:"acc_descr",18:"acc_descr_value",19:"acc_descr_multiline_value",20:"section",24:":",26:"NEWLINE",27:";",28:"EOF",29:"open_directive",30:"type_directive",31:"arg_directive",32:"close_directive"},productions_:[0,[3,2],[3,2],[3,2],[3,3],[7,0],[7,2],[9,2],[10,0],[10,2],[10,2],[10,2],[10,2],[10,1],[10,1],[10,1],[5,3],[5,5],[4,1],[4,1],[4,1],[21,1],[22,1],[25,1],[23,1]],performAction:function(t,e,n,r,i,a,o){var s=a.length-1;switch(i){case 4:r.setShowData(!0);break;case 7:this.$=a[s-1];break;case 9:r.addSection(a[s-1],r.cleanupValue(a[s]));break;case 10:this.$=a[s].trim(),r.setPieTitle(this.$);break;case 11:this.$=a[s].trim(),r.setTitle(this.$);break;case 12:case 13:this.$=a[s].trim(),r.setAccDescription(this.$);break;case 14:r.addSection(a[s].substr(8)),this.$=a[s].substr(8);break;case 21:r.parseDirective("%%{","open_directive");break;case 22:r.parseDirective(a[s],"type_directive");break;case 23:a[s]=a[s].trim().replace(/'/g,'"'),r.parseDirective(a[s],"arg_directive");break;case 24:r.parseDirective("}%%","close_directive","pie")}},table:[{3:1,4:2,5:3,6:e,21:8,26:n,27:r,28:i,29:a},{1:[3]},{3:10,4:2,5:3,6:e,21:8,26:n,27:r,28:i,29:a},{3:11,4:2,5:3,6:e,21:8,26:n,27:r,28:i,29:a},t(o,s,{7:12,8:[1,13]}),t(c,[2,18]),t(c,[2,19]),t(c,[2,20]),{22:14,30:[1,15]},{30:[2,21]},{1:[2,1]},{1:[2,2]},t(u,l,{21:8,9:16,10:17,5:24,1:[2,3],11:h,13:f,15:d,17:p,19:g,20:y,29:a}),t(o,s,{7:25}),{23:26,24:[1,27],32:m},t([24,32],[2,22]),t(o,[2,6]),{4:29,26:n,27:r,28:i},{12:[1,30]},{14:[1,31]},{16:[1,32]},{18:[1,33]},t(u,[2,13]),t(u,[2,14]),t(u,[2,15]),t(u,l,{21:8,9:16,10:17,5:24,1:[2,4],11:h,13:f,15:d,17:p,19:g,20:y,29:a}),t(v,[2,16]),{25:34,31:[1,35]},t(v,[2,24]),t(o,[2,7]),t(u,[2,9]),t(u,[2,10]),t(u,[2,11]),t(u,[2,12]),{23:36,32:m},{32:[2,23]},t(v,[2,17])],defaultActions:{9:[2,21],10:[2,1],11:[2,2],35:[2,23]},parseError:function(t,e){if(!e.recoverable){var n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line "+(c+1)+":\n"+p.showPosition()+"\nExpecting "+A.join(", ")+", got '"+(this.terminals_[_]||_)+"'":"Parse error on line "+(c+1)+": Unexpected "+(_==f?"end of input":"'"+(this.terminals_[_]||_)+"'"),this.parseError(N,{text:p.match,token:this.terminals_[_]||_,line:p.yylineno,loc:m,expected:A})}if(k[0]instanceof Array&&k.length>1)throw new Error("Parse Error: multiple actions possible at state: "+w+", token: "+_);switch(k[0]){case 1:n.push(_),i.push(p.yytext),a.push(p.yylloc),n.push(k[1]),_=null,x?(_=x,x=null):(u=p.yyleng,s=p.yytext,c=p.yylineno,m=p.yylloc,l>0&&l--);break;case 2:if(E=this.productions_[k[1]][1],M.$=i[i.length-E],M._$={first_line:a[a.length-(E||1)].first_line,last_line:a[a.length-1].last_line,first_column:a[a.length-(E||1)].first_column,last_column:a[a.length-1].last_column},v&&(M._$.range=[a[a.length-(E||1)].range[0],a[a.length-1].range[1]]),void 0!==(T=this.performAction.apply(M,[s,u,c,g.yy,k[1],i,a].concat(d))))return T;E&&(n=n.slice(0,-1*E*2),i=i.slice(0,-1*E),a=a.slice(0,-1*E)),n.push(this.productions_[k[1]][0]),i.push(M.$),a.push(M._$),S=o[n[n.length-2]][n[n.length-1]],n.push(S);break;case 3:return!0}}return!0}},_={EOF:1,parseError:function(t,e){if(!this.yy.parser)throw new Error(t);this.yy.parser.parseError(t,e)},setInput:function(t,e){return this.yy=e||this.yy||{},this._input=t,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var t=this._input[0];return this.yytext+=t,this.yyleng++,this.offset++,this.match+=t,this.matched+=t,t.match(/(?:\r\n?|\n).*/g)?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),t},unput:function(t){var e=t.length,n=t.split(/(?:\r\n?|\n)/g);this._input=t+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-e),this.offset-=e;var r=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),n.length-1&&(this.yylineno-=n.length-1);var i=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:n?(n.length===r.length?this.yylloc.first_column:0)+r[r.length-n.length].length-n[0].length:this.yylloc.first_column-e},this.options.ranges&&(this.yylloc.range=[i[0],i[0]+this.yyleng-e]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){return this.options.backtrack_lexer?(this._backtrack=!0,this):this.parseError("Lexical error on line "+(this.yylineno+1)+". You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},less:function(t){this.unput(this.match.slice(t))},pastInput:function(){var t=this.matched.substr(0,this.matched.length-this.match.length);return(t.length>20?"...":"")+t.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var t=this.match;return t.length<20&&(t+=this._input.substr(0,20-t.length)),(t.substr(0,20)+(t.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var t=this.pastInput(),e=new Array(t.length+1).join("-");return t+this.upcomingInput()+"\n"+e+"^"},test_match:function(t,e){var n,r,i;if(this.options.backtrack_lexer&&(i={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(i.yylloc.range=this.yylloc.range.slice(0))),(r=t[0].match(/(?:\r\n?|\n).*/g))&&(this.yylineno+=r.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:r?r[r.length-1].length-r[r.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+t[0].length},this.yytext+=t[0],this.match+=t[0],this.matches=t,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(t[0].length),this.matched+=t[0],n=this.performAction.call(this,this.yy,this,e,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),n)return n;if(this._backtrack){for(var a in i)this[a]=i[a];return!1}return!1},next:function(){if(this.done)return this.EOF;var t,e,n,r;this._input||(this.done=!0),this._more||(this.yytext="",this.match="");for(var i=this._currentRules(),a=0;ae[0].length)){if(e=n,r=a,this.options.backtrack_lexer){if(!1!==(t=this.test_match(n,i[a])))return t;if(this._backtrack){e=!1;continue}return!1}if(!this.options.flex)break}return e?!1!==(t=this.test_match(e,i[r]))&&t:""===this._input?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+". Unrecognized text.\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){return this.next()||this.lex()},begin:function(t){this.conditionStack.push(t)},popState:function(){return this.conditionStack.length-1>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(t){return(t=this.conditionStack.length-1-Math.abs(t||0))>=0?this.conditionStack[t]:"INITIAL"},pushState:function(t){this.begin(t)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(t,e,n,r){switch(n){case 0:return this.begin("open_directive"),29;case 1:return this.begin("type_directive"),30;case 2:return this.popState(),this.begin("arg_directive"),24;case 3:return this.popState(),this.popState(),32;case 4:return 31;case 5:case 6:case 8:case 9:break;case 7:return 26;case 10:return this.begin("title"),13;case 11:return this.popState(),"title_value";case 12:return this.begin("acc_title"),15;case 13:return this.popState(),"acc_title_value";case 14:return this.begin("acc_descr"),17;case 15:return this.popState(),"acc_descr_value";case 16:this.begin("acc_descr_multiline");break;case 17:case 20:this.popState();break;case 18:return"acc_descr_multiline_value";case 19:this.begin("string");break;case 21:return"txt";case 22:return 6;case 23:return 8;case 24:return"value";case 25:return 28}},rules:[/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:%%(?!\{)[^\n]*)/i,/^(?:[^\}]%%[^\n]*)/i,/^(?:[\n\r]+)/i,/^(?:%%[^\n]*)/i,/^(?:[\s]+)/i,/^(?:title\b)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accTitle\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*\{\s*)/i,/^(?:[\}])/i,/^(?:[^\}]*)/i,/^(?:["])/i,/^(?:["])/i,/^(?:[^"]*)/i,/^(?:pie\b)/i,/^(?:showData\b)/i,/^(?::[\s]*[\d]+(?:\.[\d]+)?)/i,/^(?:$)/i],conditions:{acc_descr_multiline:{rules:[17,18],inclusive:!1},acc_descr:{rules:[15],inclusive:!1},acc_title:{rules:[13],inclusive:!1},close_directive:{rules:[],inclusive:!1},arg_directive:{rules:[3,4],inclusive:!1},type_directive:{rules:[2,3],inclusive:!1},open_directive:{rules:[1],inclusive:!1},title:{rules:[11],inclusive:!1},string:{rules:[20,21],inclusive:!1},INITIAL:{rules:[0,5,6,7,8,9,10,12,14,16,19,22,23,24,25],inclusive:!0}}};function x(){this.yy={}}return b.lexer=_,x.prototype=b,b.Parser=x,new x}();e.parser=r,e.Parser=r.Parser,e.parse=function(){return r.parse.apply(r,arguments)},e.main=function(t){t[1]||(console.log("Usage: "+t[0]+" FILE"),process.exit(1));var r=n(4551).readFileSync(n(6470).normalize(t[1]),"utf8");return e.parser.parse(r)},n.c[n.s]===t&&e.main(process.argv.slice(1))},3176:(t,e,n)=>{t=n.nmd(t);var r=function(){var t=function(t,e,n,r){for(n=n||{},r=t.length;r--;n[t[r]]=e);return n},e=[1,3],n=[1,5],r=[1,6],i=[1,7],a=[1,8],o=[5,6,8,14,16,18,19,40,41,42,43,44,45,53,71,72],s=[1,22],c=[2,13],u=[1,26],l=[1,27],h=[1,28],f=[1,29],d=[1,30],p=[1,31],g=[1,24],y=[1,32],m=[1,33],v=[1,36],b=[71,72],_=[5,8,14,16,18,19,40,41,42,43,44,45,53,60,62,71,72],x=[1,56],w=[1,57],k=[1,58],T=[1,59],C=[1,60],E=[1,61],S=[1,62],A=[62,63],M=[1,74],N=[1,70],D=[1,71],B=[1,72],L=[1,73],O=[1,75],I=[1,79],R=[1,80],F=[1,77],P=[1,78],Y=[5,8,14,16,18,19,40,41,42,43,44,45,53,71,72],j={trace:function(){},yy:{},symbols_:{error:2,start:3,directive:4,NEWLINE:5,RD:6,diagram:7,EOF:8,openDirective:9,typeDirective:10,closeDirective:11,":":12,argDirective:13,acc_title:14,acc_title_value:15,acc_descr:16,acc_descr_value:17,acc_descr_multiline_value:18,open_directive:19,type_directive:20,arg_directive:21,close_directive:22,requirementDef:23,elementDef:24,relationshipDef:25,requirementType:26,requirementName:27,STRUCT_START:28,requirementBody:29,ID:30,COLONSEP:31,id:32,TEXT:33,text:34,RISK:35,riskLevel:36,VERIFYMTHD:37,verifyType:38,STRUCT_STOP:39,REQUIREMENT:40,FUNCTIONAL_REQUIREMENT:41,INTERFACE_REQUIREMENT:42,PERFORMANCE_REQUIREMENT:43,PHYSICAL_REQUIREMENT:44,DESIGN_CONSTRAINT:45,LOW_RISK:46,MED_RISK:47,HIGH_RISK:48,VERIFY_ANALYSIS:49,VERIFY_DEMONSTRATION:50,VERIFY_INSPECTION:51,VERIFY_TEST:52,ELEMENT:53,elementName:54,elementBody:55,TYPE:56,type:57,DOCREF:58,ref:59,END_ARROW_L:60,relationship:61,LINE:62,END_ARROW_R:63,CONTAINS:64,COPIES:65,DERIVES:66,SATISFIES:67,VERIFIES:68,REFINES:69,TRACES:70,unqString:71,qString:72,$accept:0,$end:1},terminals_:{2:"error",5:"NEWLINE",6:"RD",8:"EOF",12:":",14:"acc_title",15:"acc_title_value",16:"acc_descr",17:"acc_descr_value",18:"acc_descr_multiline_value",19:"open_directive",20:"type_directive",21:"arg_directive",22:"close_directive",28:"STRUCT_START",30:"ID",31:"COLONSEP",33:"TEXT",35:"RISK",37:"VERIFYMTHD",39:"STRUCT_STOP",40:"REQUIREMENT",41:"FUNCTIONAL_REQUIREMENT",42:"INTERFACE_REQUIREMENT",43:"PERFORMANCE_REQUIREMENT",44:"PHYSICAL_REQUIREMENT",45:"DESIGN_CONSTRAINT",46:"LOW_RISK",47:"MED_RISK",48:"HIGH_RISK",49:"VERIFY_ANALYSIS",50:"VERIFY_DEMONSTRATION",51:"VERIFY_INSPECTION",52:"VERIFY_TEST",53:"ELEMENT",56:"TYPE",58:"DOCREF",60:"END_ARROW_L",62:"LINE",63:"END_ARROW_R",64:"CONTAINS",65:"COPIES",66:"DERIVES",67:"SATISFIES",68:"VERIFIES",69:"REFINES",70:"TRACES",71:"unqString",72:"qString"},productions_:[0,[3,3],[3,2],[3,4],[4,3],[4,5],[4,2],[4,2],[4,1],[9,1],[10,1],[13,1],[11,1],[7,0],[7,2],[7,2],[7,2],[7,2],[7,2],[23,5],[29,5],[29,5],[29,5],[29,5],[29,2],[29,1],[26,1],[26,1],[26,1],[26,1],[26,1],[26,1],[36,1],[36,1],[36,1],[38,1],[38,1],[38,1],[38,1],[24,5],[55,5],[55,5],[55,2],[55,1],[25,5],[25,5],[61,1],[61,1],[61,1],[61,1],[61,1],[61,1],[61,1],[27,1],[27,1],[32,1],[32,1],[34,1],[34,1],[54,1],[54,1],[57,1],[57,1],[59,1],[59,1]],performAction:function(t,e,n,r,i,a,o){var s=a.length-1;switch(i){case 6:this.$=a[s].trim(),r.setTitle(this.$);break;case 7:case 8:this.$=a[s].trim(),r.setAccDescription(this.$);break;case 9:r.parseDirective("%%{","open_directive");break;case 10:r.parseDirective(a[s],"type_directive");break;case 11:a[s]=a[s].trim().replace(/'/g,'"'),r.parseDirective(a[s],"arg_directive");break;case 12:r.parseDirective("}%%","close_directive","pie");break;case 13:this.$=[];break;case 19:r.addRequirement(a[s-3],a[s-4]);break;case 20:r.setNewReqId(a[s-2]);break;case 21:r.setNewReqText(a[s-2]);break;case 22:r.setNewReqRisk(a[s-2]);break;case 23:r.setNewReqVerifyMethod(a[s-2]);break;case 26:this.$=r.RequirementType.REQUIREMENT;break;case 27:this.$=r.RequirementType.FUNCTIONAL_REQUIREMENT;break;case 28:this.$=r.RequirementType.INTERFACE_REQUIREMENT;break;case 29:this.$=r.RequirementType.PERFORMANCE_REQUIREMENT;break;case 30:this.$=r.RequirementType.PHYSICAL_REQUIREMENT;break;case 31:this.$=r.RequirementType.DESIGN_CONSTRAINT;break;case 32:this.$=r.RiskLevel.LOW_RISK;break;case 33:this.$=r.RiskLevel.MED_RISK;break;case 34:this.$=r.RiskLevel.HIGH_RISK;break;case 35:this.$=r.VerifyType.VERIFY_ANALYSIS;break;case 36:this.$=r.VerifyType.VERIFY_DEMONSTRATION;break;case 37:this.$=r.VerifyType.VERIFY_INSPECTION;break;case 38:this.$=r.VerifyType.VERIFY_TEST;break;case 39:r.addElement(a[s-3]);break;case 40:r.setNewElementType(a[s-2]);break;case 41:r.setNewElementDocRef(a[s-2]);break;case 44:r.addRelationship(a[s-2],a[s],a[s-4]);break;case 45:r.addRelationship(a[s-2],a[s-4],a[s]);break;case 46:this.$=r.Relationships.CONTAINS;break;case 47:this.$=r.Relationships.COPIES;break;case 48:this.$=r.Relationships.DERIVES;break;case 49:this.$=r.Relationships.SATISFIES;break;case 50:this.$=r.Relationships.VERIFIES;break;case 51:this.$=r.Relationships.REFINES;break;case 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n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line 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51:return 62;case 52:this.begin("string");break;case 54:return"qString";case 55:return e.yytext=e.yytext.trim(),71}},rules:[/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:title\s[^#\n;]+)/i,/^(?:accTitle\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*\{\s*)/i,/^(?:[\}])/i,/^(?:[^\}]*)/i,/^(?:(\r?\n)+)/i,/^(?:\s+)/i,/^(?:#[^\n]*)/i,/^(?:%[^\n]*)/i,/^(?:$)/i,/^(?:requirementDiagram\b)/i,/^(?:\{)/i,/^(?:\})/i,/^(?::)/i,/^(?:id\b)/i,/^(?:text\b)/i,/^(?:risk\b)/i,/^(?:verifyMethod\b)/i,/^(?:requirement\b)/i,/^(?:functionalRequirement\b)/i,/^(?:interfaceRequirement\b)/i,/^(?:performanceRequirement\b)/i,/^(?:physicalRequirement\b)/i,/^(?:designConstraint\b)/i,/^(?:low\b)/i,/^(?:medium\b)/i,/^(?:high\b)/i,/^(?:analysis\b)/i,/^(?:demonstration\b)/i,/^(?:inspection\b)/i,/^(?:test\b)/i,/^(?:element\b)/i,/^(?:contains\b)/i,/^(?:copies\b)/i,/^(?:derives\b)/i,/^(?:satisfies\b)/i,/^(?:verifies\b)/i,/^(?:refines\b)/i,/^(?:traces\b)/i,/^(?:type\b)/i,/^(?:docref\b)/i,/^(?:<-)/i,/^(?:->)/i,/^(?:-)/i,/^(?:["])/i,/^(?:["])/i,/^(?:[^"]*)/i,/^(?:[\w][^\r\n\{\<\>\-\=]*)/i],conditions:{acc_descr_multiline:{rules:[11,12],inclusive:!1},acc_descr:{rules:[9],inclusive:!1},acc_title:{rules:[7],inclusive:!1},close_directive:{rules:[],inclusive:!1},arg_directive:{rules:[3,4],inclusive:!1},type_directive:{rules:[2,3],inclusive:!1},open_directive:{rules:[1],inclusive:!1},unqString:{rules:[],inclusive:!1},token:{rules:[],inclusive:!1},string:{rules:[53,54],inclusive:!1},INITIAL:{rules:[0,5,6,8,10,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,55],inclusive:!0}}};function z(){this.yy={}}return j.lexer=U,z.prototype=j,j.Parser=z,new z}();e.parser=r,e.Parser=r.Parser,e.parse=function(){return r.parse.apply(r,arguments)},e.main=function(t){t[1]||(console.log("Usage: "+t[0]+" FILE"),process.exit(1));var r=n(8800).readFileSync(n(6470).normalize(t[1]),"utf8");return e.parser.parse(r)},n.c[n.s]===t&&e.main(process.argv.slice(1))},6876:(t,e,n)=>{t=n.nmd(t);var r=function(){var t=function(t,e,n,r){for(n=n||{},r=t.length;r--;n[t[r]]=e);return n},e=[1,2],n=[1,3],r=[1,5],i=[1,7],a=[2,5],o=[1,15],s=[1,17],c=[1,18],u=[1,19],l=[1,21],h=[1,22],f=[1,23],d=[1,29],p=[1,30],g=[1,31],y=[1,32],m=[1,33],v=[1,34],b=[1,35],_=[1,36],x=[1,37],w=[1,38],k=[1,41],T=[1,42],C=[1,43],E=[1,44],S=[1,45],A=[1,46],M=[1,49],N=[1,4,5,16,20,22,25,26,32,33,34,36,38,39,40,41,42,43,45,47,48,49,54,55,56,57,65,75],D=[4,5,16,20,22,25,26,32,33,34,36,38,39,40,41,42,43,45,49,54,55,56,57,65,75],B=[4,5,16,20,22,25,26,32,33,34,36,38,39,40,41,42,43,45,48,49,54,55,56,57,65,75],L=[4,5,16,20,22,25,26,32,33,34,36,38,39,40,41,42,43,45,47,49,54,55,56,57,65,75],O=[63,64,65],I=[1,114],R=[1,4,5,7,16,20,22,25,26,32,33,34,36,38,39,40,41,42,43,45,47,48,49,54,55,56,57,65,75],F={trace:function(){},yy:{},symbols_:{error:2,start:3,SPACE:4,NEWLINE:5,directive:6,SD:7,document:8,line:9,statement:10,openDirective:11,typeDirective:12,closeDirective:13,":":14,argDirective:15,participant:16,actor:17,AS:18,restOfLine:19,participant_actor:20,signal:21,autonumber:22,NUM:23,off:24,activate:25,deactivate:26,note_statement:27,links_statement:28,link_statement:29,properties_statement:30,details_statement:31,title:32,legacy_title:33,acc_title:34,acc_title_value:35,acc_descr:36,acc_descr_value:37,acc_descr_multiline_value:38,loop:39,end:40,rect:41,opt:42,alt:43,else_sections:44,par:45,par_sections:46,and:47,else:48,note:49,placement:50,text2:51,over:52,actor_pair:53,links:54,link:55,properties:56,details:57,spaceList:58,",":59,left_of:60,right_of:61,signaltype:62,"+":63,"-":64,ACTOR:65,SOLID_OPEN_ARROW:66,DOTTED_OPEN_ARROW:67,SOLID_ARROW:68,DOTTED_ARROW:69,SOLID_CROSS:70,DOTTED_CROSS:71,SOLID_POINT:72,DOTTED_POINT:73,TXT:74,open_directive:75,type_directive:76,arg_directive:77,close_directive:78,$accept:0,$end:1},terminals_:{2:"error",4:"SPACE",5:"NEWLINE",7:"SD",14:":",16:"participant",18:"AS",19:"restOfLine",20:"participant_actor",22:"autonumber",23:"NUM",24:"off",25:"activate",26:"deactivate",32:"title",33:"legacy_title",34:"acc_title",35:"acc_title_value",36:"acc_descr",37:"acc_descr_value",38:"acc_descr_multiline_value",39:"loop",40:"end",41:"rect",42:"opt",43:"alt",45:"par",47:"and",48:"else",49:"note",52:"over",54:"links",55:"link",56:"properties",57:"details",59:",",60:"left_of",61:"right_of",63:"+",64:"-",65:"ACTOR",66:"SOLID_OPEN_ARROW",67:"DOTTED_OPEN_ARROW",68:"SOLID_ARROW",69:"DOTTED_ARROW",70:"SOLID_CROSS",71:"DOTTED_CROSS",72:"SOLID_POINT",73:"DOTTED_POINT",74:"TXT",75:"open_directive",76:"type_directive",77:"arg_directive",78:"close_directive"},productions_:[0,[3,2],[3,2],[3,2],[3,2],[8,0],[8,2],[9,2],[9,1],[9,1],[6,4],[6,6],[10,5],[10,3],[10,5],[10,3],[10,2],[10,4],[10,3],[10,3],[10,2],[10,3],[10,3],[10,2],[10,2],[10,2],[10,2],[10,2],[10,1],[10,1],[10,2],[10,2],[10,1],[10,4],[10,4],[10,4],[10,4],[10,4],[10,1],[46,1],[46,4],[44,1],[44,4],[27,4],[27,4],[28,3],[29,3],[30,3],[31,3],[58,2],[58,1],[53,3],[53,1],[50,1],[50,1],[21,5],[21,5],[21,4],[17,1],[62,1],[62,1],[62,1],[62,1],[62,1],[62,1],[62,1],[62,1],[51,1],[11,1],[12,1],[15,1],[13,1]],performAction:function(t,e,n,r,i,a,o){var s=a.length-1;switch(i){case 4:return r.apply(a[s]),a[s];case 5:case 9:this.$=[];break;case 6:a[s-1].push(a[s]),this.$=a[s-1];break;case 7:case 8:case 52:this.$=a[s];break;case 12:a[s-3].type="addParticipant",a[s-3].description=r.parseMessage(a[s-1]),this.$=a[s-3];break;case 13:a[s-1].type="addParticipant",this.$=a[s-1];break;case 14:a[s-3].type="addActor",a[s-3].description=r.parseMessage(a[s-1]),this.$=a[s-3];break;case 15:a[s-1].type="addActor",this.$=a[s-1];break;case 17:this.$={type:"sequenceIndex",sequenceIndex:Number(a[s-2]),sequenceIndexStep:Number(a[s-1]),sequenceVisible:!0,signalType:r.LINETYPE.AUTONUMBER};break;case 18:this.$={type:"sequenceIndex",sequenceIndex:Number(a[s-1]),sequenceIndexStep:1,sequenceVisible:!0,signalType:r.LINETYPE.AUTONUMBER};break;case 19:this.$={type:"sequenceIndex",sequenceVisible:!1,signalType:r.LINETYPE.AUTONUMBER};break;case 20:this.$={type:"sequenceIndex",sequenceVisible:!0,signalType:r.LINETYPE.AUTONUMBER};break;case 21:this.$={type:"activeStart",signalType:r.LINETYPE.ACTIVE_START,actor:a[s-1]};break;case 22:this.$={type:"activeEnd",signalType:r.LINETYPE.ACTIVE_END,actor:a[s-1]};break;case 28:r.setDiagramTitle(a[s].substring(6)),this.$=a[s].substring(6);break;case 29:r.setDiagramTitle(a[s].substring(7)),this.$=a[s].substring(7);break;case 30:this.$=a[s].trim(),r.setTitle(this.$);break;case 31:case 32:this.$=a[s].trim(),r.setAccDescription(this.$);break;case 33:a[s-1].unshift({type:"loopStart",loopText:r.parseMessage(a[s-2]),signalType:r.LINETYPE.LOOP_START}),a[s-1].push({type:"loopEnd",loopText:a[s-2],signalType:r.LINETYPE.LOOP_END}),this.$=a[s-1];break;case 34:a[s-1].unshift({type:"rectStart",color:r.parseMessage(a[s-2]),signalType:r.LINETYPE.RECT_START}),a[s-1].push({type:"rectEnd",color:r.parseMessage(a[s-2]),signalType:r.LINETYPE.RECT_END}),this.$=a[s-1];break;case 35:a[s-1].unshift({type:"optStart",optText:r.parseMessage(a[s-2]),signalType:r.LINETYPE.OPT_START}),a[s-1].push({type:"optEnd",optText:r.parseMessage(a[s-2]),signalType:r.LINETYPE.OPT_END}),this.$=a[s-1];break;case 36:a[s-1].unshift({type:"altStart",altText:r.parseMessage(a[s-2]),signalType:r.LINETYPE.ALT_START}),a[s-1].push({type:"altEnd",signalType:r.LINETYPE.ALT_END}),this.$=a[s-1];break;case 37:a[s-1].unshift({type:"parStart",parText:r.parseMessage(a[s-2]),signalType:r.LINETYPE.PAR_START}),a[s-1].push({type:"parEnd",signalType:r.LINETYPE.PAR_END}),this.$=a[s-1];break;case 40:this.$=a[s-3].concat([{type:"and",parText:r.parseMessage(a[s-1]),signalType:r.LINETYPE.PAR_AND},a[s]]);break;case 42:this.$=a[s-3].concat([{type:"else",altText:r.parseMessage(a[s-1]),signalType:r.LINETYPE.ALT_ELSE},a[s]]);break;case 43:this.$=[a[s-1],{type:"addNote",placement:a[s-2],actor:a[s-1].actor,text:a[s]}];break;case 44:a[s-2]=[].concat(a[s-1],a[s-1]).slice(0,2),a[s-2][0]=a[s-2][0].actor,a[s-2][1]=a[s-2][1].actor,this.$=[a[s-1],{type:"addNote",placement:r.PLACEMENT.OVER,actor:a[s-2].slice(0,2),text:a[s]}];break;case 45:this.$=[a[s-1],{type:"addLinks",actor:a[s-1].actor,text:a[s]}];break;case 46:this.$=[a[s-1],{type:"addALink",actor:a[s-1].actor,text:a[s]}];break;case 47:this.$=[a[s-1],{type:"addProperties",actor:a[s-1].actor,text:a[s]}];break;case 48:this.$=[a[s-1],{type:"addDetails",actor:a[s-1].actor,text:a[s]}];break;case 51:this.$=[a[s-2],a[s]];break;case 53:this.$=r.PLACEMENT.LEFTOF;break;case 54:this.$=r.PLACEMENT.RIGHTOF;break;case 55:this.$=[a[s-4],a[s-1],{type:"addMessage",from:a[s-4].actor,to:a[s-1].actor,signalType:a[s-3],msg:a[s]},{type:"activeStart",signalType:r.LINETYPE.ACTIVE_START,actor:a[s-1]}];break;case 56:this.$=[a[s-4],a[s-1],{type:"addMessage",from:a[s-4].actor,to:a[s-1].actor,signalType:a[s-3],msg:a[s]},{type:"activeEnd",signalType:r.LINETYPE.ACTIVE_END,actor:a[s-4]}];break;case 57:this.$=[a[s-3],a[s-1],{type:"addMessage",from:a[s-3].actor,to:a[s-1].actor,signalType:a[s-2],msg:a[s]}];break;case 58:this.$={type:"addParticipant",actor:a[s]};break;case 59:this.$=r.LINETYPE.SOLID_OPEN;break;case 60:this.$=r.LINETYPE.DOTTED_OPEN;break;case 61:this.$=r.LINETYPE.SOLID;break;case 62:this.$=r.LINETYPE.DOTTED;break;case 63:this.$=r.LINETYPE.SOLID_CROSS;break;case 64:this.$=r.LINETYPE.DOTTED_CROSS;break;case 65:this.$=r.LINETYPE.SOLID_POINT;break;case 66:this.$=r.LINETYPE.DOTTED_POINT;break;case 67:this.$=r.parseMessage(a[s].trim().substring(1));break;case 68:r.parseDirective("%%{","open_directive");break;case 69:r.parseDirective(a[s],"type_directive");break;case 70:a[s]=a[s].trim().replace(/'/g,'"'),r.parseDirective(a[s],"arg_directive");break;case 71:r.parseDirective("}%%","close_directive","sequence")}},table:[{3:1,4:e,5:n,6:4,7:r,11:6,75:i},{1:[3]},{3:8,4:e,5:n,6:4,7:r,11:6,75:i},{3:9,4:e,5:n,6:4,7:r,11:6,75:i},{3:10,4:e,5:n,6:4,7:r,11:6,75:i},t([1,4,5,16,20,22,25,26,32,33,34,36,38,39,41,42,43,45,49,54,55,56,57,65,75],a,{8:11}),{12:12,76:[1,13]},{76:[2,68]},{1:[2,1]},{1:[2,2]},{1:[2,3]},{1:[2,4],4:o,5:s,6:39,9:14,10:16,11:6,16:c,17:40,20:u,21:20,22:l,25:h,26:f,27:24,28:25,29:26,30:27,31:28,32:d,33:p,34:g,36:y,38:m,39:v,41:b,42:_,43:x,45:w,49:k,54:T,55:C,56:E,57:S,65:A,75:i},{13:47,14:[1,48],78:M},t([14,78],[2,69]),t(N,[2,6]),{6:39,10:50,11:6,16:c,17:40,20:u,21:20,22:l,25:h,26:f,27:24,28:25,29:26,30:27,31:28,32:d,33:p,34:g,36:y,38:m,39:v,41:b,42:_,43:x,45:w,49:k,54:T,55:C,56:E,57:S,65:A,75:i},t(N,[2,8]),t(N,[2,9]),{17:51,65:A},{17:52,65:A},{5:[1,53]},{5:[1,56],23:[1,54],24:[1,55]},{17:57,65:A},{17:58,65:A},{5:[1,59]},{5:[1,60]},{5:[1,61]},{5:[1,62]},{5:[1,63]},t(N,[2,28]),t(N,[2,29]),{35:[1,64]},{37:[1,65]},t(N,[2,32]),{19:[1,66]},{19:[1,67]},{19:[1,68]},{19:[1,69]},{19:[1,70]},t(N,[2,38]),{62:71,66:[1,72],67:[1,73],68:[1,74],69:[1,75],70:[1,76],71:[1,77],72:[1,78],73:[1,79]},{50:80,52:[1,81],60:[1,82],61:[1,83]},{17:84,65:A},{17:85,65:A},{17:86,65:A},{17:87,65:A},t([5,18,59,66,67,68,69,70,71,72,73,74],[2,58]),{5:[1,88]},{15:89,77:[1,90]},{5:[2,71]},t(N,[2,7]),{5:[1,92],18:[1,91]},{5:[1,94],18:[1,93]},t(N,[2,16]),{5:[1,96],23:[1,95]},{5:[1,97]},t(N,[2,20]),{5:[1,98]},{5:[1,99]},t(N,[2,23]),t(N,[2,24]),t(N,[2,25]),t(N,[2,26]),t(N,[2,27]),t(N,[2,30]),t(N,[2,31]),t(D,a,{8:100}),t(D,a,{8:101}),t(D,a,{8:102}),t(B,a,{44:103,8:104}),t(L,a,{46:105,8:106}),{17:109,63:[1,107],64:[1,108],65:A},t(O,[2,59]),t(O,[2,60]),t(O,[2,61]),t(O,[2,62]),t(O,[2,63]),t(O,[2,64]),t(O,[2,65]),t(O,[2,66]),{17:110,65:A},{17:112,53:111,65:A},{65:[2,53]},{65:[2,54]},{51:113,74:I},{51:115,74:I},{51:116,74:I},{51:117,74:I},t(R,[2,10]),{13:118,78:M},{78:[2,70]},{19:[1,119]},t(N,[2,13]),{19:[1,120]},t(N,[2,15]),{5:[1,121]},t(N,[2,18]),t(N,[2,19]),t(N,[2,21]),t(N,[2,22]),{4:o,5:s,6:39,9:14,10:16,11:6,16:c,17:40,20:u,21:20,22:l,25:h,26:f,27:24,28:25,29:26,30:27,31:28,32:d,33:p,34:g,36:y,38:m,39:v,40:[1,122],41:b,42:_,43:x,45:w,49:k,54:T,55:C,56:E,57:S,65:A,75:i},{4:o,5:s,6:39,9:14,10:16,11:6,16:c,17:40,20:u,21:20,22:l,25:h,26:f,27:24,28:25,29:26,30:27,31:28,32:d,33:p,34:g,36:y,38:m,39:v,40:[1,123],41:b,42:_,43:x,45:w,49:k,54:T,55:C,56:E,57:S,65:A,75:i},{4:o,5:s,6:39,9:14,10:16,11:6,16:c,17:40,20:u,21:20,22:l,25:h,26:f,27:24,28:25,29:26,30:27,31:28,32:d,33:p,34:g,36:y,38:m,39:v,40:[1,124],41:b,42:_,43:x,45:w,49:k,54:T,55:C,56:E,57:S,65:A,75:i},{40:[1,125]},{4:o,5:s,6:39,9:14,10:16,11:6,16:c,17:40,20:u,21:20,22:l,25:h,26:f,27:24,28:25,29:26,30:27,31:28,32:d,33:p,34:g,36:y,38:m,39:v,40:[2,41],41:b,42:_,43:x,45:w,48:[1,126],49:k,54:T,55:C,56:E,57:S,65:A,75:i},{40:[1,127]},{4:o,5:s,6:39,9:14,10:16,11:6,16:c,17:40,20:u,21:20,22:l,25:h,26:f,27:24,28:25,29:26,30:27,31:28,32:d,33:p,34:g,36:y,38:m,39:v,40:[2,39],41:b,42:_,43:x,45:w,47:[1,128],49:k,54:T,55:C,56:E,57:S,65:A,75:i},{17:129,65:A},{17:130,65:A},{51:131,74:I},{51:132,74:I},{51:133,74:I},{59:[1,134],74:[2,52]},{5:[2,45]},{5:[2,67]},{5:[2,46]},{5:[2,47]},{5:[2,48]},{5:[1,135]},{5:[1,136]},{5:[1,137]},t(N,[2,17]),t(N,[2,33]),t(N,[2,34]),t(N,[2,35]),t(N,[2,36]),{19:[1,138]},t(N,[2,37]),{19:[1,139]},{51:140,74:I},{51:141,74:I},{5:[2,57]},{5:[2,43]},{5:[2,44]},{17:142,65:A},t(R,[2,11]),t(N,[2,12]),t(N,[2,14]),t(B,a,{8:104,44:143}),t(L,a,{8:106,46:144}),{5:[2,55]},{5:[2,56]},{74:[2,51]},{40:[2,42]},{40:[2,40]}],defaultActions:{7:[2,68],8:[2,1],9:[2,2],10:[2,3],49:[2,71],82:[2,53],83:[2,54],90:[2,70],113:[2,45],114:[2,67],115:[2,46],116:[2,47],117:[2,48],131:[2,57],132:[2,43],133:[2,44],140:[2,55],141:[2,56],142:[2,51],143:[2,42],144:[2,40]},parseError:function(t,e){if(!e.recoverable){var n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line 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T;E&&(n=n.slice(0,-1*E*2),i=i.slice(0,-1*E),a=a.slice(0,-1*E)),n.push(this.productions_[k[1]][0]),i.push(M.$),a.push(M._$),S=o[n[n.length-2]][n[n.length-1]],n.push(S);break;case 3:return!0}}return!0}},P={EOF:1,parseError:function(t,e){if(!this.yy.parser)throw new Error(t);this.yy.parser.parseError(t,e)},setInput:function(t,e){return this.yy=e||this.yy||{},this._input=t,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var t=this._input[0];return this.yytext+=t,this.yyleng++,this.offset++,this.match+=t,this.matched+=t,t.match(/(?:\r\n?|\n).*/g)?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),t},unput:function(t){var e=t.length,n=t.split(/(?:\r\n?|\n)/g);this._input=t+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-e),this.offset-=e;var r=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),n.length-1&&(this.yylineno-=n.length-1);var i=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:n?(n.length===r.length?this.yylloc.first_column:0)+r[r.length-n.length].length-n[0].length:this.yylloc.first_column-e},this.options.ranges&&(this.yylloc.range=[i[0],i[0]+this.yyleng-e]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){return this.options.backtrack_lexer?(this._backtrack=!0,this):this.parseError("Lexical error on line "+(this.yylineno+1)+". You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},less:function(t){this.unput(this.match.slice(t))},pastInput:function(){var t=this.matched.substr(0,this.matched.length-this.match.length);return(t.length>20?"...":"")+t.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var t=this.match;return t.length<20&&(t+=this._input.substr(0,20-t.length)),(t.substr(0,20)+(t.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var t=this.pastInput(),e=new Array(t.length+1).join("-");return t+this.upcomingInput()+"\n"+e+"^"},test_match:function(t,e){var n,r,i;if(this.options.backtrack_lexer&&(i={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(i.yylloc.range=this.yylloc.range.slice(0))),(r=t[0].match(/(?:\r\n?|\n).*/g))&&(this.yylineno+=r.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:r?r[r.length-1].length-r[r.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+t[0].length},this.yytext+=t[0],this.match+=t[0],this.matches=t,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(t[0].length),this.matched+=t[0],n=this.performAction.call(this,this.yy,this,e,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),n)return n;if(this._backtrack){for(var a in i)this[a]=i[a];return!1}return!1},next:function(){if(this.done)return this.EOF;var t,e,n,r;this._input||(this.done=!0),this._more||(this.yytext="",this.match="");for(var i=this._currentRules(),a=0;ae[0].length)){if(e=n,r=a,this.options.backtrack_lexer){if(!1!==(t=this.test_match(n,i[a])))return t;if(this._backtrack){e=!1;continue}return!1}if(!this.options.flex)break}return e?!1!==(t=this.test_match(e,i[r]))&&t:""===this._input?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+". Unrecognized text.\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){return this.next()||this.lex()},begin:function(t){this.conditionStack.push(t)},popState:function(){return this.conditionStack.length-1>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(t){return(t=this.conditionStack.length-1-Math.abs(t||0))>=0?this.conditionStack[t]:"INITIAL"},pushState:function(t){this.begin(t)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(t,e,n,r){switch(n){case 0:return this.begin("open_directive"),75;case 1:return this.begin("type_directive"),76;case 2:return this.popState(),this.begin("arg_directive"),14;case 3:return this.popState(),this.popState(),78;case 4:return 77;case 5:case 49:case 62:return 5;case 6:case 7:case 8:case 9:case 10:break;case 11:return 23;case 12:return this.begin("ID"),16;case 13:return this.begin("ID"),20;case 14:return e.yytext=e.yytext.trim(),this.begin("ALIAS"),65;case 15:return this.popState(),this.popState(),this.begin("LINE"),18;case 16:return this.popState(),this.popState(),5;case 17:return this.begin("LINE"),39;case 18:return this.begin("LINE"),41;case 19:return this.begin("LINE"),42;case 20:return this.begin("LINE"),43;case 21:return this.begin("LINE"),48;case 22:return this.begin("LINE"),45;case 23:return this.begin("LINE"),47;case 24:return this.popState(),19;case 25:return 40;case 26:return 60;case 27:return 61;case 28:return 54;case 29:return 55;case 30:return 56;case 31:return 57;case 32:return 52;case 33:return 49;case 34:return this.begin("ID"),25;case 35:return this.begin("ID"),26;case 36:return 32;case 37:return 33;case 38:return this.begin("acc_title"),34;case 39:return this.popState(),"acc_title_value";case 40:return this.begin("acc_descr"),36;case 41:return this.popState(),"acc_descr_value";case 42:this.begin("acc_descr_multiline");break;case 43:this.popState();break;case 44:return"acc_descr_multiline_value";case 45:return 7;case 46:return 22;case 47:return 24;case 48:return 59;case 50:return e.yytext=e.yytext.trim(),65;case 51:return 68;case 52:return 69;case 53:return 66;case 54:return 67;case 55:return 70;case 56:return 71;case 57:return 72;case 58:return 73;case 59:return 74;case 60:return 63;case 61:return 64;case 63:return"INVALID"}},rules:[/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:[\n]+)/i,/^(?:\s+)/i,/^(?:((?!\n)\s)+)/i,/^(?:#[^\n]*)/i,/^(?:%(?!\{)[^\n]*)/i,/^(?:[^\}]%%[^\n]*)/i,/^(?:[0-9]+(?=[ \n]+))/i,/^(?:participant\b)/i,/^(?:actor\b)/i,/^(?:[^\->:\n,;]+?(?=((?!\n)\s)+as(?!\n)\s|[#\n;]|$))/i,/^(?:as\b)/i,/^(?:(?:))/i,/^(?:loop\b)/i,/^(?:rect\b)/i,/^(?:opt\b)/i,/^(?:alt\b)/i,/^(?:else\b)/i,/^(?:par\b)/i,/^(?:and\b)/i,/^(?:(?:[:]?(?:no)?wrap)?[^#\n;]*)/i,/^(?:end\b)/i,/^(?:left of\b)/i,/^(?:right of\b)/i,/^(?:links\b)/i,/^(?:link\b)/i,/^(?:properties\b)/i,/^(?:details\b)/i,/^(?:over\b)/i,/^(?:note\b)/i,/^(?:activate\b)/i,/^(?:deactivate\b)/i,/^(?:title\s[^#\n;]+)/i,/^(?:title:\s[^#\n;]+)/i,/^(?:accTitle\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*\{\s*)/i,/^(?:[\}])/i,/^(?:[^\}]*)/i,/^(?:sequenceDiagram\b)/i,/^(?:autonumber\b)/i,/^(?:off\b)/i,/^(?:,)/i,/^(?:;)/i,/^(?:[^\+\->:\n,;]+((?!(-x|--x|-\)|--\)))[\-]*[^\+\->:\n,;]+)*)/i,/^(?:->>)/i,/^(?:-->>)/i,/^(?:->)/i,/^(?:-->)/i,/^(?:-[x])/i,/^(?:--[x])/i,/^(?:-[\)])/i,/^(?:--[\)])/i,/^(?::(?:(?:no)?wrap)?[^#\n;]+)/i,/^(?:\+)/i,/^(?:-)/i,/^(?:$)/i,/^(?:.)/i],conditions:{acc_descr_multiline:{rules:[43,44],inclusive:!1},acc_descr:{rules:[41],inclusive:!1},acc_title:{rules:[39],inclusive:!1},open_directive:{rules:[1,8],inclusive:!1},type_directive:{rules:[2,3,8],inclusive:!1},arg_directive:{rules:[3,4,8],inclusive:!1},ID:{rules:[7,8,14],inclusive:!1},ALIAS:{rules:[7,8,15,16],inclusive:!1},LINE:{rules:[7,8,24],inclusive:!1},INITIAL:{rules:[0,5,6,8,9,10,11,12,13,17,18,19,20,21,22,23,25,26,27,28,29,30,31,32,33,34,35,36,37,38,40,42,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63],inclusive:!0}}};function Y(){this.yy={}}return F.lexer=P,Y.prototype=F,F.Parser=Y,new Y}();e.parser=r,e.Parser=r.Parser,e.parse=function(){return r.parse.apply(r,arguments)},e.main=function(t){t[1]||(console.log("Usage: "+t[0]+" FILE"),process.exit(1));var r=n(1993).readFileSync(n(6470).normalize(t[1]),"utf8");return e.parser.parse(r)},n.c[n.s]===t&&e.main(process.argv.slice(1))},3584:(t,e,n)=>{t=n.nmd(t);var r=function(){var t=function(t,e,n,r){for(n=n||{},r=t.length;r--;n[t[r]]=e);return n},e=[1,2],n=[1,3],r=[1,5],i=[1,7],a=[2,5],o=[1,15],s=[1,17],c=[1,19],u=[1,20],l=[1,21],h=[1,22],f=[1,33],d=[1,23],p=[1,24],g=[1,25],y=[1,26],m=[1,27],v=[1,30],b=[1,31],_=[1,32],x=[1,35],w=[1,36],k=[1,37],T=[1,38],C=[1,34],E=[1,41],S=[1,4,5,14,15,17,19,20,22,23,24,25,26,27,31,33,35,41,42,43,44,47,50],A=[1,4,5,12,13,14,15,17,19,20,22,23,24,25,26,27,31,33,35,41,42,43,44,47,50],M=[1,4,5,7,14,15,17,19,20,22,23,24,25,26,27,31,33,35,41,42,43,44,47,50],N=[4,5,14,15,17,19,20,22,23,24,25,26,27,31,33,35,41,42,43,44,47,50],D={trace:function(){},yy:{},symbols_:{error:2,start:3,SPACE:4,NL:5,directive:6,SD:7,document:8,line:9,statement:10,idStatement:11,DESCR:12,"--\x3e":13,HIDE_EMPTY:14,scale:15,WIDTH:16,COMPOSIT_STATE:17,STRUCT_START:18,STRUCT_STOP:19,STATE_DESCR:20,AS:21,ID:22,FORK:23,JOIN:24,CHOICE:25,CONCURRENT:26,note:27,notePosition:28,NOTE_TEXT:29,direction:30,acc_title:31,acc_title_value:32,acc_descr:33,acc_descr_value:34,acc_descr_multiline_value:35,openDirective:36,typeDirective:37,closeDirective:38,":":39,argDirective:40,direction_tb:41,direction_bt:42,direction_rl:43,direction_lr:44,eol:45,";":46,EDGE_STATE:47,left_of:48,right_of:49,open_directive:50,type_directive:51,arg_directive:52,close_directive:53,$accept:0,$end:1},terminals_:{2:"error",4:"SPACE",5:"NL",7:"SD",12:"DESCR",13:"--\x3e",14:"HIDE_EMPTY",15:"scale",16:"WIDTH",17:"COMPOSIT_STATE",18:"STRUCT_START",19:"STRUCT_STOP",20:"STATE_DESCR",21:"AS",22:"ID",23:"FORK",24:"JOIN",25:"CHOICE",26:"CONCURRENT",27:"note",29:"NOTE_TEXT",31:"acc_title",32:"acc_title_value",33:"acc_descr",34:"acc_descr_value",35:"acc_descr_multiline_value",39:":",41:"direction_tb",42:"direction_bt",43:"direction_rl",44:"direction_lr",46:";",47:"EDGE_STATE",48:"left_of",49:"right_of",50:"open_directive",51:"type_directive",52:"arg_directive",53:"close_directive"},productions_:[0,[3,2],[3,2],[3,2],[3,2],[8,0],[8,2],[9,2],[9,1],[9,1],[10,1],[10,2],[10,3],[10,4],[10,1],[10,2],[10,1],[10,4],[10,3],[10,6],[10,1],[10,1],[10,1],[10,1],[10,4],[10,4],[10,1],[10,1],[10,2],[10,2],[10,1],[6,3],[6,5],[30,1],[30,1],[30,1],[30,1],[45,1],[45,1],[11,1],[11,1],[28,1],[28,1],[36,1],[37,1],[40,1],[38,1]],performAction:function(t,e,n,r,i,a,o){var s=a.length-1;switch(i){case 4:return r.setRootDoc(a[s]),a[s];case 5:this.$=[];break;case 6:"nl"!=a[s]&&(a[s-1].push(a[s]),this.$=a[s-1]);break;case 7:case 8:case 39:case 40:this.$=a[s];break;case 9:this.$="nl";break;case 10:this.$={stmt:"state",id:a[s],type:"default",description:""};break;case 11:this.$={stmt:"state",id:a[s-1],type:"default",description:r.trimColon(a[s])};break;case 12:this.$={stmt:"relation",state1:{stmt:"state",id:a[s-2],type:"default",description:""},state2:{stmt:"state",id:a[s],type:"default",description:""}};break;case 13:this.$={stmt:"relation",state1:{stmt:"state",id:a[s-3],type:"default",description:""},state2:{stmt:"state",id:a[s-1],type:"default",description:""},description:a[s].substr(1).trim()};break;case 17:this.$={stmt:"state",id:a[s-3],type:"default",description:"",doc:a[s-1]};break;case 18:var c=a[s],u=a[s-2].trim();if(a[s].match(":")){var l=a[s].split(":");c=l[0],u=[u,l[1]]}this.$={stmt:"state",id:c,type:"default",description:u};break;case 19:this.$={stmt:"state",id:a[s-3],type:"default",description:a[s-5],doc:a[s-1]};break;case 20:this.$={stmt:"state",id:a[s],type:"fork"};break;case 21:this.$={stmt:"state",id:a[s],type:"join"};break;case 22:this.$={stmt:"state",id:a[s],type:"choice"};break;case 23:this.$={stmt:"state",id:r.getDividerId(),type:"divider"};break;case 24:this.$={stmt:"state",id:a[s-1].trim(),note:{position:a[s-2].trim(),text:a[s].trim()}};break;case 28:this.$=a[s].trim(),r.setTitle(this.$);break;case 29:case 30:this.$=a[s].trim(),r.setAccDescription(this.$);break;case 33:r.setDirection("TB"),this.$={stmt:"dir",value:"TB"};break;case 34:r.setDirection("BT"),this.$={stmt:"dir",value:"BT"};break;case 35:r.setDirection("RL"),this.$={stmt:"dir",value:"RL"};break;case 36:r.setDirection("LR"),this.$={stmt:"dir",value:"LR"};break;case 43:r.parseDirective("%%{","open_directive");break;case 44:r.parseDirective(a[s],"type_directive");break;case 45:a[s]=a[s].trim().replace(/'/g,'"'),r.parseDirective(a[s],"arg_directive");break;case 46:r.parseDirective("}%%","close_directive","state")}},table:[{3:1,4:e,5:n,6:4,7:r,36:6,50:i},{1:[3]},{3:8,4:e,5:n,6:4,7:r,36:6,50:i},{3:9,4:e,5:n,6:4,7:r,36:6,50:i},{3:10,4:e,5:n,6:4,7:r,36:6,50:i},t([1,4,5,14,15,17,20,22,23,24,25,26,27,31,33,35,41,42,43,44,47,50],a,{8:11}),{37:12,51:[1,13]},{51:[2,43]},{1:[2,1]},{1:[2,2]},{1:[2,3]},{1:[2,4],4:o,5:s,6:28,9:14,10:16,11:18,14:c,15:u,17:l,20:h,22:f,23:d,24:p,25:g,26:y,27:m,30:29,31:v,33:b,35:_,36:6,41:x,42:w,43:k,44:T,47:C,50:i},{38:39,39:[1,40],53:E},t([39,53],[2,44]),t(S,[2,6]),{6:28,10:42,11:18,14:c,15:u,17:l,20:h,22:f,23:d,24:p,25:g,26:y,27:m,30:29,31:v,33:b,35:_,36:6,41:x,42:w,43:k,44:T,47:C,50:i},t(S,[2,8]),t(S,[2,9]),t(S,[2,10],{12:[1,43],13:[1,44]}),t(S,[2,14]),{16:[1,45]},t(S,[2,16],{18:[1,46]}),{21:[1,47]},t(S,[2,20]),t(S,[2,21]),t(S,[2,22]),t(S,[2,23]),{28:48,29:[1,49],48:[1,50],49:[1,51]},t(S,[2,26]),t(S,[2,27]),{32:[1,52]},{34:[1,53]},t(S,[2,30]),t(A,[2,39]),t(A,[2,40]),t(S,[2,33]),t(S,[2,34]),t(S,[2,35]),t(S,[2,36]),t(M,[2,31]),{40:54,52:[1,55]},t(M,[2,46]),t(S,[2,7]),t(S,[2,11]),{11:56,22:f,47:C},t(S,[2,15]),t(N,a,{8:57}),{22:[1,58]},{22:[1,59]},{21:[1,60]},{22:[2,41]},{22:[2,42]},t(S,[2,28]),t(S,[2,29]),{38:61,53:E},{53:[2,45]},t(S,[2,12],{12:[1,62]}),{4:o,5:s,6:28,9:14,10:16,11:18,14:c,15:u,17:l,19:[1,63],20:h,22:f,23:d,24:p,25:g,26:y,27:m,30:29,31:v,33:b,35:_,36:6,41:x,42:w,43:k,44:T,47:C,50:i},t(S,[2,18],{18:[1,64]}),{29:[1,65]},{22:[1,66]},t(M,[2,32]),t(S,[2,13]),t(S,[2,17]),t(N,a,{8:67}),t(S,[2,24]),t(S,[2,25]),{4:o,5:s,6:28,9:14,10:16,11:18,14:c,15:u,17:l,19:[1,68],20:h,22:f,23:d,24:p,25:g,26:y,27:m,30:29,31:v,33:b,35:_,36:6,41:x,42:w,43:k,44:T,47:C,50:i},t(S,[2,19])],defaultActions:{7:[2,43],8:[2,1],9:[2,2],10:[2,3],50:[2,41],51:[2,42],55:[2,45]},parseError:function(t,e){if(!e.recoverable){var n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line "+(c+1)+":\n"+p.showPosition()+"\nExpecting "+A.join(", ")+", got '"+(this.terminals_[_]||_)+"'":"Parse error on line "+(c+1)+": Unexpected "+(_==f?"end of input":"'"+(this.terminals_[_]||_)+"'"),this.parseError(N,{text:p.match,token:this.terminals_[_]||_,line:p.yylineno,loc:m,expected:A})}if(k[0]instanceof Array&&k.length>1)throw new Error("Parse Error: multiple actions possible at state: "+w+", token: "+_);switch(k[0]){case 1:n.push(_),i.push(p.yytext),a.push(p.yylloc),n.push(k[1]),_=null,x?(_=x,x=null):(u=p.yyleng,s=p.yytext,c=p.yylineno,m=p.yylloc,l>0&&l--);break;case 2:if(E=this.productions_[k[1]][1],M.$=i[i.length-E],M._$={first_line:a[a.length-(E||1)].first_line,last_line:a[a.length-1].last_line,first_column:a[a.length-(E||1)].first_column,last_column:a[a.length-1].last_column},v&&(M._$.range=[a[a.length-(E||1)].range[0],a[a.length-1].range[1]]),void 0!==(T=this.performAction.apply(M,[s,u,c,g.yy,k[1],i,a].concat(d))))return T;E&&(n=n.slice(0,-1*E*2),i=i.slice(0,-1*E),a=a.slice(0,-1*E)),n.push(this.productions_[k[1]][0]),i.push(M.$),a.push(M._$),S=o[n[n.length-2]][n[n.length-1]],n.push(S);break;case 3:return!0}}return!0}},B={EOF:1,parseError:function(t,e){if(!this.yy.parser)throw new Error(t);this.yy.parser.parseError(t,e)},setInput:function(t,e){return this.yy=e||this.yy||{},this._input=t,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var t=this._input[0];return this.yytext+=t,this.yyleng++,this.offset++,this.match+=t,this.matched+=t,t.match(/(?:\r\n?|\n).*/g)?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),t},unput:function(t){var e=t.length,n=t.split(/(?:\r\n?|\n)/g);this._input=t+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-e),this.offset-=e;var r=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),n.length-1&&(this.yylineno-=n.length-1);var i=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:n?(n.length===r.length?this.yylloc.first_column:0)+r[r.length-n.length].length-n[0].length:this.yylloc.first_column-e},this.options.ranges&&(this.yylloc.range=[i[0],i[0]+this.yyleng-e]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){return this.options.backtrack_lexer?(this._backtrack=!0,this):this.parseError("Lexical error on line "+(this.yylineno+1)+". You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},less:function(t){this.unput(this.match.slice(t))},pastInput:function(){var t=this.matched.substr(0,this.matched.length-this.match.length);return(t.length>20?"...":"")+t.substr(-20).replace(/\n/g,"")},upcomingInput:function(){var t=this.match;return t.length<20&&(t+=this._input.substr(0,20-t.length)),(t.substr(0,20)+(t.length>20?"...":"")).replace(/\n/g,"")},showPosition:function(){var t=this.pastInput(),e=new Array(t.length+1).join("-");return t+this.upcomingInput()+"\n"+e+"^"},test_match:function(t,e){var n,r,i;if(this.options.backtrack_lexer&&(i={yylineno:this.yylineno,yylloc:{first_line:this.yylloc.first_line,last_line:this.last_line,first_column:this.yylloc.first_column,last_column:this.yylloc.last_column},yytext:this.yytext,match:this.match,matches:this.matches,matched:this.matched,yyleng:this.yyleng,offset:this.offset,_more:this._more,_input:this._input,yy:this.yy,conditionStack:this.conditionStack.slice(0),done:this.done},this.options.ranges&&(i.yylloc.range=this.yylloc.range.slice(0))),(r=t[0].match(/(?:\r\n?|\n).*/g))&&(this.yylineno+=r.length),this.yylloc={first_line:this.yylloc.last_line,last_line:this.yylineno+1,first_column:this.yylloc.last_column,last_column:r?r[r.length-1].length-r[r.length-1].match(/\r?\n?/)[0].length:this.yylloc.last_column+t[0].length},this.yytext+=t[0],this.match+=t[0],this.matches=t,this.yyleng=this.yytext.length,this.options.ranges&&(this.yylloc.range=[this.offset,this.offset+=this.yyleng]),this._more=!1,this._backtrack=!1,this._input=this._input.slice(t[0].length),this.matched+=t[0],n=this.performAction.call(this,this.yy,this,e,this.conditionStack[this.conditionStack.length-1]),this.done&&this._input&&(this.done=!1),n)return n;if(this._backtrack){for(var a in i)this[a]=i[a];return!1}return!1},next:function(){if(this.done)return this.EOF;var t,e,n,r;this._input||(this.done=!0),this._more||(this.yytext="",this.match="");for(var i=this._currentRules(),a=0;ae[0].length)){if(e=n,r=a,this.options.backtrack_lexer){if(!1!==(t=this.test_match(n,i[a])))return t;if(this._backtrack){e=!1;continue}return!1}if(!this.options.flex)break}return e?!1!==(t=this.test_match(e,i[r]))&&t:""===this._input?this.EOF:this.parseError("Lexical error on line "+(this.yylineno+1)+". Unrecognized text.\n"+this.showPosition(),{text:"",token:null,line:this.yylineno})},lex:function(){return this.next()||this.lex()},begin:function(t){this.conditionStack.push(t)},popState:function(){return this.conditionStack.length-1>0?this.conditionStack.pop():this.conditionStack[0]},_currentRules:function(){return this.conditionStack.length&&this.conditionStack[this.conditionStack.length-1]?this.conditions[this.conditionStack[this.conditionStack.length-1]].rules:this.conditions.INITIAL.rules},topState:function(t){return(t=this.conditionStack.length-1-Math.abs(t||0))>=0?this.conditionStack[t]:"INITIAL"},pushState:function(t){this.begin(t)},stateStackSize:function(){return this.conditionStack.length},options:{"case-insensitive":!0},performAction:function(t,e,n,r){switch(n){case 0:case 33:return 41;case 1:case 34:return 42;case 2:case 35:return 43;case 3:case 36:return 44;case 4:return this.begin("open_directive"),50;case 5:return this.begin("type_directive"),51;case 6:return this.popState(),this.begin("arg_directive"),39;case 7:return this.popState(),this.popState(),53;case 8:return 52;case 9:case 10:case 12:case 13:case 14:case 15:case 46:case 52:break;case 11:case 66:return 5;case 16:return this.pushState("SCALE"),15;case 17:return 16;case 18:case 24:case 40:case 43:this.popState();break;case 19:return this.begin("acc_title"),31;case 20:return this.popState(),"acc_title_value";case 21:return this.begin("acc_descr"),33;case 22:return this.popState(),"acc_descr_value";case 23:this.begin("acc_descr_multiline");break;case 25:return"acc_descr_multiline_value";case 26:this.pushState("STATE");break;case 27:case 30:return this.popState(),e.yytext=e.yytext.slice(0,-8).trim(),23;case 28:case 31:return this.popState(),e.yytext=e.yytext.slice(0,-8).trim(),24;case 29:case 32:return this.popState(),e.yytext=e.yytext.slice(0,-10).trim(),25;case 37:this.begin("STATE_STRING");break;case 38:return this.popState(),this.pushState("STATE_ID"),"AS";case 39:case 54:return this.popState(),"ID";case 41:return"STATE_DESCR";case 42:return 17;case 44:return this.popState(),this.pushState("struct"),18;case 45:return this.popState(),19;case 47:return this.begin("NOTE"),27;case 48:return this.popState(),this.pushState("NOTE_ID"),48;case 49:return this.popState(),this.pushState("NOTE_ID"),49;case 50:this.popState(),this.pushState("FLOATING_NOTE");break;case 51:return this.popState(),this.pushState("FLOATING_NOTE_ID"),"AS";case 53:return"NOTE_TEXT";case 55:return this.popState(),this.pushState("NOTE_TEXT"),22;case 56:return this.popState(),e.yytext=e.yytext.substr(2).trim(),29;case 57:return this.popState(),e.yytext=e.yytext.slice(0,-8).trim(),29;case 58:case 59:return 7;case 60:return 14;case 61:return 47;case 62:return 22;case 63:return e.yytext=e.yytext.trim(),12;case 64:return 13;case 65:return 26;case 67:return"INVALID"}},rules:[/^(?:.*direction\s+TB[^\n]*)/i,/^(?:.*direction\s+BT[^\n]*)/i,/^(?:.*direction\s+RL[^\n]*)/i,/^(?:.*direction\s+LR[^\n]*)/i,/^(?:%%\{)/i,/^(?:((?:(?!\}%%)[^:.])*))/i,/^(?::)/i,/^(?:\}%%)/i,/^(?:((?:(?!\}%%).|\n)*))/i,/^(?:%%(?!\{)[^\n]*)/i,/^(?:[^\}]%%[^\n]*)/i,/^(?:[\n]+)/i,/^(?:[\s]+)/i,/^(?:((?!\n)\s)+)/i,/^(?:#[^\n]*)/i,/^(?:%[^\n]*)/i,/^(?:scale\s+)/i,/^(?:\d+)/i,/^(?:\s+width\b)/i,/^(?:accTitle\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*:\s*)/i,/^(?:(?!\n||)*[^\n]*)/i,/^(?:accDescr\s*\{\s*)/i,/^(?:[\}])/i,/^(?:[^\}]*)/i,/^(?:state\s+)/i,/^(?:.*<>)/i,/^(?:.*<>)/i,/^(?:.*<>)/i,/^(?:.*\[\[fork\]\])/i,/^(?:.*\[\[join\]\])/i,/^(?:.*\[\[choice\]\])/i,/^(?:.*direction\s+TB[^\n]*)/i,/^(?:.*direction\s+BT[^\n]*)/i,/^(?:.*direction\s+RL[^\n]*)/i,/^(?:.*direction\s+LR[^\n]*)/i,/^(?:["])/i,/^(?:\s*as\s+)/i,/^(?:[^\n\{]*)/i,/^(?:["])/i,/^(?:[^"]*)/i,/^(?:[^\n\s\{]+)/i,/^(?:\n)/i,/^(?:\{)/i,/^(?:\})/i,/^(?:[\n])/i,/^(?:note\s+)/i,/^(?:left of\b)/i,/^(?:right of\b)/i,/^(?:")/i,/^(?:\s*as\s*)/i,/^(?:["])/i,/^(?:[^"]*)/i,/^(?:[^\n]*)/i,/^(?:\s*[^:\n\s\-]+)/i,/^(?:\s*:[^:\n;]+)/i,/^(?:[\s\S]*?end note\b)/i,/^(?:stateDiagram\s+)/i,/^(?:stateDiagram-v2\s+)/i,/^(?:hide empty description\b)/i,/^(?:\[\*\])/i,/^(?:[^:\n\s\-\{]+)/i,/^(?:\s*:[^:\n;]+)/i,/^(?:-->)/i,/^(?:--)/i,/^(?:$)/i,/^(?:.)/i],conditions:{LINE:{rules:[13,14],inclusive:!1},close_directive:{rules:[13,14],inclusive:!1},arg_directive:{rules:[7,8,13,14],inclusive:!1},type_directive:{rules:[6,7,13,14],inclusive:!1},open_directive:{rules:[5,13,14],inclusive:!1},struct:{rules:[13,14,26,33,34,35,36,45,46,47,61,62,63,64,65],inclusive:!1},FLOATING_NOTE_ID:{rules:[54],inclusive:!1},FLOATING_NOTE:{rules:[51,52,53],inclusive:!1},NOTE_TEXT:{rules:[56,57],inclusive:!1},NOTE_ID:{rules:[55],inclusive:!1},NOTE:{rules:[48,49,50],inclusive:!1},acc_descr_multiline:{rules:[24,25],inclusive:!1},acc_descr:{rules:[22],inclusive:!1},acc_title:{rules:[20],inclusive:!1},SCALE:{rules:[17,18],inclusive:!1},ALIAS:{rules:[],inclusive:!1},STATE_ID:{rules:[39],inclusive:!1},STATE_STRING:{rules:[40,41],inclusive:!1},FORK_STATE:{rules:[],inclusive:!1},STATE:{rules:[13,14,27,28,29,30,31,32,37,38,42,43,44],inclusive:!1},ID:{rules:[13,14],inclusive:!1},INITIAL:{rules:[0,1,2,3,4,9,10,11,12,14,15,16,19,21,23,26,44,47,58,59,60,61,62,63,64,66,67],inclusive:!0}}};function L(){this.yy={}}return D.lexer=B,L.prototype=D,D.Parser=L,new L}();e.parser=r,e.Parser=r.Parser,e.parse=function(){return r.parse.apply(r,arguments)},e.main=function(t){t[1]||(console.log("Usage: "+t[0]+" FILE"),process.exit(1));var r=n(3069).readFileSync(n(6470).normalize(t[1]),"utf8");return e.parser.parse(r)},n.c[n.s]===t&&e.main(process.argv.slice(1))},9763:(t,e,n)=>{t=n.nmd(t);var r=function(){var t=function(t,e,n,r){for(n=n||{},r=t.length;r--;n[t[r]]=e);return n},e=[1,2],n=[1,5],r=[6,9,11,17,18,20,22,23,24,26],i=[1,15],a=[1,16],o=[1,17],s=[1,18],c=[1,19],u=[1,20],l=[1,24],h=[4,6,9,11,17,18,20,22,23,24,26],f={trace:function(){},yy:{},symbols_:{error:2,start:3,journey:4,document:5,EOF:6,directive:7,line:8,SPACE:9,statement:10,NEWLINE:11,openDirective:12,typeDirective:13,closeDirective:14,":":15,argDirective:16,title:17,acc_title:18,acc_title_value:19,acc_descr:20,acc_descr_value:21,acc_descr_multiline_value:22,section:23,taskName:24,taskData:25,open_directive:26,type_directive:27,arg_directive:28,close_directive:29,$accept:0,$end:1},terminals_:{2:"error",4:"journey",6:"EOF",9:"SPACE",11:"NEWLINE",15:":",17:"title",18:"acc_title",19:"acc_title_value",20:"acc_descr",21:"acc_descr_value",22:"acc_descr_multiline_value",23:"section",24:"taskName",25:"taskData",26:"open_directive",27:"type_directive",28:"arg_directive",29:"close_directive"},productions_:[0,[3,3],[3,2],[5,0],[5,2],[8,2],[8,1],[8,1],[8,1],[7,4],[7,6],[10,1],[10,2],[10,2],[10,1],[10,1],[10,2],[10,1],[12,1],[13,1],[16,1],[14,1]],performAction:function(t,e,n,r,i,a,o){var s=a.length-1;switch(i){case 1:return a[s-1];case 3:case 7:case 8:this.$=[];break;case 4:a[s-1].push(a[s]),this.$=a[s-1];break;case 5:case 6:this.$=a[s];break;case 11:r.setTitle(a[s].substr(6)),this.$=a[s].substr(6);break;case 12:this.$=a[s].trim(),r.setTitle(this.$);break;case 13:case 14:this.$=a[s].trim(),r.setAccDescription(this.$);break;case 15:r.addSection(a[s].substr(8)),this.$=a[s].substr(8);break;case 16:r.addTask(a[s-1],a[s]),this.$="task";break;case 18:r.parseDirective("%%{","open_directive");break;case 19:r.parseDirective(a[s],"type_directive");break;case 20:a[s]=a[s].trim().replace(/'/g,'"'),r.parseDirective(a[s],"arg_directive");break;case 21:r.parseDirective("}%%","close_directive","journey")}},table:[{3:1,4:e,7:3,12:4,26:n},{1:[3]},t(r,[2,3],{5:6}),{3:7,4:e,7:3,12:4,26:n},{13:8,27:[1,9]},{27:[2,18]},{6:[1,10],7:21,8:11,9:[1,12],10:13,11:[1,14],12:4,17:i,18:a,20:o,22:s,23:c,24:u,26:n},{1:[2,2]},{14:22,15:[1,23],29:l},t([15,29],[2,19]),t(r,[2,8],{1:[2,1]}),t(r,[2,4]),{7:21,10:25,12:4,17:i,18:a,20:o,22:s,23:c,24:u,26:n},t(r,[2,6]),t(r,[2,7]),t(r,[2,11]),{19:[1,26]},{21:[1,27]},t(r,[2,14]),t(r,[2,15]),{25:[1,28]},t(r,[2,17]),{11:[1,29]},{16:30,28:[1,31]},{11:[2,21]},t(r,[2,5]),t(r,[2,12]),t(r,[2,13]),t(r,[2,16]),t(h,[2,9]),{14:32,29:l},{29:[2,20]},{11:[1,33]},t(h,[2,10])],defaultActions:{5:[2,18],7:[2,2],24:[2,21],31:[2,20]},parseError:function(t,e){if(!e.recoverable){var n=new Error(t);throw n.hash=e,n}this.trace(t)},parse:function(t){var e=this,n=[0],r=[],i=[null],a=[],o=this.table,s="",c=0,u=0,l=0,h=2,f=1,d=a.slice.call(arguments,1),p=Object.create(this.lexer),g={yy:{}};for(var y in this.yy)Object.prototype.hasOwnProperty.call(this.yy,y)&&(g.yy[y]=this.yy[y]);p.setInput(t,g.yy),g.yy.lexer=p,g.yy.parser=this,void 0===p.yylloc&&(p.yylloc={});var m=p.yylloc;a.push(m);var v=p.options&&p.options.ranges;function b(){var t;return"number"!=typeof(t=r.pop()||p.lex()||f)&&(t instanceof Array&&(t=(r=t).pop()),t=e.symbols_[t]||t),t}"function"==typeof g.yy.parseError?this.parseError=g.yy.parseError:this.parseError=Object.getPrototypeOf(this).parseError;for(var _,x,w,k,T,C,E,S,A,M={};;){if(w=n[n.length-1],this.defaultActions[w]?k=this.defaultActions[w]:(null==_&&(_=b()),k=o[w]&&o[w][_]),void 0===k||!k.length||!k[0]){var N="";for(C in A=[],o[w])this.terminals_[C]&&C>h&&A.push("'"+this.terminals_[C]+"'");N=p.showPosition?"Parse error on line "+(c+1)+":\n"+p.showPosition()+"\nExpecting "+A.join(", ")+", got '"+(this.terminals_[_]||_)+"'":"Parse error on line "+(c+1)+": Unexpected "+(_==f?"end of input":"'"+(this.terminals_[_]||_)+"'"),this.parseError(N,{text:p.match,token:this.terminals_[_]||_,line:p.yylineno,loc:m,expected:A})}if(k[0]instanceof Array&&k.length>1)throw new Error("Parse Error: multiple actions possible at state: "+w+", token: "+_);switch(k[0]){case 1:n.push(_),i.push(p.yytext),a.push(p.yylloc),n.push(k[1]),_=null,x?(_=x,x=null):(u=p.yyleng,s=p.yytext,c=p.yylineno,m=p.yylloc,l>0&&l--);break;case 2:if(E=this.productions_[k[1]][1],M.$=i[i.length-E],M._$={first_line:a[a.length-(E||1)].first_line,last_line:a[a.length-1].last_line,first_column:a[a.length-(E||1)].first_column,last_column:a[a.length-1].last_column},v&&(M._$.range=[a[a.length-(E||1)].range[0],a[a.length-1].range[1]]),void 0!==(T=this.performAction.apply(M,[s,u,c,g.yy,k[1],i,a].concat(d))))return T;E&&(n=n.slice(0,-1*E*2),i=i.slice(0,-1*E),a=a.slice(0,-1*E)),n.push(this.productions_[k[1]][0]),i.push(M.$),a.push(M._$),S=o[n[n.length-2]][n[n.length-1]],n.push(S);break;case 3:return!0}}return!0}},d={EOF:1,parseError:function(t,e){if(!this.yy.parser)throw new Error(t);this.yy.parser.parseError(t,e)},setInput:function(t,e){return this.yy=e||this.yy||{},this._input=t,this._more=this._backtrack=this.done=!1,this.yylineno=this.yyleng=0,this.yytext=this.matched=this.match="",this.conditionStack=["INITIAL"],this.yylloc={first_line:1,first_column:0,last_line:1,last_column:0},this.options.ranges&&(this.yylloc.range=[0,0]),this.offset=0,this},input:function(){var t=this._input[0];return this.yytext+=t,this.yyleng++,this.offset++,this.match+=t,this.matched+=t,t.match(/(?:\r\n?|\n).*/g)?(this.yylineno++,this.yylloc.last_line++):this.yylloc.last_column++,this.options.ranges&&this.yylloc.range[1]++,this._input=this._input.slice(1),t},unput:function(t){var e=t.length,n=t.split(/(?:\r\n?|\n)/g);this._input=t+this._input,this.yytext=this.yytext.substr(0,this.yytext.length-e),this.offset-=e;var r=this.match.split(/(?:\r\n?|\n)/g);this.match=this.match.substr(0,this.match.length-1),this.matched=this.matched.substr(0,this.matched.length-1),n.length-1&&(this.yylineno-=n.length-1);var i=this.yylloc.range;return this.yylloc={first_line:this.yylloc.first_line,last_line:this.yylineno+1,first_column:this.yylloc.first_column,last_column:n?(n.length===r.length?this.yylloc.first_column:0)+r[r.length-n.length].length-n[0].length:this.yylloc.first_column-e},this.options.ranges&&(this.yylloc.range=[i[0],i[0]+this.yyleng-e]),this.yyleng=this.yytext.length,this},more:function(){return this._more=!0,this},reject:function(){return this.options.backtrack_lexer?(this._backtrack=!0,this):this.parseError("Lexical error on line "+(this.yylineno+1)+". 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n=-Math.sqrt(e/(3*Xx));t.moveTo(0,2*n),t.lineTo(-Xx*n,-n),t.lineTo(Xx*n,-n),t.closePath()}};var Qx=-.5,Kx=Math.sqrt(3)/2,Jx=1/Math.sqrt(12),tw=3*(Jx/2+1);const ew={draw:function(t,e){var n=Math.sqrt(e/tw),r=n/2,i=n*Jx,a=r,o=n*Jx+n,s=-a,c=o;t.moveTo(r,i),t.lineTo(a,o),t.lineTo(s,c),t.lineTo(Qx*r-Kx*i,Kx*r+Qx*i),t.lineTo(Qx*a-Kx*o,Kx*a+Qx*o),t.lineTo(Qx*s-Kx*c,Kx*s+Qx*c),t.lineTo(Qx*r+Kx*i,Qx*i-Kx*r),t.lineTo(Qx*a+Kx*o,Qx*o-Kx*a),t.lineTo(Qx*s+Kx*c,Qx*c-Kx*s),t.closePath()}};var nw=[Yx,jx,$x,Gx,Vx,Zx,ew];function rw(){var t=H_(Yx),e=H_(64),n=null;function r(){var r;if(n||(n=r=Wi()),t.apply(this,arguments).draw(n,+e.apply(this,arguments)),r)return n=null,r+""||null}return r.type=function(e){return arguments.length?(t="function"==typeof e?e:H_(e),r):t},r.size=function(t){return arguments.length?(e="function"==typeof t?t:H_(+t),r):e},r.context=function(t){return arguments.length?(n=null==t?null:t,r):n},r}function iw(){}function 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