From 9cac67a8525e29104e0e27d110e7004f913e1d34 Mon Sep 17 00:00:00 2001
From: Neucrack <CZD666666@gmail.com>
Date: Wed, 13 Aug 2025 16:41:33 +0800
Subject: [PATCH] fix image.resize_map_pos bug and change image.resize's param
 object_fit to fit

---
 components/ext_devs/ext_dev/src/maix_imu.cpp  |  2 +-
 .../port/maixcam/maix_uart_port.cpp           | 20 +++++++++++++++++++
 components/vision/include/maix_camera.hpp     |  1 +
 components/vision/include/maix_image.hpp      |  4 ++--
 components/vision/src/maix_image.cpp          | 10 +++++-----
 5 files changed, 29 insertions(+), 8 deletions(-)
 create mode 100644 components/peripheral/port/maixcam/maix_uart_port.cpp

diff --git a/components/ext_devs/ext_dev/src/maix_imu.cpp b/components/ext_devs/ext_dev/src/maix_imu.cpp
index c80974db..9e172b5d 100644
--- a/components/ext_devs/ext_dev/src/maix_imu.cpp
+++ b/components/ext_devs/ext_dev/src/maix_imu.cpp
@@ -94,7 +94,7 @@ IMU::IMU(std::string driver, int i2c_bus, int addr, int freq, imu::Mode mode, im
 
     bool found = false;
 
-    if(driver == "default")
+    if(driver.empty() || driver == "default")
     {
         if(sys::device_id() == "maixcam_pro")
         {
diff --git a/components/peripheral/port/maixcam/maix_uart_port.cpp b/components/peripheral/port/maixcam/maix_uart_port.cpp
new file mode 100644
index 00000000..2ebf08bd
--- /dev/null
+++ b/components/peripheral/port/maixcam/maix_uart_port.cpp
@@ -0,0 +1,20 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+
+namespace maix::peripheral::uart
+{
+    std::vector<std::string> maix_uart_port_get_ports()
+    {
+        return std::vector<std::string>{
+            "/dev/ttyS0",
+            "/dev/ttyS1",
+            "/dev/ttyS2",
+            "/dev/ttyS3"
+        };
+    }
+}
+
+
diff --git a/components/vision/include/maix_camera.hpp b/components/vision/include/maix_camera.hpp
index 381510d1..09a954ed 100644
--- a/components/vision/include/maix_camera.hpp
+++ b/components/vision/include/maix_camera.hpp
@@ -429,6 +429,7 @@ namespace maix::camera
         /**
          * Get sensor size
          * @return Return a list of sensor sizes, the format is [w, h].
+         * @maixpy maix.camera.Camera.get_sensor_size
         */
         std::vector<int> get_sensor_size();
 
diff --git a/components/vision/include/maix_image.hpp b/components/vision/include/maix_image.hpp
index 75a46a10..a7442314 100644
--- a/components/vision/include/maix_image.hpp
+++ b/components/vision/include/maix_image.hpp
@@ -532,7 +532,7 @@ namespace maix::image
          * Resize image, will create a new resized image object
          * @param width new width, if value is -1, will use height to calculate aspect ratio
          * @param height new height, if value is -1, will use width to calculate aspect ratio
-         * @param object_fit fill, contain, cover, by default is fill
+         * @param fit fill, contain, cover, by default is fill
          * @param method resize method, by default is NEAREST
          * @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.
@@ -541,7 +541,7 @@ namespace maix::image
          *     img = img->resize(width, height);
          * @maixpy maix.image.Image.resize
          */
-        image::Image *resize(int width, int height, image::Fit object_fit = image::Fit::FIT_FILL, image::ResizeMethod method = image::ResizeMethod::NEAREST);
+        image::Image *resize(int width, int height, image::Fit fit = image::Fit::FIT_FILL, image::ResizeMethod method = image::ResizeMethod::NEAREST);
 
         /**
          * Affine transform image, will create a new transformed image object, need 3 points.
diff --git a/components/vision/src/maix_image.cpp b/components/vision/src/maix_image.cpp
index 7378706e..77b02ed3 100644
--- a/components/vision/src/maix_image.cpp
+++ b/components/vision/src/maix_image.cpp
@@ -1978,9 +1978,9 @@ __EXIT:
 
     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, int h)
     {
+        std::vector<int> result;
         float scale_x = static_cast<float>(w_out) / w_in;
         float scale_y = static_cast<float>(h_out) / h_in;
-        std::vector<int> result;
 
         if (fit == image::Fit::FIT_FILL)
         {
@@ -1998,7 +1998,7 @@ __EXIT:
         else if (fit == image::Fit::FIT_CONTAIN)
         {
             float scale = std::min(scale_x, scale_y);
-            if (w_out > h_out)
+            if (scale_x > scale_y)
             {
                 x = static_cast<int>((w_out - w_in * scale) / 2 + x * scale);
                 y = static_cast<int>(y * scale);
@@ -2017,7 +2017,7 @@ __EXIT:
         else if (fit == image::Fit::FIT_COVER)
         {
             float scale = std::max(scale_x, scale_y);
-            if (w_out > h_out)
+            if (scale_x > scale_y)
             {
                 x = static_cast<int>(x * scale);
                 y = static_cast<int>((h_out - h_in * scale) / 2 + y * scale);
@@ -2071,7 +2071,7 @@ __EXIT:
         else if (fit == image::Fit::FIT_CONTAIN)
         {
             float scale = std::min(scale_x, scale_y);
-            if (w_out > h_out)
+            if (scale_x > scale_y)
             {
                 x = static_cast<int>((x - (w_out - w_in * scale) / 2) / scale);
                 y = static_cast<int>(y / scale);
@@ -2090,7 +2090,7 @@ __EXIT:
         else if (fit == image::Fit::FIT_COVER)
         {
             float scale = std::max(scale_x, scale_y);
-            if (w_out > h_out)
+            if (scale_x > scale_y)
             {
                 x = static_cast<int>(x / scale);
                 y = static_cast<int>((y - (h_out - h_in * scale) / 2) / scale);