change Vector3 to tensor moudle

components/algo/ahrs/include/maix_ahrs_mahony.hpp

@@ -273,17 +273,17 @@ namespace maix::ahrs
         /**
           * Get angle by mahony complementary filter, will automatically call update method,
           * and automatically call init in first time.
-          * @param acc accelerometer data, unit is g or raw data. maix.Vector3f type.
-          * @param gyro gyroscope data, unit can be rad/s or degree/s, if rad/s, arg radian should be true. maix.Vector3f type.
-          * @param mag magnetometer data, optional, if no magnetometer, set all value to 0. maix.Vector3f type.
+          * @param acc accelerometer data, unit is g or raw data. maix.vector.Vector3f type.
+          * @param gyro gyroscope data, unit can be rad/s or degree/s, if rad/s, arg radian should be true. maix.vector.Vector3f type.
+          * @param mag magnetometer data, optional, if no magnetometer, set all value to 0. maix.vector.Vector3f type.
           * @param dt delta T of two time call get_anle, unit is second, float type.
           * @param radian if gyro's unit is rad/s, set this arg to true, degree/s set to false.
-          * @return rotation angle data, maix.Vector3f type.
+          * @return rotation angle data, maix.vector.Vector3f type.
           * @maixpy maix.ahrs.MahonyAHRS.get_angle
           */
-        Vector3f get_angle(Vector3f acc, Vector3f gyro,Vector3f mag, float dt, bool radian = false)
+        tensor::Vector3f get_angle(tensor::Vector3f acc, tensor::Vector3f gyro, tensor::Vector3f mag, float dt, bool radian = false)
         {
-            Vector3f angle;
+            tensor::Vector3f angle;
 
             update(acc.x, acc.y, acc.z, gyro.x, gyro.y, gyro.z, mag.x, mag.y, mag.z, dt);
 

components/basic/include/maix_type_vector3.hpp

@@ -2,7 +2,7 @@
 
 #include "math.h"
 
-namespace maix
+namespace maix::tensor
 {
     template <typename T>
     class Vector3
@@ -63,21 +63,21 @@ namespace maix
 
     /**
     * Vector3 float type.
-    * @maixpy maix.Vector3f
+    * @maixpy maix.tensor.Vector3f
     */
     class Vector3f : public Vector3<float> // we use class for we want to generate maixpy API, and the tool not suppoort using yet.
     {
     public:
         /**
           * default constructor
-          * @maixcdk maix.Vector3f.Vector3f
+          * @maixcdk maix.tensor.Vector3f.Vector3f
          */
         Vector3f() : Vector3<float>() {}
 
         /**
           * Construct Vector3f with 3 variables.
-          * @maixpy maix.Vector3f.__init__
-          * @maixcdk maix.Vector3f.Vector3f
+          * @maixpy maix.tensor.Vector3f.__init__
+          * @maixcdk maix.tensor.Vector3f.Vector3f
          */
         Vector3f(float x0, float y0, float z0)
         : Vector3<float>(x0, y0, z0)
@@ -85,40 +85,40 @@ namespace maix
 
         /**
           * member x.
-          * @maixpy maix.Vector3f.x
+          * @maixpy maix.tensor.Vector3f.x
          */
         // float x;
 
         /**
           * member y.
-          * @maixpy maix.Vector3f.y
+          * @maixpy maix.tensor.Vector3f.y
          */
         // float y;
 
         /**
           * member z.
-          * @maixpy maix.Vector3f.z
+          * @maixpy maix.tensor.Vector3f.z
          */
         // float z;
     };
 
     /**
       * Vector3 int32_t type.
-      * @maixpy maix.Vector3i32
+      * @maixpy maix.tensor.Vector3i32
      */
     class Vector3i32 : public Vector3<int32_t> // we use class for we want to generate maixpy API, and the tool not suppoort using yet.
     {
     public:
         /**
           * default constructor
-          * @maixcdk maix.Vector3i32.Vector3i32
+          * @maixcdk maix.tensor.Vector3i32.Vector3i32
          */
          Vector3i32() : Vector3<int32_t>() {}
 
         /**
           * Construct Vector3i32 with 3 variables.
-          * @maixpy maix.Vector3i32.__init__
-          * @maixcdk maix.Vector3i32.Vector3i32
+          * @maixpy maix.tensor.Vector3i32.__init__
+          * @maixcdk maix.tensor.Vector3i32.Vector3i32
          */
          Vector3i32(int32_t x0, int32_t y0, int32_t z0)
         : Vector3<int32_t>(x0, y0, z0)
@@ -126,40 +126,40 @@ namespace maix
 
         /**
           * member x.
-          * @maixpy maix.Vector3i32.x
+          * @maixpy maix.tensor.Vector3i32.x
          */
         // int32_t x;
 
         /**
           * member y.
-          * @maixpy maix.Vector3i32.y
+          * @maixpy maix.tensor.Vector3i32.y
          */
         // int32_t y;
 
         /**
           * member z.
-          * @maixpy maix.Vector3i32.z
+          * @maixpy maix.tensor.Vector3i32.z
          */
         // int32_t z;
     };
 
     /**
       * Vector3 uint32_t type.
-      * @maixpy maix.Vector3u32
+      * @maixpy maix.tensor.Vector3u32
      */
      class Vector3u32 : public Vector3<uint32_t> // we use class for we want to generate maixpy API, and the tool not suppoort using yet.
      {
      public:
          /**
            * default constructor
-           * @maixcdk maix.Vector3u32.Vector3u32
+           * @maixcdk maix.tensor.Vector3u32.Vector3u32
           */
           Vector3u32() : Vector3<uint32_t>() {}
 
          /**
            * Construct Vector3u32 with 3 variables.
-           * @maixpy maix.Vector3u32.__init__
-           * @maixcdk maix.Vector3u32.Vector3u32
+           * @maixpy maix.tensor.Vector3u32.__init__
+           * @maixcdk maix.tensor.Vector3u32.Vector3u32
           */
           Vector3u32(uint32_t x0, uint32_t y0, uint32_t z0)
          : Vector3<uint32_t>(x0, y0, z0)
@@ -167,40 +167,40 @@ namespace maix
 
         /**
           * member x.
-          * @maixpy maix.Vector3u32.x
+          * @maixpy maix.tensor.Vector3u32.x
          */
         // uint32_t x;
 
         /**
           * member y.
-          * @maixpy maix.Vector3u32.y
+          * @maixpy maix.tensor.Vector3u32.y
          */
         // uint32_t y;
 
         /**
           * member z.
-          * @maixpy maix.Vector3u32.z
+          * @maixpy maix.tensor.Vector3u32.z
          */
         // uint32_t z;
      };
 
     /**
       * Vector3 int16 type.
-      * @maixpy maix.Vector3i16
+      * @maixpy maix.tensor.Vector3i16
      */
      class Vector3i16 : public Vector3<int16_t> // we use class for we want to generate maixpy API, and the tool not suppoort using yet.
      {
      public:
          /**
            * default constructor
-           * @maixcdk maix.Vector3i16.Vector3i16
+           * @maixcdk maix.tensor.Vector3i16.Vector3i16
           */
           Vector3i16() : Vector3<int16_t>() {}
 
          /**
            * Construct Vector3i16 with 3 variables.
-           * @maixpy maix.Vector3i16.__init__
-           * @maixcdk maix.Vector3i16.Vector3i16
+           * @maixpy maix.tensor.Vector3i16.__init__
+           * @maixcdk maix.tensor.Vector3i16.Vector3i16
           */
           Vector3i16(int16_t x0, int16_t y0, int16_t z0)
          : Vector3<int16_t>(x0, y0, z0)
@@ -208,40 +208,40 @@ namespace maix
 
         /**
           * member x.
-          * @maixpy maix.Vector3i16.x
+          * @maixpy maix.tensor.Vector3i16.x
          */
         // int16_t x;
 
         /**
           * member y.
-          * @maixpy maix.Vector3i16.y
+          * @maixpy maix.tensor.Vector3i16.y
          */
         // int16_t y;
 
         /**
           * member z.
-          * @maixpy maix.Vector3i16.z
+          * @maixpy maix.tensor.Vector3i16.z
          */
         // int16_t z;
      };
 
     /**
       * Vector3 uint16 type.
-      * @maixpy maix.Vector3u16
+      * @maixpy maix.tensor.Vector3u16
      */
      class Vector3u16 : public Vector3<uint16_t> // we use class for we want to generate maixpy API, and the tool not suppoort using yet.
      {
      public:
          /**
            * default constructor
-           * @maixcdk maix.Vector3u16.Vector3u16
+           * @maixcdk maix.tensor.Vector3u16.Vector3u16
           */
           Vector3u16() : Vector3<uint16_t>() {}
 
          /**
            * Construct Vector3u16 with 3 variables.
-           * @maixpy maix.Vector3u16.__init__
-           * @maixcdk maix.Vector3u16.Vector3u16
+           * @maixpy maix.tensor.Vector3u16.__init__
+           * @maixcdk maix.tensor.Vector3u16.Vector3u16
           */
           Vector3u16(uint16_t x0, uint16_t y0, uint16_t z0)
          : Vector3<uint16_t>(x0, y0, z0)
@@ -249,19 +249,19 @@ namespace maix
 
         /**
           * member x.
-          * @maixpy maix.Vector3u16.x
+          * @maixpy maix.tensor.Vector3u16.x
          */
         // uint16_t x;
 
         /**
           * member y.
-          * @maixpy maix.Vector3u16.y
+          * @maixpy maix.tensor.Vector3u16.y
          */
         // uint16_t y;
 
         /**
           * member z.
-          * @maixpy maix.Vector3u16.z
+          * @maixpy maix.tensor.Vector3u16.z
          */
         // uint16_t z;
      };

components/ext_devs/ext_dev/include/maix_imu.hpp

@@ -96,19 +96,19 @@ public:
       * accelerometer data
       * @maixpy maix.ext_dev.imu.IMUData.acc
      */
-    maix::Vector3f acc;
+    maix::tensor::Vector3f acc;
 
     /**
       * gyroscope data
       * @maixpy maix.ext_dev.imu.IMUData.gyro
      */
-    maix::Vector3f gyro;
+    maix::tensor::Vector3f gyro;
 
     /**
       * magnetometer data
       * @maixpy maix.ext_dev.imu.IMUData.mag
      */
-    maix::Vector3f mag;
+    maix::tensor::Vector3f mag;
 
     /**
       * temperature data
@@ -233,7 +233,7 @@ public:
       *                Empty string means not save. By default value is "default", means save calibration as id "default".
       * @maixpy maix.ext_dev.imu.IMU.calib_gyro
      */
-    Vector3f calib_gyro(uint64_t time_ms, int interval_ms = -1, const std::string &save_id = "default");
+    tensor::Vector3f calib_gyro(uint64_t time_ms, int interval_ms = -1, const std::string &save_id = "default");
 
     /**
       * Load Gyro calibration from file, if not found all value will be 0.
@@ -248,7 +248,7 @@ public:
       * @param save_id saved id from valib_gyro, default is "default".
       * @maixpy maix.ext_dev.imu.IMU.load_calib_gyro
      */
-    Vector3f load_calib_gyro(const std::string &save_id = "default");
+     tensor::Vector3f load_calib_gyro(const std::string &save_id = "default");
 
     /**
       * Save Gyro calibration to file.
@@ -256,7 +256,7 @@ public:
       * @param save_id saved id from valib_gyro, default is "default".
       * @maixpy maix.ext_dev.imu.IMU.save_calib_gyro
      */
-     err::Err save_calib_gyro(const Vector3f &calib, const std::string &save_id = "default");
+     err::Err save_calib_gyro(const tensor::Vector3f &calib, const std::string &save_id = "default");
 
     /**
      * @brief !!!Depracated!!!
@@ -278,7 +278,7 @@ public:
     std::vector<double> get_calibration();
 
 public:
-    Vector3f calib_gyro_data;
+    tensor::Vector3f calib_gyro_data;
 
 private:
     void* _param;

components/ext_devs/ext_dev/src/maix_imu.cpp

@@ -89,7 +89,6 @@ std::vector<ext_dev::imu::IMUInfo> get_imu_info()
 IMU::IMU(std::string driver, int i2c_bus, int addr, int freq, imu::Mode mode, imu::AccScale acc_scale,
                 imu::AccOdr acc_odr, imu::GyroScale gyro_scale, imu::GyroOdr gyro_odr, bool block)
 {
-    err::check_bool_raise(driver == "qmi8658", "Only support qmi8658 now");
     imu_param_t *param = (imu_param_t *)malloc(sizeof(imu_param_t));
     err::check_null_raise(param, "Failed to malloc param");
 
@@ -198,7 +197,7 @@ ext_dev::imu::IMUData IMU::read_all(bool calib_gryo, bool radian)
     return res;
 }
 
-Vector3f IMU::calib_gyro(uint64_t time_ms, int interval_ms, const std::string &save_id)
+tensor::Vector3f IMU::calib_gyro(uint64_t time_ms, int interval_ms, const std::string &save_id)
 {
     uint64_t start_ms = time::ticks_ms();
     uint64_t last_ms = 0;
@@ -277,10 +276,10 @@ bool IMU::calib_gyro_exists(const std::string &save_id)
     return false;
 }
 
-Vector3f IMU::load_calib_gyro(const std::string &save_id)
+tensor::Vector3f IMU::load_calib_gyro(const std::string &save_id)
 {
     // load CALIBRATION_DATA_PATH2 with json
-    Vector3f calib;
+    tensor::Vector3f calib;
     calib.x = 0;
     calib.y = 0;
     calib.z = 0;
@@ -313,7 +312,7 @@ Vector3f IMU::load_calib_gyro(const std::string &save_id)
     return calib;
 }
 
-err::Err IMU::save_calib_gyro(const Vector3f &calib, const std::string &save_id)
+err::Err IMU::save_calib_gyro(const tensor::Vector3f &calib, const std::string &save_id)
 {
     json data;
 

examples/ext_dev_imu_ahrs/main/src/main.cpp

@@ -75,7 +75,7 @@ std::vector<cv::Point2f> render_pose(float pitch, float roll, float yaw, bool ra
     return projections;
 }
 
-void draw_image(image::Image &img, Vector3f &angle, bool dir_cam)
+void draw_image(image::Image &img, tensor::Vector3f &angle, bool dir_cam)
 {
     float len = 0.35;
     int min_edge = std::min(img.width(), img.height());