diff --git a/README.md b/README.md index a15019e..3a8eb96 100644 --- a/README.md +++ b/README.md @@ -18,104 +18,17 @@ the v2-main branch provides Python bindings for the [Orbbec SDK v2.x](https://gi | Gemini 2 | 1.4.60 /1.4.76 | -## Getting Started +## Supported Platforms -### Clone the Repository -Clone the repository to get the latest version: -```bash -git clone https://github.com/orbbec/pyorbbecsdk.git -git checkout v2-main -``` +- Windows: Windows 10 (x64) +- Linux: 18.04/20.04/22.04 (x64) +- Arm64: Ubuntu18.04/20.04/22.04 +- Linux ARM32: coming soon -### Install Dependencies (Ubuntu) -Install the necessary Python development packages: -```bash -sudo apt-get install python3-dev python3-venv python3-pip python3-opencv -``` -### Custom Python Path (Optional) -If you use Anaconda, update the Python path in `pyorbbecsdk/CMakeLists.txt` before the `find_package(Python3 REQUIRED COMPONENTS Interpreter Development)` line: -```cmake -set(Python3_ROOT_DIR "/home/anaconda3/envs/py3.6.8") # Replace with your Python path -set(pybind11_DIR "${Python3_ROOT_DIR}/lib/python3.6/site-packages/pybind11/share/cmake/pybind11") # Replace with your Pybind11 path -``` - -### Build the Project -Create a virtual environment and build the project: -```bash -cd pyorbbecsdk -python3 -m venv ./venv -source venv/bin/activate -pip3 install -r requirements.txt -mkdir build -cd build -cmake -Dpybind11_DIR=`pybind11-config --cmakedir` .. -make -j4 -make install -``` - -### Run the Examples -Set up the environment and run the examples: -```bash -cd pyorbbecsdk -export PYTHONPATH=$PYTHONPATH:$(pwd)/install/lib/ -sudo bash ./scripts/install_udev_rules.sh -sudo udevadm control --reload-rules && sudo udevadm trigger -python3 examples/depth_viewer.py -python3 examples/net_device.py # Requires ffmpeg installation for network devices -``` - -Additional examples are available in the `examples` directory. Refer to [examples/README.md](examples/README.md) for further details. - -### Generate Python Stubs -Generate stubs for better IntelliSense support in your IDE: -```bash -source env.sh -pip3 install pybind11-stubgen -pybind11-stubgen pyorbbecsdk -``` - -### Building on Windows -Refer to [docs/README.md](docs/README_EN.md) for instructions on building and running examples on Windows. - -## Making a Python Wheel -To generate a wheel package for easy distribution: -```bash -cd pyorbbecsdk -python3 -m venv ./venv -source venv/bin/activate -pip3 install -r requirements.txt -mkdir build -cd build -cmake -Dpybind11_DIR=`pybind11-config --cmakedir` .. -make -j4 -make install -cd .. -pip3 install wheel -python3 setup.py bdist_wheel -pip3 install dist/*.whl -``` - -## Enabling Device Timestamps via UVC Protocol on Windows -To enable device timestamps via the UVC protocol on Windows, modify the system registry as follows: - -### Steps to Modify the Registry -1. **Connect the Device**: Ensure the UVC-compatible device is connected and recognized. -2. **Open PowerShell with Administrator Privileges**: Open PowerShell as an administrator. -3. **Navigate to the Scripts Directory**: - ```powershell - cd scripts - ``` -4. **Modify the Execution Policy**: Allow script execution: - ```powershell - Set-ExecutionPolicy -ExecutionPolicy RemoteSigned -Scope CurrentUser - ``` -5. **Execute the Registration Script**: Modify the registry settings: - ```powershell - .\obsensor_metadata_win10.ps1 -op install_all - ``` ## Documentation + Refer to [docs/README.md](docs/README_EN.md) for detailed documentation. ## License diff --git a/docs/README_CN.md b/docs/README_CN.md deleted file mode 100644 index 796632c..0000000 --- a/docs/README_CN.md +++ /dev/null @@ -1,427 +0,0 @@ -# Orbbec SDK Python Wrapper 文档 - -## 目录 - - - -- [Orbbec SDK Python Wrapper 文档](#orbbec-sdk-python-wrapper文档) - - [目录](#目录) - - [概述](#概述) - - [系统要求](#系统要求) - - [操作系統](#操作系統) - - [编译平台要求](#编译平台要求) - - [Python 版本](#python-版本) - - [Python SDK 支持的硬件产品](#python-sdk支持的硬件产品) - - [Orbbec SDK Python Wrapper Sample 编译说明](#orbbec-sdk-python-wrapper-sample编译说明) - - [Windows python sdk 编译](#windows-python-sdk-编译) - - [下载 python sdk 源码](#下载-python-sdk-源码) - - [安装依赖](#安装依赖) - - [配置 Visual Studio](#配置visual-studio) - - [编译 python SDK](#编译python-sdk) - - [测试 python SDK Sample](#测试python-sdk-sample) - - [Linux python SDK 编译](#linux-python-sdk-编译) - - [下载 python sdk 源码](#下载-python-sdk-源码-1) - - [安装依赖](#安装依赖-1) - - [Python SDK 编译](#python-sdk-编译) - - [测试 Sample](#测试-sample) - - [常用调用流程](#常用调用流程) - - [视频数据获取](#视频数据获取) - - [获取设备列表](#获取设备列表) - - [获取传感器列表](#获取传感器列表) - - [获取设备信息](#获取设备信息) - - [彩色相机自动曝光](#彩色相机自动曝光) - - [获取和设置彩色相机曝光值](#获取和设置彩色相机曝光值) - - [获取和设置彩色相机增益](#获取和设置彩色相机增益) - - [彩色相机数据流镜像](#彩色相机数据流镜像) - - [开关激光](#开关激光) - - [开关 LDP](#开关ldp) - - [开关软件滤波](#开关软件滤波) - - [重启设备](#重启设备) - - [其他接口](#其他接口) - - [FAQ](#faq) - - - -## 概述 - -本文档主要介绍 Orbbec SDK Python Wrapper 的功能，Orbbec SDK Python Wrapper 基于 Orbbec -SDK 进行设计封装，主要实现数据流接收，设备指令控制。 - -## 系统要求 - -### 操作系統 - -- Windows：Windows 10 (x64) -- Linux: 18.04/20.04/22.04 (x64) -- Arm32: 18.04/20.04/22.04 -- Arm64: Ubuntu18.04/20.04/22.04 - -### 编译平台要求 - -- Windows：Visual Studio 2017 及以上 -- Linux: gcc 5.4.0 及以上 -- cmake: 3.15.0 及以上 -- pybind11 2.10.3 及以上 - -### Python 版本 - -- Python 3.6.9 及以上 - -## Orbbec SDK Python Wrapper Sample 编译说明 - -### Windows python sdk 编译 - -#### 下载 python sdk 源码 - -```bash -git clone https://github.com/orbbec/pyorbbecsdk.git -``` - -#### 安装依赖 - -```bash -pip3 install -r requirements.txt -``` - -这里假定你已经正确的安装了 python3，如果没有安装 python3，可以参考[python 官网](https://www.python.org/downloads/) -选择你的 python3 版本进行安装。 - -#### 配置 Visual Studio - -- 打开 Cmake，首先设置源码路径，“build”文件夹设置为生成二进制文件的路径，如下图所示。 - -![image2.png](images/image2.png) - -- 点击“Configure”并选择对应的 Visual Studio 版本和平台版本后，点击“Finish”，如下所示： - -![image3.png](images/image3.png) -这里假定你已经正确的安装了 cmake， 如果没有安装 cmake，可以参考[cmake 官网](https://cmake.org/download/) - -- 点击“Generate”，如下所示： - -![image4.png](images/image4.png) - -- 可以通过以下两种方式打开 python SDK 工程 - -方法一：通过 cmake，点击“Open Project”按钮，打开 Visual Studio 工程 - -![image5.png](images/image5.png) - -方法二：通过文件夹，build 中的 Visual Studio 工程直接启动，如下图所示: - -![image6.png](images/image6.png) - -- 打开 python SDK 工程，如下图所示： - ![image7.png](images/image7.png) - -#### 编译 python SDK - -- 右键点击 pyorbbecsdk 编译，如下图所示： - ![image8.png](images/image8.png) - -- 鼠标右键点击 INSTALL，如下图所示： - ![image9.png](images/image9.png) - 编译好的文件会拷贝到 install/lib 目录下，如下图所示： - ![image10.png](images/image10.png) - -#### 测试 python SDK Sample - -- 将 install/lib 目录下的文件 拷贝到 examples 目录下，如下图所示： - -![image11.png](images/image11.png) - -在 examples 目录执行`python color_viewer.py`等测试例子，如下图所示： - -![image12.png](images/image12.png) - -### Linux python SDK 编译 - -#### 下载 python sdk 源码 - -```bash -git clone https://github.com/orbbec/pyorbbecsdk.git -``` - -#### 安装依赖 - -```bash -sudo apt-get install python3-dev python3-venv python3-pip python3-opencv -``` - -#### Python SDK 编译 - -```bash -cd pyorbbecsdk -# Strongly recommended create virtual environment. -python3 -m venv ./venv -source venv/bin/activate # activate virtual environment -pip3 install -r requirements.txt -mkdir build -cd build -cmake -Dpybind11_DIR=`pybind11-config --cmakedir` .. -make -j4 -make install -``` - -#### 测试 Sample - -```bash -cd pyorbbecsdk -# set PYTHONPATH environment variable to include the lib directory in the install directory -export PYTHONPATH=$PYTHONPATH:$(pwd)/install/lib/ -# install udev rules -sudo bash ./scripts/install_udev_rules.sh -sudo udevadm control --reload-rules && sudo udevadm trigger -# run examples -python3 examples/depth_viewer.py -``` - -## 常用调用流程 - -### 视频数据获取 - -首先我们需要创建一个 Pipeline，通过 Pipeline 可以很容易的打开和关闭多种类型的流并获取一组帧数据。 - -```python -from pyorbbecsdk import * - -config = Config() -pipeline = Pipeline() -``` - -获取 Depth 相机的所有流配置，找到对应分辨率、格式、帧率的 profile - -```python -profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR) -depth_profile = profile_list.get_video_stream_profile(640, 0, OBFormat.Y16, 30) -``` - -通过创建 Config 开启视频流，这里将启用 Depth 流 - -```python -config.enable_stream(depth_profile) -pipeline.start(config) -``` - -以阻塞的方式等待一帧数据，该帧是一个复合帧，里面包含配置里启用的所有流的帧数据，并设置帧的等待超时时间为 100ms - -```python -frames = pipeline.wait_for_frames(100) -depth_frame = frames.get_depth_frame() -``` - -停止 Pipeline，将不再产生帧数据 - -```python -pipeline.stop() -``` - -### 获取设备列表 - -```python -from pyorbbecsdk import * - -self.context = Context() -device_list = self.context.query_devices() - -``` - -### 获取传感器列表 - -```python -from pyorbbecsdk import * - -# ... -device = device_list[0] -sensor_list = device.get_sensor_list() -``` - -### 获取设备信息 - -```python -from pyorbbecsdk import * - -# ... -device_info = self.device.get_device_info() -device_name = device_info.get_name() -device_pid = device_info.get_pid() -serial_number = device_info.get_serial_number() -# ... -``` - -### 彩色相机自动曝光 - -```python -from pyorbbecsdk import * - -# ... -auto_exposure = True -device.set_bool_property(OBPropertyID.OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, auto_exposure) -``` - -### 获取和设置彩色相机曝光值 - -```python -from pyorbbecsdk import * - -# ... -device.set_bool_property(OBPropertyID.OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, False) -curr_color_exposure = device.get_int_property(OBPropertyID.OB_PROP_COLOR_EXPOSURE_INT) -color_exposure = curr_color_exposure + 1 -device.set_int_property(OBPropertyID.OB_PROP_COLOR_EXPOSURE_INT, color_exposure) -# ... -``` - -### 获取和设置彩色相机增益 - -```python -from pyorbbecsdk import * - -# ... -device.set_bool_property(OBPropertyID.OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, False) -curr_color_gain = device.get_int_property(OBPropertyID.OB_PROP_COLOR_GAIN_INT) -color_gain = curr_color_gain + 1 -device.set_int_property(OBPropertyID.OB_PROP_COLOR_GAIN_INT, color_gain) -# ... -``` - -### 彩色相机数据流镜像 - -```python -from pyorbbecsdk import * - -# ... -mirror = True -device.set_bool_property(OBPropertyID.OB_PROP_COLOR_MIRROR_BOOL, mirror) -# ... -``` - -### 开关激光 - -```python -from pyorbbecsdk import * - -# ... -laser = True -device.set_bool_property(OBPropertyID.OB_PROP_LASER_BOOL, laser) -# ... -``` - -### 开关 LDP - -```python -from pyorbbecsdk import * - -# ... -ldp = True -device.set_bool_property(OBPropertyID.OB_PROP_LDP_BOOL, ldp) -# ... -``` - -### 开关软件滤波 - -```python -from pyorbbecsdk import * - -# ... -soft_filter = True -device.set_bool_property(OBPropertyID.OB_PROP_DEPTH_SOFT_FILTER_BOOL, soft_filter) -# ... -``` - -### 重启设备 - -```python -from pyorbbecsdk import * - -# ... -device.reboot() -``` - -### 其他接口 - -请参考源码包`examples`目录下的例子和`tests`目录下的测试用例 - -## FAQ - -Q: 为什么我在 Jetson nano 运行`python3 examples/depth_viewer.py`时，会出现如下错误？ - -```bash - illegal instruction (core dumped) -``` - -A: 检查你的 opencv,如果直接运行 - -```python -import cv2 -``` - -在启动 Python 之前，导出 OPENBLAS_CORETYPE=ARMV8（或任何实际的硬件）应该有希望解决这个问题。比如说： - -```bash -OPENBLAS_CORETYPE=ARMV8 python - -``` - -如果你想让这个输出永久化，你应该在终端上输入.bashrc 文件，打开它： - -```bash -nano ~/.bashrc -``` - -并在文件的末尾添加以下一行： - -```bash -export OPENBLAS_CORETYPE=ARMV8 - -``` - -关于如何解决这个问题，请参考[这里](https://stackoverflow.com/questions/65631801/illegal-instructioncore-dumped-error-on-jetson-nano) -的更多信息。 -Q: 运行`python3 examples/depth_viewer.py`时，会出现如下错误？ - -```text -- msg:failed to open usb device! error: OB_USB_STATUS_ACCESS - - type:St13runtime_error -[2023-07-04 17:09:19.891859][warning][117523][EnumeratorLibusb.cpp:342] failed to create usb device at index: 1, url:2-1.4.1-6 -[2023-07-04 17:09:20.391989][error][117523][DeviceLibusb.cpp:109] failed to open usb device! error: OB_USB_STATUS_ACCESS -[2023-07-04 17:09:20.392032][warning][117523][EnumeratorLibusb.cpp:342] Execute failure! A std::exception has occurred! - - where:342#createUsbDevice - - msg:failed to open usb device! error: OB_USB_STATUS_ACCESS - - type:St13runtime_error -[2023-07-04 17:09:20.392057][warning][117523][EnumeratorLibusb.cpp:342] failed to create usb device at index: 1, url:2-1.4.1-6 -[2023-07-04 17:09:20.392072][warning][117523][ObException.hpp:40] usbEnumerator createUsbDevice failed! -Traceback (most recent call last): - File "depth_viewer.py", line 73, in - main() - File "depth_viewer.py", line 34, in main - device: Device = device_list.get_device_by_index(0) -pyorbbecsdk.OBError: usbEnumerator createUsbDevice failed! -[2023-07-04 17:09:20.403747][info][117523][Context.cpp:81] Context destroyed -``` - -A: 当前设备没有权限访问，需要添加 udev 规则，以便让当前用户有权限访问。 - -```bash -lsusb | grep 2bc5 -``` - -你的设备 pid 应该是`your_pid_here` - -```text -Bus 002 Device 007: ID 2bc5:your_pid_here -``` - -编辑`/etc/udev/rules.d/99-obsensor-libusb.rules`文件，添加如下内容 - -```bash -SUBSYSTEM=="usb", ATTR{idProduct}=="your_pid_here", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root" GROUP:="video", SYMLINK+="you_device_name_here" -``` - -`you_device_name_here`是你的设备名称，比如`Astra`,`dabai`等。 - -重启 udev 服务 - -```bash -sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger -``` diff --git a/docs/README_EN.md b/docs/README_EN.md deleted file mode 100644 index 2768e29..0000000 --- a/docs/README_EN.md +++ /dev/null @@ -1,438 +0,0 @@ -# Orbbec SDK Python Wrapper Documentation - -## Contents - - - -- [Orbbec SDK Python Wrapper Documentation](#orbbec-sdk-python-wrapper-documentation) - - [Contents](#contents) - - [Overview](#overview) - - [System Requirements](#system-requirements) - - [OS Requirements](#os-requirements) - - [Compilation Platform Requirements](#compilation-platform-requirements) - - [Python Version](#python-version) - - [Hardware Products Supported by Python SDK](#hardware-products-supported-by-python-sdk) - - [Orbbec SDK Python Wrapper Sample Compilation Instructions](#orbbec-sdk-python-wrapper-sample-compilation-instructions) - - [Windows Python SDK Compilation](#windows-python-sdk-compilation) - - [Download the Python SDK source code](#download-the-python-sdk-source-code) - - [Install dependencies](#install-dependencies) - - [Configure Visual Studio project](#configure-visual-studio-project) - - [Compile the Python SDK](#compile-the-python-sdk) - - [Test examples](#test-examples) - - [Linux Python SDK Compilation](#linux-python-sdk-compilation) - - [Download Python SDK source code](#download-python-sdk-source-code) - - [Install dependencies](#install-dependencies-1) - - [Build](#build) - - [Test examples](#test-examples-1) - - [Orbbec SDK Python Wrapper Function Introduction](#orbbec-sdk-python-wrapper-function-introduction) - - [Video stream acquisition](#video-stream-acquisition) - - [Introduction to common interface APIs](#introduction-to-common-interface-apis) - - [Getting a list of devices](#getting-a-list-of-devices) - - [Getting a list of sensors](#getting-a-list-of-sensors) - - [Getting device information](#getting-device-information) - - [Set color auto-exposure](#set-color--auto-exposure) - - [Getting and setting colour camera exposure values](#getting-and-setting-colour-camera-exposure-values) - - [Getting and setting the colour camera gain](#getting-and-setting-the-colour-camera-gain) - - [Mirroring the colour camera data stream](#mirroring-the-colour-camera-data-stream) - - [Switching laser](#switching-laser) - - [Switching LDP](#switching-ldp) - - [Switch software filtering](#switch-software-filtering) - - [Reboot device](#reboot-device) - - [Other interfaces](#other-interfaces) - - [FAQ](#faq) - - - -## Overview - -This document mainly introduces the functions of Orbbec SDK Python Wrapper, which is designed and encapsulated based on -Orbbec SDK, mainly achieving data stream reception and device command control. - -## System Requirements - -### OS Requirements - -- Windows: Windows 10 (x64) -- Linux: 18.04/20.04/22.04 (x64) -- Arm32: 18.04/20.04/22.04 -- Arm64: Ubuntu18.04/20.04/22.04 - -### Compilation Platform Requirements - -- Windows: Visual Studio 2017 and above -- Linux: gcc 5.4.0 and above -- cmake: 3.15.0 and above -- pybind11 2.10.3 and above - -### Python Version - -- Python 3.6.9 and above - -## Orbbec SDK Python Wrapper Sample Compilation Instructions - -### Windows Python SDK Compilation - -#### Download the Python SDK source code - -```bash -git clone https://github.com/orbbec/pyorbbecsdk.git -``` - -#### Install dependencies - -```bash -pip3 install -r requirements.txt -``` - -Here, it is assumed that you have installed Python 3 correctly. If you have not installed Python 3, you can refer to -the [Python official website](https://www.python.org/downloads/) and choose your Python 3 version for installation. - -#### Configure Visual Studio project - -- Open Cmake, set the source code path, and set the "build" folder as the path for generating binary files, as shown in - the following figure. - -![image2.png](images/image2.png) - -- Click "Configure" and select the corresponding Visual Studio version and platform version. Then click "Finish", as - shown below: - -![image3.png](images/image3.png) - -Here, it is assumed that you have installed Cmake correctly. If you have not installed Cmake, you can refer to -the [Cmake official website](https://cmake.org/download/) for installation. - -- Click "Generate", as shown below: - -![image4.png](images/image4.png) - -#### Compile the Python SDK - -- You can open the Python SDK project in two ways: - -Method 1: Use Cmake, click the "Open Project" button, and open the Visual Studio project. - -![image5.png](images/image5.png) - -Method 2: Use the file explorer to directly start the Visual Studio project in the build directory, as shown in the -following figure: - -![image6.png](images/image6.png) - -- Open the Python SDK project, as shown below: - ![image7.png](images/image7.png) - -- Right-click "pyorbbecsdk" to compile, as shown below: - ![image8.png](images/image8.png) - -- Right-click "INSTALL", as shown below: - ![image9.png](images/image9.png) - The compiled files will be copied to the install/lib directory, as shown below: - ![image10.png](images/image10.png) - -- Copy the files in the install/lib directory to the examples directory, as shown below: - -![image11.png](images/image11.png) - -#### Test examples - -In the examples directory, execute test examples such as `python ColorViewer.py`, as shown below: - -![image12.png](images/image12.png) - -## Linux Python SDK Compilation - -### Download Python SDK source code - -```bash -git clone https://github.com/orbbec/pyorbbecsdk.git -``` - -### Install dependencies - -```bash -sudo apt-get install python3-dev python3-venv python3-pip python3-opencv -``` - -### Build - -```bash -cd pyorbbecsdk -# Strongly recommended create virtual environment. -python3 -m venv ./venv -source venv/bin/activate # activate virtual environment -pip3 install -r requirements.txt -mkdir build -cd build -cmake -Dpybind11_DIR=`pybind11-config --cmakedir` .. -make -j4 -make install -``` - -### Test examples - -```bash -cd pyorbbecsdk -# set PYTHONPATH environment variable to include the lib directory in the install directory -export PYTHONPATH=$PYTHONPATH:$(pwd)/install/lib/ -# install udev rules -sudo bash ./scripts/install_udev_rules.sh -sudo udevadm control --reload-rules && sudo udevadm trigger -# run examples -python3 examples/depth_viewer.py -``` - -## Orbbec SDK Python Wrapper Function Introduction - -### Video stream acquisition - -First we need to create a Pipeline, which makes it easy to open and close multiple types of streams and fetch a set of -frames. - -```python -from pyorbbecsdk import * - -config = Config() -pipeline = Pipeline() -``` - -Get all the stream configurations for the Depth camera, find the profile corresponding to the resolution, format and -frame rate - -```python -profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR) -depth_profile = profile_list.get_video_stream_profile(640, 0, OBFormat.Y16, 30) -``` - -Turn on video streaming by creating a Config, here the Depth stream will be enabled - -```python -config.enable_stream(depth_profile) -pipeline.start(config) -``` - -Wait for a frame of data in a blocking fashion, which is a composite frame containing the frame data of all the streams -enabled in the configuration, and set the frame wait timeout to 100ms - -```python -frames = pipeline.wait_for_frames(100) -depth_frame = frames.get_depth_frame() -``` - -Stopping Pipeline will no longer produce frame data - -```python -pipeline.stop() -``` - -### Introduction to common interface APIs - -#### Getting a list of devices - -```python -from pyorbbecsdk import * - -self.context = Context() -device_list = self.context.query_devices() - -``` - -#### Getting a list of sensors - -```python -from pyorbbecsdk import * - -# ... -device = device_list[0] -sensor_list = device.get_sensor_list() -``` - -#### Getting device information - -```python -from pyorbbecsdk import * - -# ... -device_info = device.get_device_info() -device_name = device_info.get_name() -device_pid = device_info.get_pid() -serial_number = device_info.get_serial_number() -# ... -``` - -#### Set color auto-exposure - -```python -from pyorbbecsdk import * - -# ... -auto_exposure = True -device.set_bool_property(OBPropertyID.OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, auto_exposure) -``` - -#### Getting and setting colour camera exposure values - -```python -from pyorbbecsdk import * - -# ... -device.set_bool_property(OBPropertyID.OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, False) -curr_color_exposure = device.get_int_property(OBPropertyID.OB_PROP_COLOR_EXPOSURE_INT) -color_exposure = curr_color_exposure + 1 -device.set_int_property(OBPropertyID.OB_PROP_COLOR_EXPOSURE_INT, color_exposure) -# ... -``` - -#### Getting and setting the colour camera gain - -```python -from pyorbbecsdk import * - -# ... -device.set_bool_property(OBPropertyID.OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, False) -curr_color_gain = device.get_int_property(OBPropertyID.OB_PROP_COLOR_GAIN_INT) -color_gain = curr_color_gain + 1 -device.set_int_property(OBPropertyID.OB_PROP_COLOR_GAIN_INT, color_gain) -# ... -``` - -#### Mirroring the colour camera data stream - -```python -from pyorbbecsdk import * - -# ... -mirror = True -device.set_bool_property(OBPropertyID.OB_PROP_COLOR_MIRROR_BOOL, mirror) -# ... -``` - -#### Switching laser - -```python -from pyorbbecsdk import * - -# ... -laser = True -device.set_bool_property(OBPropertyID.OB_PROP_LASER_BOOL, laser) -# ... -``` - -#### Switching LDP - -```python -from pyorbbecsdk import * - -# ... -ldp = True -device.set_bool_property(OBPropertyID.OB_PROP_LDP_BOOL, ldp) -# ... -``` - -#### Switch software filtering - -```python -from pyorbbecsdk import * - -# ... -soft_filter = True -device.set_bool_property(OBPropertyID.OB_PROP_DEPTH_SOFT_FILTER_BOOL, soft_filter) -# ... -``` - -### Reboot device - -```python -from pyorbbecsdk import * - -# ... -device.reboot() -``` - -#### Other interfaces - -Please refer to the examples in the `examples` directory of the source package and the test cases in the `tests` -directory - -## FAQ - -Q: Why do I get the following error when running `python3 examples/depth_viewer.py` on Jetson Nano? - -```bash -illegal instruction (core dumped) -``` - -A: Check your OpenCV installation. If you encounter the same error when running - -```python -import cv2 -``` - -export OPENBLAS_CORETYPE=ARMV8 (or whatever the actual hardware is) before launching python should hopefully get around -this. For example: - -```bash -OPENBLAS_CORETYPE=ARMV8 python -``` - -If you would like to make this export permanent, you should open your .bashrc file by typing on the terminal: - -```bash -nano ~/.bashrc -``` - -and add the following line at the end of the file: - -```bash -export OPENBLAS_CORETYPE=ARMV8 -``` - -Refer to [this post](https://stackoverflow.com/questions/65631801/illegal-instructioncore-dumped-error-on-jetson-nano) -for more information on how to resolve the issue. -Q: Why do I get the following error when running `python3 examples/depth_viewer.py`? - -```text - msg:failed to open usb device! error: OB_USB_STATUS_ACCESS - - type:St13runtime_error -[2023-07-04 17:09:19.891859][warning][117523][EnumeratorLibusb.cpp:342] failed to create usb device at index: 1, url:2-1.4.1-6 -[2023-07-04 17:09:20.391989][error][117523][DeviceLibusb.cpp:109] failed to open usb device! error: OB_USB_STATUS_ACCESS -[2023-07-04 17:09:20.392032][warning][117523][EnumeratorLibusb.cpp:342] Execute failure! A std::exception has occurred! - - where:342#createUsbDevice - - msg:failed to open usb device! error: OB_USB_STATUS_ACCESS - - type:St13runtime_error -[2023-07-04 17:09:20.392057][warning][117523][EnumeratorLibusb.cpp:342] failed to create usb device at index: 1, url:2-1.4.1-6 -[2023-07-04 17:09:20.392072][warning][117523][ObException.hpp:40] usbEnumerator createUsbDevice failed! -Traceback (most recent call last): - File "depth_viewer.py", line 73, in - main() - File "depth_viewer.py", line 34, in main - device: Device = device_list.get_device_by_index(0) -pyorbbecsdk.OBError: usbEnumerator createUsbDevice failed! -[2023-07-04 17:09:20.403747][info][117523][Context.cpp:81] Context destroyed -``` - -A: The current device does not have permission to access the device， check the PID of the current device - -```bash -lsusb | grep 2bc5 -``` - -Your output should look like this - -```text -Bus 002 Device 007: ID 2bc5:your_pid_here -``` - -Edit`/etc/udev/rules.d/99-obsensor-libusb.rules`，add the following line - -```bash -SUBSYSTEM=="usb", ATTR{idProduct}=="your_pid_here", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root" GROUP:="video", SYMLINK+="you_device_name_here" -``` - -`you_device_name_here` is the name of the device you want to create, for example `Astra`. - -Then restart the udev service - -```bash -sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger -``` diff --git a/docs/UserGuide/.buildinfo b/docs/UserGuide/.buildinfo new file mode 100644 index 0000000..532cca3 --- /dev/null +++ b/docs/UserGuide/.buildinfo @@ -0,0 +1,4 @@ +# Sphinx build info version 1 +# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. +config: 72c4817e06ab6e4f20da08944d9f36c5 +tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/docs/UserGuide/.nojekyll b/docs/UserGuide/.nojekyll new file mode 100644 index 0000000..e69de29 diff --git a/docs/UserGuide/_images/Win_Config_image1.png b/docs/UserGuide/_images/Win_Config_image1.png new file mode 100644 index 0000000..a6842a4 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image1.png differ diff --git a/docs/UserGuide/_images/Win_Config_image10.png b/docs/UserGuide/_images/Win_Config_image10.png new file mode 100644 index 0000000..c1a1100 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image10.png differ diff --git a/docs/UserGuide/_images/Win_Config_image11.png b/docs/UserGuide/_images/Win_Config_image11.png new file mode 100644 index 0000000..837d8a3 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image11.png differ diff --git a/docs/UserGuide/_images/Win_Config_image2.png b/docs/UserGuide/_images/Win_Config_image2.png new file mode 100644 index 0000000..02a5d57 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image2.png differ diff --git a/docs/UserGuide/_images/Win_Config_image3.png b/docs/UserGuide/_images/Win_Config_image3.png new file mode 100644 index 0000000..3166272 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image3.png differ diff --git a/docs/UserGuide/_images/Win_Config_image4.png b/docs/UserGuide/_images/Win_Config_image4.png new file mode 100644 index 0000000..507e1c0 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image4.png differ diff --git a/docs/UserGuide/_images/Win_Config_image5.png b/docs/UserGuide/_images/Win_Config_image5.png new file mode 100644 index 0000000..9fa51c5 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image5.png differ diff --git a/docs/UserGuide/_images/Win_Config_image6.png b/docs/UserGuide/_images/Win_Config_image6.png new file mode 100644 index 0000000..06f10e3 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image6.png differ diff --git a/docs/UserGuide/_images/Win_Config_image7.png b/docs/UserGuide/_images/Win_Config_image7.png new file mode 100644 index 0000000..c376892 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image7.png differ diff --git a/docs/UserGuide/_images/Win_Config_image8.png b/docs/UserGuide/_images/Win_Config_image8.png new file mode 100644 index 0000000..9294995 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image8.png differ diff --git a/docs/UserGuide/_images/Win_Config_image9.png b/docs/UserGuide/_images/Win_Config_image9.png new file mode 100644 index 0000000..0551e61 Binary files /dev/null and b/docs/UserGuide/_images/Win_Config_image9.png differ diff --git a/docs/UserGuide/_images/multi_sync.png b/docs/UserGuide/_images/multi_sync.png new file mode 100644 index 0000000..dca0365 Binary files /dev/null and b/docs/UserGuide/_images/multi_sync.png differ diff --git a/docs/UserGuide/_images/python_principle.png b/docs/UserGuide/_images/python_principle.png new file mode 100644 index 0000000..6f68d75 Binary files /dev/null and b/docs/UserGuide/_images/python_principle.png differ diff --git a/docs/UserGuide/_images/quick_start.png b/docs/UserGuide/_images/quick_start.png new file mode 100644 index 0000000..9d7946a Binary files /dev/null and b/docs/UserGuide/_images/quick_start.png differ diff --git a/docs/UserGuide/_sources/README.md.txt b/docs/UserGuide/_sources/README.md.txt new file mode 100644 index 0000000..3093c66 --- /dev/null +++ b/docs/UserGuide/_sources/README.md.txt @@ -0,0 +1,92 @@ +# Docs应用文档 + +**编译：** + +```bash +cd docs +./autobuild.sh all + +``` + +**打开文档：** + +```bash +cd docs +./autobuild.sh run + +``` + +或 + +进入_html目录，手动点击index.html打开 + +# Docs应用文档详细说明 + +**采用方式：** + +1、文档格式 markdown + +2、文档转换工具 Sphinx + +3、托管 github + +
+ +# gitlab： + +本项目源码地址： https://code.orbbec.com.cn/OrbbecSDK/pyorbbecsdk + +# github （待上线） + +本项目源码地址 ： 待上线 +本应用文档阅读链接 ： 待上线 + +
+ +# 文档编写规范 + +1、框图、软件框架建议原则上采用processon、visio工具绘图，目的是为了保持风格统一（特殊图除外） + +2、采用标准markdown格式，可使用vscode的Editor插件编辑 + +
+ +# 编译环境 + +pip3 install sphinx + +pip3 install recommonmark + +pip3 install sphinx_markdown_tables + +pip3 install sphinx_rtd_theme + +pip3 install sphinx_book_theme + +# 编译 + +- 执行编译脚本 ./autobuild 编译（推荐，该脚本编译后会打包docs文档及渲染设置）。 也支持sphinx原生编译指令make html +- 打开docs/index.html查看效果 + +
+ +# 提交 + +git add 、git commit 添加注释、git push提交代码 + +提交完后，务必要上线网页打开检查一下，检查网页效果无误 + +
+ +# 定制化部分 + +说明：定制化的配置都在**conf.py**中设置。也需要安装一些支持库 + +1. 更改样式主题。我这里以 `sphinx_rtd_theme`为例子，其他主题可自行百度。 + +* 安装 `sphinx_rtd_theme`: ` pip install sphinx_rtd_theme` + +2. 安装markdown语法支持插件：`pip install myst-parser` +3. 安装支持mermaid渲染插件: `pip install sphinxcontrib.mermaid` +4. 安装代码块一键复制按钮插件：`pip install sphinx_copybutton` +5. 可以使用vscode 编辑markdown文件文档，推荐安装markdown预览编辑插件 diff --git a/docs/UserGuide/_sources/index.rst.txt b/docs/UserGuide/_sources/index.rst.txt new file mode 100644 index 0000000..742a000 --- /dev/null +++ b/docs/UserGuide/_sources/index.rst.txt @@ -0,0 +1,21 @@ +.. [奥比中光]Orbbec python V2 SDK 应用文档.用户手册 +.. 这一页是目录树 +.. :titlesonly: + + + + +Orbbec SDK V2 Python Wrapper +====================================================== + + +.. toctree:: + :maxdepth: 3 + :numbered: + + source/1_overview/overview.rst + source/2_installation/installation.rst + source/3_QuickStarts/QuickStarts.rst + source/4_Application_Guide/Application_Guide.rst + source/5_FAQ/FAQ.rst + source/license.md diff --git a/docs/UserGuide/_sources/source/1_overview/Introduction.md.txt b/docs/UserGuide/_sources/source/1_overview/Introduction.md.txt new file mode 100644 index 0000000..82020ae --- /dev/null +++ b/docs/UserGuide/_sources/source/1_overview/Introduction.md.txt @@ -0,0 +1,12 @@ +# Introduction + +Python Wrapper bindings for the Orbbec SDK，enabling developers to interface with Orbbec devices using Python. +With the major update of the new branch v2-main in October 2024, python Wrapper is connected to the open source version of [Orbbec SDK v2](https://github.com/orbbec/OrbbecSDK_v2), which will make python Wrapper more flexible and extensible. + +This update in v2-main ensures compatibility with all new Orbbec USB products that comply with the UVC standard. However, python Wrapper v2 no longer supports Orbbec's traditional OpenNI protocol devices. We encourage you to check whether your device is supported by python Wrapper v2 and use the new version if supported. + +The Python Wrapper uses pybind11 to convert the interfaces of the Orbbec SDK into Python interfaces. + +* The implementation principle of the Python Wrapper is as follows: + +![python_principle](../image/python_principle.png) diff --git a/docs/UserGuide/_sources/source/1_overview/Support_platform.md.txt b/docs/UserGuide/_sources/source/1_overview/Support_platform.md.txt new file mode 100644 index 0000000..1140b4e --- /dev/null +++ b/docs/UserGuide/_sources/source/1_overview/Support_platform.md.txt @@ -0,0 +1,48 @@ +# Support Platforms + +- Windows: Windows 10 (x64) +- Linux: 18.04/20.04/22.04 (x64) +- Arm64: Ubuntu18.04/20.04/22.04 + +# Support Hardware Products + +This document is based on the v2-main branch code, which is a Python wrapper built on Orbbec SDK v2. It supports the following devices. +If your device is included in this supported list, we recommend using the v2-main branch. If not, you can use the main branch instead. + +| **Products list** | **Firmware Version** | +| ----------------------- | -------------------------- | +| Gemini 335 | 1.2.20 | +| Gemini 335L | 1.2.20 | +| Gemini 336 | 1.2.20 | +| Gemini 336L | 1.2.20 | +| Femto Bolt | 1.0.6/1.0.9 | +| Femto Mega | 1.1.7/1.2.7 | +| Astra 2 | 2.8.20 | +| Gemini 2 L | 1.4.32 | +| Gemini 2 | 1.4.60 /1.4.76 | + +the main branch supports the following devices: + +| **Products list** | **Firmware Version** | +| ----------------------- | --------------------------- | +| Gemini 335 | 1.2.20 | +| Gemini 335L | 1.2.20 | +| Gemini 336 | 1.2.20 | +| Gemini 336L | 1.2.20 | +| Femto Bolt | 1.0.6/1.0.9 | +| Femto Mega | 1.1.7/1.2.7 | +| Gemini 2 XL | Obox: V1.2.5 VL:1.4.54 | +| Astra 2 | 2.8.20 | +| Gemini 2 L | 1.4.32 | +| Gemini 2 | 1.4.60 /1.4.76 | +| Astra+ | 1.0.22/1.0.21/1.0.20/1.0.19 | +| Femto | 1.6.7 | +| Femto W | 1.1.8 | +| DaBai | 2436 | +| DaBai DCW | 2460 | +| DaBai DW | 2606 | +| Astra Mini Pro | 1007 | +| Gemini E | 3460 | +| Gemini E Lite | 3606 | +| Gemini | 3.0.18 | +| Astra Mini S Pro | 1.0.05 | diff --git a/docs/UserGuide/_sources/source/1_overview/overview.rst.txt b/docs/UserGuide/_sources/source/1_overview/overview.rst.txt new file mode 100644 index 0000000..18410e3 --- /dev/null +++ b/docs/UserGuide/_sources/source/1_overview/overview.rst.txt @@ -0,0 +1,22 @@ +.. 这一页是模块目录树 +.. :titlesonly: + + + + +Overview +====================================================== + +====================================================== + +.. toctree:: + :maxdepth: 2 + :caption: This Section Covers: + + Introduction.md + Support_platform.md + + + + +--------------------- \ No newline at end of file diff --git a/docs/UserGuide/_sources/source/2_installation/Environment.md.txt b/docs/UserGuide/_sources/source/2_installation/Environment.md.txt new file mode 100644 index 0000000..42fad4c --- /dev/null +++ b/docs/UserGuide/_sources/source/2_installation/Environment.md.txt @@ -0,0 +1,12 @@ +## Environment + +### Compilation Platform Requirements + +- Windows: Visual Studio 2017 and above +- Linux: gcc 5.4.0 and above +- cmake: 3.15.0 and above +- pybind11 2.10.3 and above + +### Python Version + +- Python 3.6.9 and above diff --git a/docs/UserGuide/_sources/source/2_installation/build_the_package.md.txt b/docs/UserGuide/_sources/source/2_installation/build_the_package.md.txt new file mode 100644 index 0000000..2ffe612 --- /dev/null +++ b/docs/UserGuide/_sources/source/2_installation/build_the_package.md.txt @@ -0,0 +1,162 @@ +# Linux Python SDK Compilation + +This section provides a comprehensive guide to installing, compiling, and running the Orbbec SDK for Python, covering all necessary steps for setup. + + + +- Contents: + + - Install Dependencies (Ubuntu) + - Custom Python Path (Optional) + - Build the Project + - Run the Examples + - Generate Python Stubs + - Making a Python Wheel + +Clone the repository to get the latest version: + +```bash +git clone https://github.com/orbbec/pyorbbecsdk.git +git checkout OrbbecSDK_V2.x +``` + +## Install Dependencies (Ubuntu) + +Install the necessary Python development packages + +```bash +sudo apt-get install python3-dev python3-venv python3-pip python3-opencv +``` + +## Custom Python Path (Optional) + +If you use Anaconda, update the Python path in `pyorbbecsdk/CMakeLists.txt` before the `find_package(Python3 REQUIRED COMPONENTS Interpreter Development)` line: + +```bash +set(Python3_ROOT_DIR "/home/anaconda3/envs/py3.6.8") # Replace with your Python path +set(pybind11_DIR "${Python3_ROOT_DIR}/lib/python3.6/site-packages/pybind11/share/cmake/pybind11") # Replace with your Pybind11 path +``` + +## Build the Project + +Create a virtual environment and build the project: + +`````bash +cd pyorbbecsdk +python3 -m venv ./venv +source venv/bin/activate +pip3 install -r requirements.txt +mkdir build +cd build +cmake -Dpybind11_DIR=`pybind11-config --cmakedir` .. +make -j4 +make install +````` + +## Run the Examples + +Set up the environment and run the examples: + +```bash +cd pyorbbecsdk +export PYTHONPATH=$PYTHONPATH:$(pwd)/install/lib/ +sudo bash ./scripts/install_udev_rules.sh +sudo udevadm control --reload-rules && sudo udevadm trigger +python3 examples/depth_viewer.py +python3 examples/net_device.py # Requires ffmpeg installation for network devices +``` + +## Generate Python Stubs + +Generate stubs for better IntelliSense support in your IDE + +```bash +source env.sh +pip3 install pybind11-stubgen +pybind11-stubgen pyorbbecsdk +``` + +## Making a Python Wheel + +To generate a wheel package for easy distribution + +```bash +cd pyorbbecsdk +python3 -m venv ./venv +source venv/bin/activate +pip3 install -r requirements.txt +mkdir build +cd build +cmake -Dpybind11_DIR=`pybind11-config --cmakedir` .. +make -j4 +make install +cd .. +pip3 install wheel +python3 setup.py bdist_wheel +pip3 install dist/*.whl +``` + +# Windows Python SDK Compilation + +## Download the Python SDK Source Code + +```python +git clone https://github.com/orbbec/pyorbbecsdk.git +``` + +## Install Dependencies + +```python +pip3 install -r requirements.txt +``` + +Here, it is assumed that you have installed Python 3 correctly. If you have not installed Python 3, you can refer to +the [Python official website](https://www.python.org/downloads/) and choose your Python 3 version for installation. + +## Configure Visual Studio Project + +* Open Cmake, set the source code path, and set the "build" folder as the path for generating binary files, as shown in + the following figure. + ![Multi_camera1](../image/Win_Config_image1.png) +* Click "Configure" and select the corresponding Visual Studio version and platform version. Then click "Finish", as + shown below: + ![Multi_camera1](../image/Win_Config_image2.png) +* Here, it is assumed that you have installed Cmake correctly. If you have not installed Cmake, you can refer to the Cmake official website for installation. + + Click "Generate", as shown below: + ![Multi_camera1](../image/Win_Config_image3.png) + +## Compile the Python SDK + + You can open the Python SDK project in two ways: + +Method 1: Use Cmake, click the "Open Project" button, and open the Visual Studio project. + + ![Multi_camera1](../image/Win_Config_image4.png) + + Method 2: Use the file explorer to directly start the Visual Studio project in the build directory, as shown in the following figure: + + ![Multi_camera1](../image/Win_Config_image5.png) + + Open the Python SDK project, as shown below: + +![Multi_camera1](../image/Win_Config_image6.png) + + Open the Python SDK project, as shown below: + +![Multi_camera1](../image/Win_Config_image7.png) + + Right-click "INSTALL", as shown below: + +![Multi_camera1](../image/Win_Config_image8.png) + + The compiled files will be copied to the install/lib directory, as shown below: + ![Multi_camera1](../image/Win_Config_image9.png) + + Copy the files in the install/lib directory to the examples directory, as shown below: + ![Multi_camera1](../image/Win_Config_image10.png) + +## Test Examples + +In the examples directory, execute test examples such as python ColorViewer.py, as shown below: + ![Multi_camera1](../image/Win_Config_image11.png) diff --git a/docs/UserGuide/_sources/source/2_installation/installation.rst.txt b/docs/UserGuide/_sources/source/2_installation/installation.rst.txt new file mode 100644 index 0000000..3bf3dd0 --- /dev/null +++ b/docs/UserGuide/_sources/source/2_installation/installation.rst.txt @@ -0,0 +1,24 @@ +.. 这一页是模块目录树 + + + + + +Installation +====================================================== + + +This section provides an overview of setting up the Orbbec SDK V2 Python Wrapper, including environment preparation, dependency installation, and python compile. This guide is designed to assist you in streamlining the setup process for development and deployment + +====================================================== + + + +.. toctree:: + :maxdepth: 2 + :caption: This Section Covers: + + Environment.md + build_the_package.md + + \ No newline at end of file diff --git a/docs/UserGuide/_sources/source/3_QuickStarts/QuickStart.md.txt b/docs/UserGuide/_sources/source/3_QuickStarts/QuickStart.md.txt new file mode 100644 index 0000000..4b09d6d --- /dev/null +++ b/docs/UserGuide/_sources/source/3_QuickStarts/QuickStart.md.txt @@ -0,0 +1,77 @@ +# Introduction + +The Python Wrapper primarily includes the following features: + +* Obtain Depth, IR, and Color data streams. +* Obtain IMU data streams. +* Hardware D2C, Software D2C, and Software C2D. +* Obtain Depth point cloud and RGBD point cloud. +* Obtain multiple devices data and multi-device synchronization. +* Coordinate transformations between different coordinate systems. +* Post-processing filters and HDR merge functionality (supported by the Gemini 330 series). +* Depth work modes (supported by Gemini 2/2L, Astra 2). +* Presets (supported by Gemini 330 series). +* Update Firmware . +* Network functionality (supported by the Femto Mega). + +# Build your First Camera Application + +quick_start.py show how to use the SDK to capture video streams with minimal code. + +* The data flow diagram for quick start sample is as follows: + +![quick_start](../image/quick_start.png) + +* quick start sample introduction + +```python +# 1. Prerequisites +# compile pyorbbecsdk and copy the compiled .pyd library and other dependent Orbbec SDK libraries to the examples directory. + +from pyorbbecsdk import * +#2. create pipeline +pipeline = Pipeline() + +#3. start pipeline +pipeline.start() + +#4. wait for frames +frames = pipeline.wait_for_frames(100) + +#5. get frames +color_frame = frames.get_color_frame() +depth_frame = frames.get_depth_frame() + +#6. Render frames using OpenCV + + +#7. stop pipeline +pipeline.stop() + +``` + +# Sample Features + +| Example | Description | Notes | Level | +| ------------------------- | --------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------- | ------ | +| enumerate.py | Use the SDK interface to obtain camera-related information, including model, various sensors, and sensor-related configurations . | | ⭐ | +| hot_plug.py | Demonstrates how to detect hot plug events. | | ⭐ | +| logger.py | Use the SDK interface to set the log output level and customize the output path. | | ⭐ | +| quick_start.py | Demonstrates how to use the SDK. | | ⭐ | +| callback.py | Displays the video stream from the camera using a callback. | | ⭐⭐ | +| color.py | Displays the color stream from the camera. | | ⭐⭐ | +| depth.py | Displays the depth stream from the camera. | | ⭐⭐ | +| imu.py | Demonstrates how to read IMU data. | | ⭐⭐ | +| infrared.py | Displays the infrared stream from the camera. | | ⭐⭐ | +| multi_device.py | Demonstrates how to use multiple devices. | | ⭐⭐ | +| net_device.py | Demonstrates how to use network functions. | Supported by Femto Mega and Gemini 2 XL. | ⭐⭐ | +| coordinate_transform.py | Use the SDK interface to transform different coordinate systems. | | ⭐⭐⭐ | +| device_firmware_update.py | This sample demonstrates how to read a firmware file to perform firmware upgrades on the device. | | ⭐⭐⭐ | +| depth_work_mode.py | Demonstrates how to set the depth work mode. | Supported by Gemini2、Gemini2L、Astra2、Gemini 2 XL | ⭐⭐⭐ | +| hdr.py | In this sample, user can get the HDR merge image. Also supports user to toggle HDR merge and toggle alternate show origin frame. | Supported by the Gemini 330 series. | ⭐⭐⭐ | +| hw_d2c_align.py | Demonstrates how to use hardware D2C. | | ⭐⭐⭐ | +| point_cloud.py | Demonstrates how to save the point cloud to disk using a point cloud filter. | | ⭐⭐⭐ | +| post_processing.py | Demonstrates how to use post-processing filters. | Supported by the Gemini 330 series. | ⭐⭐⭐ | +| preset.py | Use the SDK interface to set and get the preset value. | Supported by the Gemini 330 series. | ⭐⭐⭐ | +| sync_align.py | Demonstrates how to use the align filter. | | ⭐⭐⭐ | +| two_devices_sync.py | Demonstrates how to synchronize two devices. | | ⭐⭐⭐ | diff --git a/docs/UserGuide/_sources/source/3_QuickStarts/QuickStarts.rst.txt b/docs/UserGuide/_sources/source/3_QuickStarts/QuickStarts.rst.txt new file mode 100644 index 0000000..3f06611 --- /dev/null +++ b/docs/UserGuide/_sources/source/3_QuickStarts/QuickStarts.rst.txt @@ -0,0 +1,18 @@ +.. 这一页是模块目录树 + +QuickStarts +====================================================== + + This section describes QuickStarts in a python environment. + + + +====================================================== + +.. toctree:: + :maxdepth: 3 + :caption: This Section Covers: + + + + QuickStart.md \ No newline at end of file diff --git a/docs/UserGuide/_sources/source/4_Application_Guide/Application_Guide.rst.txt b/docs/UserGuide/_sources/source/4_Application_Guide/Application_Guide.rst.txt new file mode 100644 index 0000000..b7eaac2 --- /dev/null +++ b/docs/UserGuide/_sources/source/4_Application_Guide/Application_Guide.rst.txt @@ -0,0 +1,23 @@ +.. 这一页是模块目录树 + + +Application Guide +====================================================== + +This guide provides instructions on how to utilize the Python Bind SDK to initialize and operate the camera, enabling features like colored point cloud visualization. The guide covers essential setup, function calls, and configuration steps to help users effectively work with camera data using Python. + + + + +====================================================== + +.. toctree:: + :maxdepth: 3 + :caption: This Section Covers: + + + Data_Stream_acquisition.md + Camera_configuration.md + Multi_camera_synchronization.md + Post-processing_Filter.md + diff --git a/docs/UserGuide/_sources/source/4_Application_Guide/Camera_configuration.md.txt b/docs/UserGuide/_sources/source/4_Application_Guide/Camera_configuration.md.txt new file mode 100644 index 0000000..62ea7fa --- /dev/null +++ b/docs/UserGuide/_sources/source/4_Application_Guide/Camera_configuration.md.txt @@ -0,0 +1,408 @@ +# Camera Configuration(Device Parameter Settings) + +## Device Parameter Settings: + +The parameter settings are all set by device. In this section, only the commonly used parameter setting methods are listed. Other parameter settings are similar. For the command code of the attribute ID, refer to Property.h. + +### Obtain the Serial Number + +```python +from pyorbbecsdk import * +context = Context() +device_list = context.query_devices() +device = device_list.get_device_by_index(0) +device_info = device.get_device_info() +# get device serial number +serial_number = device_info.get_serial_number() +``` + +### Obtain the Camera Intrinsic and Extrinsic Parameters + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR) +#Get color_profile +color_profile = profile_list.get_default_video_stream_profile() +profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR) +#Get depth_profile +depth_profile = profile_list.get_default_video_stream_profile() +#Get external parameters +extrinsic = depth_profile.get_extrinsic_to(color_profile) +print("extrinsic {}".format(extrinsic)) +#Get depth inernal parameters +depth_intrinsics = depth_profile.get_intrinsic() +print("depth_intrinsics {}".format(depth_intrinsics)) +#Get depth distortion parameter +depth_distortion = depth_profile.get_distortion() +print("depth_distortion {}".format(depth_distortion)) +#Get color internala parameters +color_intrinsics = color_profile.get_intrinsic() +print("color_intrinsics {}".format(color_intrinsics)) +#Get color distortion parameter +color_distortion = color_profile.get_distortion() +print("color_distortion {}".format(color_distortion)) + +``` + +### Open Device + +Method 1: Obtain the specified device by specifying the index number of the enumerated device list. + +```python +from pyorbbecsdk import * +context = Context() +device_list = context.query_devices() +device = device_list.get_device_by_index(0) +``` + +Method 2: Obtain the specified device by specifying the SN of the enumerated device list. + +```python +from pyorbbecsdk import * +context = Context() +device_list = context.query_devices() +# For example, obtain the device whose SN number is "CP8E54D0000J". +device =device_list.get_device_by_serial_number("CP8E54D0000J") +``` + +Method 3: Obtain the specified device by specifying the UID of the enumerated device list. + +```python +from pyorbbecsdk import * +context = Context() +device_list = context.query_devices() +#for example, the device with uid 1f3c29744. +device =device_list.get_device_by_uid("1f3c29744") +``` + +Method 4: Get device through pipiline + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +``` + +### Device Reboot + +```python +from pyorbbecsdk import * +context = Context() +device_list = context.query_devices() +#get device +device = device_list.get_device_by_index(0) +#reboot device +device.reboot() +``` + +### Laser Switch + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#True：turn on laser，False：turn off laser +device.set_bool_property(OBPropertyID.OB_PROP_LASER_BOOL, laser) +``` + +* Notes: The instruction for switching lasers of the Gemini 330 series is: OBPropertyID. Ob_prop_laser_control_int. + +### LDP Switch + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#True：turn on LDP，False：turn off LDP +device.set_bool_property(OBPropertyID.OB_PROP_LDP_BOOL, True) + +``` + +### Obtain LDP Protection Measurements + +OB_PROP_LDP_MEASURE_DISTANCE_INT = 100, + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +distance = device.get_int_property(OBPropertyID.OB_PROP_LDP_MEASURE_DISTANCE_INT) +print("distance: ",distance) +``` + +### Obtain LDP Protection Status + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#Return value true:Trigger LDP protection +ldp_status = device.get_bool_property(OBPropertyID.OB_PROP_LDP_STATUS_BOOL) +``` + +### Device Time Synchronization + +Device Timing: sets the host time to the device. + +Gemini 2/2L, Gemini 330 series, Femto Mega、Femto Bolt support device timing. + +1. If only a single device is connected, the following interface can be called: + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +device.timer_sync_with_host() +``` + +2. If multiple devices are connected at the same time, the following interfaces can be called: + +```python +from pyorbbecsdk import * +context = Context() +# Parameter: The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once. +context.enable_multi_device_sync(60000) +``` + +## Depth Settings + +### Depth Working Mode + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +device.set_depth_work_mode("Binned Sparse Default") +``` + +Note: Setting the Depth mode must be set before start the stream. + +### Preset Configuration + +Gemini 330 series 3D cameras have built-in a variety of predefined Presets. For the specific application scenarios of 3D cameras, users can use the Orbbec Viewer tool to select the best Presets. + +The method of loading the preset is as follows: + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +device.load_preset("Default") +``` + +### Set Depth AE + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#True open depth AE， False: close depth AE +device.set_bool_property(OBPropertyID.OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL, True) +``` + +### Set Depth Exposure/Gain + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#close depth AE， +device.set_bool_property(OBPropertyID.OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL, False) +#set depth exposure +device.set_int_property(OBPropertyID.OB_PROP_DEPTH_EXPOSURE_INT, 100) +#set depth gain +device.set_int_property(OBPropertyID.OB_PROP_DEPTH_GAIN_INT, 64) +``` + +### Set Min and Max Depth + +Set the min and max values of Depth, and all Depth outside this range will be set to 0. + +* For devices other than the Gemini 330 series, the method to set the max and min depth values is as follows: + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +# Set the min Depth value, and the Depth less than the modified value will be set to 0,Unit: mm +device.set_int_property(OBPropertyID.OB_PROP_MIN_DEPTH_INT , 100) +# Set the max Depth value, the Depth greater than the modified value will be set to 0, unit mm +device.set_int_property(OBPropertyID.OB_PROP_MAX_DEPTH_INT , 1000) +``` + +* Notes: For the Gemini 330 series, max and min depth values are set through post-processing with the ThresholdFilter, as follows: + +```python +from pyorbbecsdk import * +#create threshold filter +threshold_filter = ThresholdFilter() +#set min and max depth,unit: mm +threshold_filter.set_value_range(100,1000) +#get depth frame +frames = pipeline.wait_for_frames(100) +depth_frame = frames.get_depth_frame() +#call threshold filter +new_depth_frame = threshold_filter.process(depth_frame) +depth_frame = new_depth_frame.as_depth_frame() +``` + +## D2D (Disparity to depth) + +Disparity to depth is an image processing technique used to convert disparity information into depth information. + +### Hardware D2D + +Hardware D2D refers to disparity-to-depth conversion implemented internally within the device. Devices such as the Gemini 330 series, Gemini 2, Gemini 2 L, Astra 2 support this feature. + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#Parameters: True to turn on hardware D2D, False to turn off hardware D2D +device.set_bool_property(OBPropertyID.OB_PROP_DISPARITY_TO_DEPTH_BOOL,True) +``` + +### Software D2D + +Software D2D refers to disparity-to-depth conversion implemented within the SDK. All devices support Software D2D except for TOF devices like Femto Mega and Femto Bolt. + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#Parameters: True to turn on Software D2D, False to turn off Software D2D +device.set_bool_property(OBPropertyID.OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL,True) +``` + +### Set the Unit of Depth + +The precision of depth measurements is determined by the unit of pixel values in the depth data frame. By adjusting the depth unit, the accuracy of depth measurements can be modified. For instance, if the unit is set to 0.2mm, an object at a distance of 1000mm will have a pixel value of 5000 in the output depth data frame (as 5000 multiplied by 0.2mm equals 1000mm). Similarly, if the unit is set to 0.1mm, the pixel value will be 10000. + +Gemini 2/2L, Astra 2,Gemini 330 series support the setting of Depth units. Gemini 2/2L sets the Depth unit as follows: + +Among them: + +OBDepthPrecisionLevel.ONE_MM： 1mm + +OBDepthPrecisionLevel.ZERO_POINT_EIGHT_MM：0.8mm + +OBDepthPrecisionLevel.ZERO_POINT_FOUR_MM: 0.4mm + +OBDepthPrecisionLevel.ZERO_POINT_TWO_MM: 0.2mm + +OBDepthPrecisionLevel.ZERO_POINT_ONE_MM: 0.1mm + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +device.set_int_property(OBPropertyID.OB_PROP_DEPTH_PRECISION_LEVEL_INT, OBDepthPrecisionLevel.ONE_MM) +``` + +The Gemini 330 series supports setting the Depth unit as follows: + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +device.set_float_property(OBPropertyID.OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT, 0.1) +``` + +* Notes: The Gemini 330 series Depth unit supports setting arbitrary units, with the parameter as a float. + +## IR Parameter Settings + +### Set IR AE + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#True open IR AE， False: close IR AE +device.set_bool_property(OBPropertyID.OB_PROP_IR_AUTO_EXPOSURE_BOOL, True) +``` + +### Set IR Exposure/Gain + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#Close IR AE +device.set_bool_property(OBPropertyID.OB_PROP_IR_AUTO_EXPOSURE_BOOL, False) +#set IR exposure +device.set_int_property(OBPropertyID.OB_PROP_IR_EXPOSURE_INT, 100) +#set IR gain +device.set_int_property(OBPropertyID.OB_PROP_IR_GAIN_INT, 64) +``` + +## Color Parameter Settings + +### Set Color AE + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#True open color AE， False: close color AE +device.set_bool_property(OBPropertyID.OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL, True) +``` + +### Set Color Exposure + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#True open color AE， False: close color AE +device.set_bool_property(OBPropertyID.OB_PROP_COLOR_EXPOSURE_INT, True) +``` + +### Set Color Gain + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#True open color AE， False: close color AE +device.set_bool_property(OBPropertyID.OB_PROP_COLOR_GAIN_INT, True) +``` + +### Set Color Auto White Balance + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +#True: Turn on Auto White Balance，False: Turn off Auto White Balance +device.set_bool_property(OBPropertyID.OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL, True) +``` + +### Set Color White Balance Parameters + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +device.set_int_property(OBPropertyID.OB_PROP_COLOR_WHITE_BALANCE_INT, 5000) +``` + +### Set Color Power Line Frequency + +It is necessary to set 50Hz or 60Hz according to the power line frequency of different countries and regions. The purpose of setting the power supply frequency is to prevent Color images from flickering. + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +device = pipeline.get_device() +device.set_int_property(OBPropertyID.OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OBPowerLineFreqMode.FREQUENCY_50HZ) +``` + +Remarks: + +OBPowerLineFreqMode.FREQUENCY_50HZ ：50HZ + +OBPowerLineFreqMode.FREQUENCY_60HZ ：60HZ + +OBPowerLineFreqMode.FREQUENCY_CLOSE ：Close diff --git a/docs/UserGuide/_sources/source/4_Application_Guide/Data_Stream_acquisition.md.txt b/docs/UserGuide/_sources/source/4_Application_Guide/Data_Stream_acquisition.md.txt new file mode 100644 index 0000000..26e1827 --- /dev/null +++ b/docs/UserGuide/_sources/source/4_Application_Guide/Data_Stream_acquisition.md.txt @@ -0,0 +1,159 @@ +# Obtain Data Stream + +- Contents: + + - 3.1.1 Stream profile + - 3.1.2 Video Stream acquisition + - 3.1.3 Imu data acquisition + - 3.1.4 Point Cloud： + - Depth Point Cloud + - RGBD Point Cloud + +## Stream Profile + +Method 1: obtain stream profile by resolution, frame format, and frame rate + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +# Obtain color profile through resolution, frame format and frame rate. A resolution width and height of 0 indicates wildcard characters +color_profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR) +color_profile= color_profile_list.get_video_stream_profile(640, 0, OBFormat.RGB, 30) + +# Get depth profile through resolution, frame format and frame rate, resolution width and height are 0 to indicate wildcard characters +depth_profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR) +depth_profile = depth_profile_list.get_video_stream_profile(640, 0, OBFormat.Y16, 30) +``` + +Method 2: Obtain the default stream profile + +```python + from pyorbbecsdk import * + pipeline = Pipeline() + depth_profile_list = + pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR) + # Obtain the default depth profile. The default resolution can be configured by using the OrbbecSDKConfig_v1.0.xml + depth_profile = depth_profile_list.get_default_video_stream_profile() +``` + +Method 3: Obtain stream profile through video frames + +```python + from pyorbbecsdk import * + pipeline = Pipeline() + pipeline.start(config) + frames = pipeline.wait_for_frames(100) + depth_frame = frames.get_depth_frame() + depth_frame = depth_frame.as_video_frame() + #Get depth profile + depth_profile = depth_frame.get_stream_profile() +``` + +## Obtain Video Stream + +This section describes how to obtain IR video frame data. The methods for retrieving Depth and Color frame data are similar. + +```python +# 1. Create Config and Pipeline objects +config = Config() +pipeline = Pipeline() + +# Get IR profile +profile_list = pipeline.get_stream_profile_list(OBSensorType.IR_SENSOR) +ir_profile = profile_list.get_video_stream_profile(640, 0, OBFormat.Y16, 30) + +# Enable IR stream +config.enable_stream(ir_profile) +pipeline.start(config) + +# Wait for a frame of data +frames = pipeline.wait_for_frames(100) +ir_frame = frames.get_ir_frame() +``` + +The Gemini 330 series supports left IR and right IR sensors, with the IR sensor types being `OBSensorType.LEFT_IR_SENSOR` and `OBSensorType.RIGHT_IR_SENSOR`, respectively. +The depth sensor type is `OBSensorType.DEPTH_SENSOR`, and the color sensor type is `OBSensorType.COLOR_SENSOR` + +## Obtain IMU Data + +For imu data, refer to imu_reader.py + +```python +from pyorbbecsdk import * +config = Config() +pipeline = Pipeline() +#enable accel +config.enable_accel_stream() +#enable gyro +config.enable_gyro_stream() +#set pipeline to output both accel and gyro data simultaneously +config.set_frame_aggregate_output_mode(OBFrameAggregateOutputMode.FULL_FRAME_REQUIRE) +#start imu +pipeline.start(config) +frames = pipeline.wait_for_frames(100) +#get accel frame +accel_frame = frames.get_frame(OBFrameType.ACCEL_FRAME) +accel_frame = accel_frame.as_accel_frame() +#get gyro frame +gyro_frame = frames.get_frame(OBFrameType.GYRO_FRAME) +gyro_frame = gyro_frame.as_gyro_frame() +``` + +## Point Cloud + +### Depth Point Cloud + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +config = Config() +depth_profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR) +depth_profile = depth_profile_list.get_default_video_stream_profile() +config.enable_stream(depth_profile) +# Start the stream +pipeline.start(config) +# Create point cloud filter +point_cloud_filter = PointCloudFilter() +# Capture one frame of data +frames = pipeline.wait_for_frames(100) +# Get Depth frame +depth_frame = frames.get_depth_frame() +# Apply the point cloud filter +point_cloud_filter.set_create_point_format(OBFormat.POINT) +point_cloud_frame = point_cloud_filter.process(depth_frame) +points = point_cloud_filter.calculate(point_cloud_frame) +# Save point cloud data +points_array = np.array([p[:3] for p in points]) # XYZ points +save_points_to_ply(points_array, None, os.path.join(save_points_dir, "point_cloud.ply")) +``` + +### RGBD Point Cloud + +Please refer to Sample save_point_cloud.py + +```python +from pyorbbecsdk import * +pipeline = Pipeline() +config = Config() +config.enable_stream(depth_profile) +config.enable_stream(color_profile) +# Enable frame synchronization +pipeline.enable_frame_sync() +# Start the stream +pipeline.start(config) +# Create alignment filter +align_filter = AlignFilter(align_to_stream=OBStreamType.COLOR_STREAM) +# Create point cloud filter +point_cloud_filter = PointCloudFilter() +# Capture one frame of data +frames = pipeline.wait_for_frames(100) +# Get Depth and Color frames +depth_frame = frames.get_depth_frame() +color_frame = frames.get_color_frame() +# Apply the alignment filter +frame = align_filter.process(frames) +# Apply the point cloud filter +point_cloud_filter.set_create_point_format(OBFormat.RGB_POINT) +point_cloud_frame = point_cloud_filter.process(frame) +points = point_cloud_filter.calculate(point_cloud_frame) +``` diff --git a/docs/UserGuide/_sources/source/4_Application_Guide/Multi_camera_synchronization.md.txt b/docs/UserGuide/_sources/source/4_Application_Guide/Multi_camera_synchronization.md.txt new file mode 100644 index 0000000..4844c38 --- /dev/null +++ b/docs/UserGuide/_sources/source/4_Application_Guide/Multi_camera_synchronization.md.txt @@ -0,0 +1,62 @@ +# Multi-Camera Synchronization + +## Multi-Camera Synchronous Hardware Connection + +[multi-camera sync document](https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/) + +## Multi-Camera Synchronization Software Configuration + +First, modify the configuration file (multi_device_sync_config.json), modify the serial number of the Primary Device and Secondary Device, if you need to configure other parameters, please refer to the [multi-camera sync document]( https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/ ) + +```json +{ + "devices": [ + { + "serial_number": "CP3S34D00051", + "config": { + "mode": "PRIMARY", + "depth_delay_us": 0, + "color_delay_us": 0, + "trigger_to_image_delay_us": 0, + "trigger_out_enable": true, + "trigger_out_delay_us": 0, + "frames_per_trigger": 1 + } + }, + { + "serial_number": "CP3L44P00054", + "config": { + "mode": "SECONDARY", + "depth_delay_us": 0, + "color_delay_us": 0, + "trigger_to_image_delay_us": 0, + "trigger_out_enable": true, + "trigger_out_delay_us": 0, + "frames_per_trigger": 1 + } + } + ] +} +``` + +Multi-device synchronization Sample, please refer to (two_devices_sync.py), if you need to synchronize more than 2 devices, it is recommended to use C++. + +``` python +#1. read sync param from json config，and set multi device sync params +device.set_multi_device_sync_config(sync_config) +#2. start the data stream for each device +start_streams(pipelines, configs) +#3. Synchronize the device time +ctx.enable_multi_device_sync(60000) +#4. print serial number and timestamp，Determine synchronization effect by timestamps +if color_frame is not None: + print(f"device#{i}, color frame timestamp: {color_frame.get_timestamp_us()} us , system timestamp: {color_frame.get_system_timestamp_us()} us") +if depth_frame is not None: + print(f"device#{i}, depth frame timestamp: {depth_frame.get_timestamp_us()} us , system timestamp: {depth_frame.get_system_timestamp_us()} us") + +``` + +Running results: +We use the timestamps of the Primary and Secondary printed by Sample to determine if they are synchronized on. + +![Multi_sync](../image/multi_sync.png) \ No newline at end of file diff --git a/docs/UserGuide/_sources/source/4_Application_Guide/Post-processing_Filter.md.txt b/docs/UserGuide/_sources/source/4_Application_Guide/Post-processing_Filter.md.txt new file mode 100644 index 0000000..79f94f7 --- /dev/null +++ b/docs/UserGuide/_sources/source/4_Application_Guide/Post-processing_Filter.md.txt @@ -0,0 +1,14 @@ +# Post-Processing Filter + +The Gemini 330 series supports post-processing filters. For more information, see post_process.py. + +```python +from pyorbbecsdk import * +config = Config() +pipeline = Pipeline() +#Get a list of post-processing filtering recommendations +filter_list = depth_sensor.get_recommended_filters() +# Call the enabled filters in the recommend list in turn +post_filter = filter_list[i] +new_depth_frame = post_filter.process(depth_frame) +``` diff --git a/docs/UserGuide/_sources/source/5_FAQ/FAQ.md.txt b/docs/UserGuide/_sources/source/5_FAQ/FAQ.md.txt new file mode 100644 index 0000000..7d18973 --- /dev/null +++ b/docs/UserGuide/_sources/source/5_FAQ/FAQ.md.txt @@ -0,0 +1,84 @@ +# FAQ + +1、Why do I get the following error when running `python3 examples/depth_viewer.py` on Jetson Nano? + +```bash +illegal instruction (core dumped) +``` + +Answer: Check your OpenCV installation. If you encounter the same error when running + +```python +import cv2 +``` + +export OPENBLAS_CORETYPE=ARMV8 (or whatever the actual hardware is) before launching python should hopefully get around +this. For example: + +```bash +OPENBLAS_CORETYPE=ARMV8 python +``` + +If you would like to make this export permanent, you should open your .bashrc file by typing on the terminal: + +```bash +nano ~/.bashrc +``` + +and add the following line at the end of the file: + +```bash +export OPENBLAS_CORETYPE=ARMV8 +``` + +Refer to [this post](https://stackoverflow.com/questions/65631801/illegal-instructioncore-dumped-error-on-jetson-nano) +for more information on how to resolve the issue. + + +2、 Why do I get the following error when running `python3 examples/depth_viewer.py`? + +```text + msg:failed to open usb device! error: OB_USB_STATUS_ACCESS + - type:St13runtime_error +[2023-07-04 17:09:19.891859][warning][117523][EnumeratorLibusb.cpp:342] failed to create usb device at index: 1, url:2-1.4.1-6 +[2023-07-04 17:09:20.391989][error][117523][DeviceLibusb.cpp:109] failed to open usb device! error: OB_USB_STATUS_ACCESS +[2023-07-04 17:09:20.392032][warning][117523][EnumeratorLibusb.cpp:342] Execute failure! A std::exception has occurred! + - where:342#createUsbDevice + - msg:failed to open usb device! error: OB_USB_STATUS_ACCESS + - type:St13runtime_error +[2023-07-04 17:09:20.392057][warning][117523][EnumeratorLibusb.cpp:342] failed to create usb device at index: 1, url:2-1.4.1-6 +[2023-07-04 17:09:20.392072][warning][117523][ObException.hpp:40] usbEnumerator createUsbDevice failed! +Traceback (most recent call last): + File "depth_viewer.py", line 73, in + main() + File "depth_viewer.py", line 34, in main + device: Device = device_list.get_device_by_index(0) +pyorbbecsdk.OBError: usbEnumerator createUsbDevice failed! +[2023-07-04 17:09:20.403747][info][117523][Context.cpp:81] Context destroyed +``` + +Answer: The current device does not have permission to access the device， check the PID of the current device + +```bash +lsusb | grep 2bc5 +``` + +Your output should look like this + +```text +Bus 002 Device 007: ID 2bc5:your_pid_here +``` + +Edit`/etc/udev/rules.d/99-obsensor-libusb.rules`，add the following line + +```bash +SUBSYSTEM=="usb", ATTR{idProduct}=="your_pid_here", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root" GROUP:="video", SYMLINK+="you_device_name_here" +``` + +`you_device_name_here` is the name of the device you want to create, for example `Astra`. + +Then restart the udev service + +```bash +sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger + diff --git a/docs/UserGuide/_sources/source/license.md.txt b/docs/UserGuide/_sources/source/license.md.txt new file mode 100644 index 0000000..30afe30 --- /dev/null +++ b/docs/UserGuide/_sources/source/license.md.txt @@ -0,0 +1,14 @@ +## License + +Copyright 2024 Orbbec INC. + +Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with +the License. You may obtain a copy of the License at + +[http://www.apache.org/licenses/LICENSE-2.0](http://www.apache.org/licenses/LICENSE-2.0) + +Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an " +AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific +language governing permissions and limitations under the License. + +Other names and brands may be claimed as the property of others. diff --git a/docs/UserGuide/_static/_sphinx_javascript_frameworks_compat.js b/docs/UserGuide/_static/_sphinx_javascript_frameworks_compat.js new file mode 100644 index 0000000..8141580 --- /dev/null +++ b/docs/UserGuide/_static/_sphinx_javascript_frameworks_compat.js @@ -0,0 +1,123 @@ +/* Compatability shim for jQuery and underscores.js. + * + * Copyright Sphinx contributors + * Released under the two clause BSD licence + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} diff --git a/docs/UserGuide/_static/basic.css b/docs/UserGuide/_static/basic.css new file mode 100644 index 0000000..f316efc --- /dev/null +++ b/docs/UserGuide/_static/basic.css @@ -0,0 +1,925 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar ---------------------------------------------------------------- */ + +div.related { + width: 100%; + font-size: 90%; +} + +div.related h3 { + display: none; +} + +div.related ul { + margin: 0; + padding: 0 0 0 10px; + list-style: none; +} + +div.related li { + display: inline; +} + +div.related li.right { + float: right; + margin-right: 5px; +} + +/* -- sidebar --------------------------------------------------------------- */ + +div.sphinxsidebarwrapper { + padding: 10px 5px 0 10px; +} + +div.sphinxsidebar { + float: left; + width: 230px; + margin-left: -100%; + font-size: 90%; + word-wrap: break-word; + overflow-wrap : break-word; +} + +div.sphinxsidebar ul { + list-style: none; +} + +div.sphinxsidebar ul ul, +div.sphinxsidebar ul.want-points { + margin-left: 20px; + list-style: square; +} + +div.sphinxsidebar ul ul { + margin-top: 0; + margin-bottom: 0; +} + +div.sphinxsidebar form { + margin-top: 10px; +} + +div.sphinxsidebar input { + border: 1px solid #98dbcc; + font-family: sans-serif; + font-size: 1em; +} + +div.sphinxsidebar #searchbox form.search { + overflow: hidden; +} + +div.sphinxsidebar #searchbox input[type="text"] { + float: left; + width: 80%; + padding: 0.25em; + box-sizing: border-box; +} + +div.sphinxsidebar #searchbox input[type="submit"] { + float: left; + width: 20%; + border-left: none; + padding: 0.25em; + box-sizing: border-box; +} + + +img { + border: 0; + max-width: 100%; +} + +/* -- search page ----------------------------------------------------------- */ + +ul.search { + margin: 10px 0 0 20px; + padding: 0; +} + +ul.search li { + padding: 5px 0 5px 20px; + background-image: url(file.png); + background-repeat: no-repeat; + background-position: 0 7px; +} + +ul.search li a { + font-weight: bold; +} + +ul.search li p.context { + color: #888; + margin: 2px 0 0 30px; + text-align: left; +} + +ul.keywordmatches li.goodmatch a { + font-weight: bold; +} + +/* -- index page ------------------------------------------------------------ */ + +table.contentstable { + width: 90%; + margin-left: auto; + margin-right: auto; +} + +table.contentstable p.biglink { + line-height: 150%; +} + +a.biglink { + font-size: 1.3em; +} + +span.linkdescr { + font-style: italic; + padding-top: 5px; + font-size: 90%; +} + +/* -- general index --------------------------------------------------------- */ + +table.indextable { + width: 100%; +} + +table.indextable td { + text-align: left; + vertical-align: top; +} + +table.indextable ul { + margin-top: 0; + margin-bottom: 0; + list-style-type: none; +} + +table.indextable > tbody > tr > td > ul { + padding-left: 0em; +} + +table.indextable tr.pcap { + height: 10px; +} + +table.indextable tr.cap { + margin-top: 10px; + background-color: #f2f2f2; +} + +img.toggler { + margin-right: 3px; + margin-top: 3px; + cursor: pointer; +} + +div.modindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +div.genindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +/* -- domain module index --------------------------------------------------- */ + +table.modindextable td { + padding: 2px; + border-collapse: collapse; +} + +/* -- general body styles --------------------------------------------------- */ + +div.body { + min-width: 360px; + max-width: 800px; +} + +div.body p, div.body dd, div.body li, div.body blockquote { + -moz-hyphens: auto; + -ms-hyphens: auto; + -webkit-hyphens: auto; + hyphens: auto; +} + +a.headerlink { + visibility: hidden; +} + +a:visited { + color: #551A8B; +} + +h1:hover > a.headerlink, +h2:hover > a.headerlink, +h3:hover > a.headerlink, +h4:hover > a.headerlink, +h5:hover > a.headerlink, +h6:hover > a.headerlink, +dt:hover > a.headerlink, +caption:hover > a.headerlink, +p.caption:hover > a.headerlink, +div.code-block-caption:hover > a.headerlink { + visibility: visible; +} + +div.body p.caption { + text-align: inherit; +} + +div.body td { + text-align: left; +} + +.first { + margin-top: 0 !important; +} + +p.rubric { + margin-top: 30px; + font-weight: bold; +} + +img.align-left, figure.align-left, .figure.align-left, object.align-left { + clear: left; + float: left; + margin-right: 1em; +} + +img.align-right, figure.align-right, .figure.align-right, object.align-right { + clear: right; + float: right; + margin-left: 1em; +} + +img.align-center, figure.align-center, .figure.align-center, object.align-center { + display: block; + margin-left: auto; + margin-right: auto; +} + +img.align-default, figure.align-default, .figure.align-default { + display: block; + margin-left: auto; + margin-right: auto; +} + +.align-left { + text-align: left; +} + +.align-center { + text-align: center; +} + +.align-default { + text-align: center; +} + +.align-right { + text-align: right; +} + +/* -- sidebars -------------------------------------------------------------- */ + +div.sidebar, +aside.sidebar { + margin: 0 0 0.5em 1em; + border: 1px solid #ddb; + padding: 7px; + background-color: #ffe; + width: 40%; + float: right; + clear: right; + overflow-x: auto; +} + +p.sidebar-title { + font-weight: bold; +} + +nav.contents, +aside.topic, +div.admonition, div.topic, blockquote { + clear: left; +} + +/* -- topics ---------------------------------------------------------------- */ + +nav.contents, +aside.topic, +div.topic { + border: 1px solid #ccc; + padding: 7px; + margin: 10px 0 10px 0; +} + +p.topic-title { + font-size: 1.1em; + font-weight: bold; + margin-top: 10px; +} + +/* -- admonitions ----------------------------------------------------------- */ + +div.admonition { + margin-top: 10px; + margin-bottom: 10px; + padding: 7px; +} + +div.admonition dt { + font-weight: bold; +} + +p.admonition-title { + margin: 0px 10px 5px 0px; + font-weight: bold; +} + +div.body p.centered { + text-align: center; + margin-top: 25px; +} + +/* -- content of sidebars/topics/admonitions -------------------------------- */ + +div.sidebar > :last-child, +aside.sidebar > :last-child, +nav.contents > :last-child, +aside.topic > :last-child, +div.topic > :last-child, +div.admonition > :last-child { + margin-bottom: 0; +} + +div.sidebar::after, +aside.sidebar::after, +nav.contents::after, +aside.topic::after, +div.topic::after, +div.admonition::after, +blockquote::after { + display: block; + content: ''; + clear: both; +} + +/* -- tables ---------------------------------------------------------------- */ + +table.docutils { + margin-top: 10px; + margin-bottom: 10px; + border: 0; + border-collapse: collapse; +} + +table.align-center { + margin-left: auto; + margin-right: auto; +} + +table.align-default { + margin-left: auto; + margin-right: auto; +} + +table caption span.caption-number { + font-style: italic; +} + +table caption span.caption-text { +} + +table.docutils td, table.docutils th { + padding: 1px 8px 1px 5px; + border-top: 0; + border-left: 0; + border-right: 0; + border-bottom: 1px solid #aaa; +} + +th { + text-align: left; + padding-right: 5px; +} + +table.citation { + border-left: solid 1px gray; + margin-left: 1px; +} + +table.citation td { + border-bottom: none; +} + +th > :first-child, +td > :first-child { + margin-top: 0px; +} + +th > :last-child, +td > :last-child { + margin-bottom: 0px; +} + +/* -- figures --------------------------------------------------------------- */ + +div.figure, figure { + margin: 0.5em; + padding: 0.5em; +} + +div.figure p.caption, figcaption { + padding: 0.3em; +} + +div.figure p.caption span.caption-number, +figcaption span.caption-number { + font-style: italic; +} + +div.figure p.caption span.caption-text, +figcaption span.caption-text { +} + +/* -- field list styles ----------------------------------------------------- */ + +table.field-list td, table.field-list th { + border: 0 !important; +} + +.field-list ul { + margin: 0; + padding-left: 1em; +} + +.field-list p { + margin: 0; +} + +.field-name { + -moz-hyphens: manual; + -ms-hyphens: manual; + -webkit-hyphens: manual; + hyphens: manual; +} + +/* -- hlist styles ---------------------------------------------------------- */ + +table.hlist { + margin: 1em 0; +} + +table.hlist td { + vertical-align: top; +} + +/* -- object description styles --------------------------------------------- */ + +.sig { + font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace; +} + +.sig-name, code.descname { + background-color: transparent; + font-weight: bold; +} + +.sig-name { + font-size: 1.1em; +} + +code.descname { + font-size: 1.2em; +} + +.sig-prename, code.descclassname { + background-color: transparent; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + +.sig-param.n { + font-style: italic; +} + +/* C++ specific styling */ + +.sig-inline.c-texpr, +.sig-inline.cpp-texpr { + font-family: unset; +} + +.sig.c .k, .sig.c .kt, +.sig.cpp .k, .sig.cpp .kt { + color: #0033B3; +} + +.sig.c .m, +.sig.cpp .m { + color: #1750EB; +} + +.sig.c .s, .sig.c .sc, +.sig.cpp .s, .sig.cpp .sc { + color: #067D17; +} + + +/* -- other body styles ----------------------------------------------------- */ + +ol.arabic { + list-style: decimal; +} + +ol.loweralpha { + list-style: lower-alpha; +} + +ol.upperalpha { + list-style: upper-alpha; +} + +ol.lowerroman { + list-style: lower-roman; +} + +ol.upperroman { + list-style: upper-roman; +} + +:not(li) > ol > li:first-child > :first-child, +:not(li) > ul > li:first-child > :first-child { + margin-top: 0px; +} + +:not(li) > ol > li:last-child > :last-child, +:not(li) > ul > li:last-child > :last-child { + margin-bottom: 0px; +} + +ol.simple ol p, +ol.simple ul p, +ul.simple ol p, +ul.simple ul p { + margin-top: 0; +} + +ol.simple > li:not(:first-child) > p, +ul.simple > li:not(:first-child) > p { + margin-top: 0; +} + +ol.simple p, +ul.simple p { + margin-bottom: 0; +} + +aside.footnote > span, +div.citation > span { + float: left; +} +aside.footnote > span:last-of-type, +div.citation > span:last-of-type { + padding-right: 0.5em; +} +aside.footnote > p { + margin-left: 2em; +} +div.citation > p { + margin-left: 4em; +} +aside.footnote > p:last-of-type, +div.citation > p:last-of-type { + margin-bottom: 0em; +} +aside.footnote > p:last-of-type:after, +div.citation > p:last-of-type:after { + content: ""; + clear: both; +} + +dl.field-list { + display: grid; + grid-template-columns: fit-content(30%) auto; +} + +dl.field-list > dt { + font-weight: bold; + word-break: break-word; + padding-left: 0.5em; + padding-right: 5px; +} + +dl.field-list > dd { + padding-left: 0.5em; + margin-top: 0em; + margin-left: 0em; + margin-bottom: 0em; +} + +dl { + margin-bottom: 15px; +} + +dd > :first-child { + margin-top: 0px; +} + +dd ul, dd table { + margin-bottom: 10px; +} + +dd { + margin-top: 3px; + margin-bottom: 10px; + margin-left: 30px; +} + +.sig dd { + margin-top: 0px; + margin-bottom: 0px; +} + +.sig dl { + margin-top: 0px; + margin-bottom: 0px; +} + +dl > dd:last-child, +dl > dd:last-child > :last-child { + margin-bottom: 0; +} + +dt:target, span.highlighted { + background-color: #fbe54e; +} + +rect.highlighted { + fill: #fbe54e; +} + +dl.glossary dt { + font-weight: bold; + font-size: 1.1em; +} + +.versionmodified { + font-style: italic; +} + +.system-message { + background-color: #fda; + padding: 5px; + border: 3px solid red; +} + +.footnote:target { + background-color: #ffa; +} + +.line-block { + display: block; + margin-top: 1em; + margin-bottom: 1em; +} + +.line-block .line-block { + margin-top: 0; + margin-bottom: 0; + margin-left: 1.5em; +} + +.guilabel, .menuselection { + font-family: sans-serif; +} + +.accelerator { + text-decoration: underline; +} + +.classifier { + font-style: oblique; +} + +.classifier:before { + font-style: normal; + margin: 0 0.5em; + content: ":"; + display: inline-block; +} + +abbr, acronym { + border-bottom: dotted 1px; + cursor: help; +} + +.translated { + background-color: rgba(207, 255, 207, 0.2) +} + +.untranslated { + background-color: rgba(255, 207, 207, 0.2) +} + +/* -- code displays --------------------------------------------------------- */ + +pre { + overflow: auto; + overflow-y: hidden; /* fixes display issues on Chrome browsers */ +} + +pre, div[class*="highlight-"] { + clear: both; +} + +span.pre { + -moz-hyphens: none; + -ms-hyphens: none; + -webkit-hyphens: none; + hyphens: none; + white-space: nowrap; +} + +div[class*="highlight-"] { + margin: 1em 0; +} + +td.linenos pre { + border: 0; + background-color: transparent; + color: #aaa; +} + +table.highlighttable { + display: block; +} + +table.highlighttable tbody { + display: block; +} + +table.highlighttable tr { + display: flex; +} + +table.highlighttable td { + margin: 0; + padding: 0; +} + +table.highlighttable td.linenos { + padding-right: 0.5em; +} + +table.highlighttable td.code { + flex: 1; + overflow: hidden; +} + +.highlight .hll { + display: block; +} + +div.highlight pre, +table.highlighttable pre { + margin: 0; +} + +div.code-block-caption + div { + margin-top: 0; +} + +div.code-block-caption { + margin-top: 1em; + padding: 2px 5px; + font-size: small; +} + +div.code-block-caption code { + background-color: transparent; +} + +table.highlighttable td.linenos, +span.linenos, +div.highlight span.gp { /* gp: Generic.Prompt */ + user-select: none; + -webkit-user-select: text; /* Safari fallback only */ + -webkit-user-select: none; /* Chrome/Safari */ + -moz-user-select: none; /* Firefox */ + -ms-user-select: none; /* IE10+ */ +} + +div.code-block-caption span.caption-number { + padding: 0.1em 0.3em; + font-style: italic; +} + +div.code-block-caption span.caption-text { +} + +div.literal-block-wrapper { + margin: 1em 0; +} + +code.xref, a code { + background-color: transparent; + font-weight: bold; +} + +h1 code, h2 code, h3 code, h4 code, h5 code, h6 code { + background-color: transparent; +} + +.viewcode-link { + float: right; +} + +.viewcode-back { + float: right; + font-family: sans-serif; +} + +div.viewcode-block:target { + margin: -1px -10px; + padding: 0 10px; +} + +/* -- math display ---------------------------------------------------------- */ + +img.math { + vertical-align: middle; +} + +div.body div.math p { + text-align: center; +} + +span.eqno { + float: right; +} + +span.eqno a.headerlink { + position: absolute; + z-index: 1; +} + +div.math:hover a.headerlink { + visibility: visible; +} + +/* -- printout stylesheet --------------------------------------------------- */ + +@media print { + div.document, + div.documentwrapper, + div.bodywrapper { + margin: 0 !important; + width: 100%; + } + + div.sphinxsidebar, + div.related, + div.footer, + #top-link { + display: none; + } +} \ No newline at end of file diff --git a/docs/UserGuide/_static/css/badge_only.css b/docs/UserGuide/_static/css/badge_only.css new file mode 100644 index 0000000..88ba55b --- /dev/null +++ b/docs/UserGuide/_static/css/badge_only.css @@ -0,0 +1 @@ +.clearfix{*zoom:1}.clearfix:after,.clearfix:before{display:table;content:""}.clearfix:after{clear:both}@font-face{font-family:FontAwesome;font-style:normal;font-weight:400;src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713?#iefix) format("embedded-opentype"),url(fonts/fontawesome-webfont.woff2?af7ae505a9eed503f8b8e6982036873e) format("woff2"),url(fonts/fontawesome-webfont.woff?fee66e712a8a08eef5805a46892932ad) format("woff"),url(fonts/fontawesome-webfont.ttf?b06871f281fee6b241d60582ae9369b9) format("truetype"),url(fonts/fontawesome-webfont.svg?912ec66d7572ff821749319396470bde#FontAwesome) format("svg")}.fa:before{font-family:FontAwesome;font-style:normal;font-weight:400;line-height:1}.fa:before,a .fa{text-decoration:inherit}.fa:before,a .fa,li .fa{display:inline-block}li .fa-large:before{width:1.875em}ul.fas{list-style-type:none;margin-left:2em;text-indent:-.8em}ul.fas li .fa{width:.8em}ul.fas li .fa-large:before{vertical-align:baseline}.fa-book:before,.icon-book:before{content:"\f02d"}.fa-caret-down:before,.icon-caret-down:before{content:"\f0d7"}.fa-caret-up:before,.icon-caret-up:before{content:"\f0d8"}.fa-caret-left:before,.icon-caret-left:before{content:"\f0d9"}.fa-caret-right:before,.icon-caret-right:before{content:"\f0da"}.rst-versions{position:fixed;bottom:0;left:0;width:300px;color:#fcfcfc;background:#1f1d1d;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;z-index:400}.rst-versions a{color:#2980b9;text-decoration:none}.rst-versions .rst-badge-small{display:none}.rst-versions .rst-current-version{padding:12px;background-color:#272525;display:block;text-align:right;font-size:90%;cursor:pointer;color:#27ae60}.rst-versions .rst-current-version:after{clear:both;content:"";display:block}.rst-versions .rst-current-version .fa{color:#fcfcfc}.rst-versions .rst-current-version .fa-book,.rst-versions .rst-current-version .icon-book{float:left}.rst-versions .rst-current-version.rst-out-of-date{background-color:#e74c3c;color:#fff}.rst-versions .rst-current-version.rst-active-old-version{background-color:#f1c40f;color:#000}.rst-versions.shift-up{height:auto;max-height:100%;overflow-y:scroll}.rst-versions.shift-up .rst-other-versions{display:block}.rst-versions .rst-other-versions{font-size:90%;padding:12px;color:grey;display:none}.rst-versions .rst-other-versions hr{display:block;height:1px;border:0;margin:20px 0;padding:0;border-top:1px solid #413d3d}.rst-versions .rst-other-versions dd{display:inline-block;margin:0}.rst-versions .rst-other-versions dd a{display:inline-block;padding:6px;color:#fcfcfc}.rst-versions .rst-other-versions .rtd-current-item{font-weight:700}.rst-versions.rst-badge{width:auto;bottom:20px;right:20px;left:auto;border:none;max-width:300px;max-height:90%}.rst-versions.rst-badge .fa-book,.rst-versions.rst-badge .icon-book{float:none;line-height:30px}.rst-versions.rst-badge.shift-up .rst-current-version{text-align:right}.rst-versions.rst-badge.shift-up .rst-current-version .fa-book,.rst-versions.rst-badge.shift-up .rst-current-version .icon-book{float:left}.rst-versions.rst-badge>.rst-current-version{width:auto;height:30px;line-height:30px;padding:0 6px;display:block;text-align:center}@media screen and (max-width:768px){.rst-versions{width:85%;display:none}.rst-versions.shift{display:block}}#flyout-search-form{padding:6px} \ No newline at end of file diff --git a/docs/UserGuide/_static/css/fonts/Roboto-Slab-Bold.woff b/docs/UserGuide/_static/css/fonts/Roboto-Slab-Bold.woff new file mode 100644 index 0000000..6cb6000 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/Roboto-Slab-Bold.woff differ diff --git a/docs/UserGuide/_static/css/fonts/Roboto-Slab-Bold.woff2 b/docs/UserGuide/_static/css/fonts/Roboto-Slab-Bold.woff2 new file mode 100644 index 0000000..7059e23 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/Roboto-Slab-Bold.woff2 differ diff --git a/docs/UserGuide/_static/css/fonts/Roboto-Slab-Regular.woff b/docs/UserGuide/_static/css/fonts/Roboto-Slab-Regular.woff new file mode 100644 index 0000000..f815f63 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/Roboto-Slab-Regular.woff differ diff --git a/docs/UserGuide/_static/css/fonts/Roboto-Slab-Regular.woff2 b/docs/UserGuide/_static/css/fonts/Roboto-Slab-Regular.woff2 new file mode 100644 index 0000000..f2c76e5 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/Roboto-Slab-Regular.woff2 differ diff --git a/docs/UserGuide/_static/css/fonts/fontawesome-webfont.eot b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.eot new file mode 100644 index 0000000..e9f60ca Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.eot differ diff --git a/docs/UserGuide/_static/css/fonts/fontawesome-webfont.svg b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.svg new file mode 100644 index 0000000..855c845 --- /dev/null +++ b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.svg @@ -0,0 +1,2671 @@ + + + + +Created by FontForge 20120731 at Mon Oct 24 17:37:40 2016 + By ,,, +Copyright Dave Gandy 2016. All rights reserved. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/UserGuide/_static/css/fonts/fontawesome-webfont.ttf b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.ttf new file mode 100644 index 0000000..35acda2 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.ttf differ diff --git a/docs/UserGuide/_static/css/fonts/fontawesome-webfont.woff b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.woff new file mode 100644 index 0000000..400014a Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.woff differ diff --git a/docs/UserGuide/_static/css/fonts/fontawesome-webfont.woff2 b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.woff2 new file mode 100644 index 0000000..4d13fc6 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/fontawesome-webfont.woff2 differ diff --git a/docs/UserGuide/_static/css/fonts/lato-bold-italic.woff b/docs/UserGuide/_static/css/fonts/lato-bold-italic.woff new file mode 100644 index 0000000..88ad05b Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/lato-bold-italic.woff differ diff --git a/docs/UserGuide/_static/css/fonts/lato-bold-italic.woff2 b/docs/UserGuide/_static/css/fonts/lato-bold-italic.woff2 new file mode 100644 index 0000000..c4e3d80 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/lato-bold-italic.woff2 differ diff --git a/docs/UserGuide/_static/css/fonts/lato-bold.woff b/docs/UserGuide/_static/css/fonts/lato-bold.woff new file mode 100644 index 0000000..c6dff51 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/lato-bold.woff differ diff --git a/docs/UserGuide/_static/css/fonts/lato-bold.woff2 b/docs/UserGuide/_static/css/fonts/lato-bold.woff2 new file mode 100644 index 0000000..bb19504 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/lato-bold.woff2 differ diff --git a/docs/UserGuide/_static/css/fonts/lato-normal-italic.woff b/docs/UserGuide/_static/css/fonts/lato-normal-italic.woff new file mode 100644 index 0000000..76114bc Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/lato-normal-italic.woff differ diff --git a/docs/UserGuide/_static/css/fonts/lato-normal-italic.woff2 b/docs/UserGuide/_static/css/fonts/lato-normal-italic.woff2 new file mode 100644 index 0000000..3404f37 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/lato-normal-italic.woff2 differ diff --git a/docs/UserGuide/_static/css/fonts/lato-normal.woff b/docs/UserGuide/_static/css/fonts/lato-normal.woff new file mode 100644 index 0000000..ae1307f Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/lato-normal.woff differ diff --git a/docs/UserGuide/_static/css/fonts/lato-normal.woff2 b/docs/UserGuide/_static/css/fonts/lato-normal.woff2 new file mode 100644 index 0000000..3bf9843 Binary files /dev/null and b/docs/UserGuide/_static/css/fonts/lato-normal.woff2 differ diff --git a/docs/UserGuide/_static/css/theme.css b/docs/UserGuide/_static/css/theme.css new file mode 100644 index 0000000..0f14f10 --- /dev/null +++ b/docs/UserGuide/_static/css/theme.css @@ -0,0 +1,4 @@ +html{box-sizing:border-box}*,:after,:before{box-sizing:inherit}article,aside,details,figcaption,figure,footer,header,hgroup,nav,section{display:block}audio,canvas,video{display:inline-block;*display:inline;*zoom:1}[hidden],audio:not([controls]){display:none}*{-webkit-box-sizing:border-box;-moz-box-sizing:border-box;box-sizing:border-box}html{font-size:100%;-webkit-text-size-adjust:100%;-ms-text-size-adjust:100%}body{margin:0}a:active,a:hover{outline:0}abbr[title]{border-bottom:1px dotted}b,strong{font-weight:700}blockquote{margin:0}dfn{font-style:italic}ins{background:#ff9;text-decoration:none}ins,mark{color:#000}mark{background:#ff0;font-style:italic;font-weight:700}.rst-content code,.rst-content tt,code,kbd,pre,samp{font-family:monospace,serif;_font-family:courier new,monospace;font-size:1em}pre{white-space:pre}q{quotes:none}q:after,q:before{content:"";content:none}small{font-size:85%}sub,sup{font-size:75%;line-height:0;position:relative;vertical-align:baseline}sup{top:-.5em}sub{bottom:-.25em}dl,ol,ul{margin:0;padding:0;list-style:none;list-style-image:none}li{list-style:none}dd{margin:0}img{border:0;-ms-interpolation-mode:bicubic;vertical-align:middle;max-width:100%}svg:not(:root){overflow:hidden}figure,form{margin:0}label{cursor:pointer}button,input,select,textarea{font-size:100%;margin:0;vertical-align:baseline;*vertical-align:middle}button,input{line-height:normal}button,input[type=button],input[type=reset],input[type=submit]{cursor:pointer;-webkit-appearance:button;*overflow:visible}button[disabled],input[disabled]{cursor:default}input[type=search]{-webkit-appearance:textfield;-moz-box-sizing:content-box;-webkit-box-sizing:content-box;box-sizing:content-box}textarea{resize:vertical}table{border-collapse:collapse;border-spacing:0}td{vertical-align:top}.chromeframe{margin:.2em 0;background:#ccc;color:#000;padding:.2em 0}.ir{display:block;border:0;text-indent:-999em;overflow:hidden;background-color:transparent;background-repeat:no-repeat;text-align:left;direction:ltr;*line-height:0}.ir br{display:none}.hidden{display:none!important;visibility:hidden}.visuallyhidden{border:0;clip:rect(0 0 0 0);height:1px;margin:-1px;overflow:hidden;padding:0;position:absolute;width:1px}.visuallyhidden.focusable:active,.visuallyhidden.focusable:focus{clip:auto;height:auto;margin:0;overflow:visible;position:static;width:auto}.invisible{visibility:hidden}.relative{position:relative}big,small{font-size:100%}@media print{body,html,section{background:none!important}*{box-shadow:none!important;text-shadow:none!important;filter:none!important;-ms-filter:none!important}a,a:visited{text-decoration:underline}.ir a:after,a[href^="#"]:after,a[href^="javascript:"]:after{content:""}blockquote,pre{page-break-inside:avoid}thead{display:table-header-group}img,tr{page-break-inside:avoid}img{max-width:100%!important}@page{margin:.5cm}.rst-content .toctree-wrapper>p.caption,h2,h3,p{orphans:3;widows:3}.rst-content .toctree-wrapper>p.caption,h2,h3{page-break-after:avoid}}.btn,.fa:before,.icon:before,.rst-content .admonition,.rst-content .admonition-title:before,.rst-content .admonition-todo,.rst-content .attention,.rst-content .caution,.rst-content .code-block-caption .headerlink:before,.rst-content .danger,.rst-content .eqno .headerlink:before,.rst-content .error,.rst-content .hint,.rst-content .important,.rst-content .note,.rst-content .seealso,.rst-content .tip,.rst-content .warning,.rst-content code.download span:first-child:before,.rst-content dl dt .headerlink:before,.rst-content h1 .headerlink:before,.rst-content h2 .headerlink:before,.rst-content h3 .headerlink:before,.rst-content h4 .headerlink:before,.rst-content h5 .headerlink:before,.rst-content h6 .headerlink:before,.rst-content p.caption .headerlink:before,.rst-content p .headerlink:before,.rst-content table>caption .headerlink:before,.rst-content tt.download span:first-child:before,.wy-alert,.wy-dropdown .caret:before,.wy-inline-validate.wy-inline-validate-danger .wy-input-context:before,.wy-inline-validate.wy-inline-validate-info .wy-input-context:before,.wy-inline-validate.wy-inline-validate-success .wy-input-context:before,.wy-inline-validate.wy-inline-validate-warning .wy-input-context:before,.wy-menu-vertical li.current>a button.toctree-expand:before,.wy-menu-vertical li.on a button.toctree-expand:before,.wy-menu-vertical li button.toctree-expand:before,input[type=color],input[type=date],input[type=datetime-local],input[type=datetime],input[type=email],input[type=month],input[type=number],input[type=password],input[type=search],input[type=tel],input[type=text],input[type=time],input[type=url],input[type=week],select,textarea{-webkit-font-smoothing:antialiased}.clearfix{*zoom:1}.clearfix:after,.clearfix:before{display:table;content:""}.clearfix:after{clear:both}/*! + * Font Awesome 4.7.0 by @davegandy - http://fontawesome.io - @fontawesome + * License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License) + */@font-face{font-family:FontAwesome;src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713);src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713?#iefix&v=4.7.0) format("embedded-opentype"),url(fonts/fontawesome-webfont.woff2?af7ae505a9eed503f8b8e6982036873e) format("woff2"),url(fonts/fontawesome-webfont.woff?fee66e712a8a08eef5805a46892932ad) format("woff"),url(fonts/fontawesome-webfont.ttf?b06871f281fee6b241d60582ae9369b9) format("truetype"),url(fonts/fontawesome-webfont.svg?912ec66d7572ff821749319396470bde#fontawesomeregular) format("svg");font-weight:400;font-style:normal}.fa,.icon,.rst-content .admonition-title,.rst-content .code-block-caption .headerlink,.rst-content .eqno .headerlink,.rst-content code.download span:first-child,.rst-content dl dt .headerlink,.rst-content h1 .headerlink,.rst-content h2 .headerlink,.rst-content h3 .headerlink,.rst-content h4 .headerlink,.rst-content h5 .headerlink,.rst-content h6 .headerlink,.rst-content p.caption .headerlink,.rst-content p .headerlink,.rst-content table>caption .headerlink,.rst-content tt.download span:first-child,.wy-menu-vertical li.current>a button.toctree-expand,.wy-menu-vertical li.on a button.toctree-expand,.wy-menu-vertical li button.toctree-expand{display:inline-block;font:normal normal normal 14px/1 FontAwesome;font-size:inherit;text-rendering:auto;-webkit-font-smoothing:antialiased;-moz-osx-font-smoothing:grayscale}.fa-lg{font-size:1.33333em;line-height:.75em;vertical-align:-15%}.fa-2x{font-size:2em}.fa-3x{font-size:3em}.fa-4x{font-size:4em}.fa-5x{font-size:5em}.fa-fw{width:1.28571em;text-align:center}.fa-ul{padding-left:0;margin-left:2.14286em;list-style-type:none}.fa-ul>li{position:relative}.fa-li{position:absolute;left:-2.14286em;width:2.14286em;top:.14286em;text-align:center}.fa-li.fa-lg{left:-1.85714em}.fa-border{padding:.2em .25em .15em;border:.08em solid #eee;border-radius:.1em}.fa-pull-left{float:left}.fa-pull-right{float:right}.fa-pull-left.icon,.fa.fa-pull-left,.rst-content .code-block-caption .fa-pull-left.headerlink,.rst-content .eqno .fa-pull-left.headerlink,.rst-content .fa-pull-left.admonition-title,.rst-content code.download span.fa-pull-left:first-child,.rst-content dl dt .fa-pull-left.headerlink,.rst-content h1 .fa-pull-left.headerlink,.rst-content h2 .fa-pull-left.headerlink,.rst-content h3 .fa-pull-left.headerlink,.rst-content h4 .fa-pull-left.headerlink,.rst-content h5 .fa-pull-left.headerlink,.rst-content h6 .fa-pull-left.headerlink,.rst-content p .fa-pull-left.headerlink,.rst-content table>caption .fa-pull-left.headerlink,.rst-content tt.download span.fa-pull-left:first-child,.wy-menu-vertical li.current>a button.fa-pull-left.toctree-expand,.wy-menu-vertical li.on a button.fa-pull-left.toctree-expand,.wy-menu-vertical li button.fa-pull-left.toctree-expand{margin-right:.3em}.fa-pull-right.icon,.fa.fa-pull-right,.rst-content .code-block-caption .fa-pull-right.headerlink,.rst-content .eqno .fa-pull-right.headerlink,.rst-content .fa-pull-right.admonition-title,.rst-content code.download span.fa-pull-right:first-child,.rst-content dl dt .fa-pull-right.headerlink,.rst-content h1 .fa-pull-right.headerlink,.rst-content h2 .fa-pull-right.headerlink,.rst-content h3 .fa-pull-right.headerlink,.rst-content h4 .fa-pull-right.headerlink,.rst-content h5 .fa-pull-right.headerlink,.rst-content h6 .fa-pull-right.headerlink,.rst-content p .fa-pull-right.headerlink,.rst-content table>caption .fa-pull-right.headerlink,.rst-content tt.download span.fa-pull-right:first-child,.wy-menu-vertical li.current>a button.fa-pull-right.toctree-expand,.wy-menu-vertical li.on a button.fa-pull-right.toctree-expand,.wy-menu-vertical li button.fa-pull-right.toctree-expand{margin-left:.3em}.pull-right{float:right}.pull-left{float:left}.fa.pull-left,.pull-left.icon,.rst-content .code-block-caption .pull-left.headerlink,.rst-content .eqno .pull-left.headerlink,.rst-content .pull-left.admonition-title,.rst-content code.download span.pull-left:first-child,.rst-content dl dt .pull-left.headerlink,.rst-content h1 .pull-left.headerlink,.rst-content h2 .pull-left.headerlink,.rst-content h3 .pull-left.headerlink,.rst-content h4 .pull-left.headerlink,.rst-content h5 .pull-left.headerlink,.rst-content h6 .pull-left.headerlink,.rst-content p .pull-left.headerlink,.rst-content table>caption .pull-left.headerlink,.rst-content tt.download span.pull-left:first-child,.wy-menu-vertical li.current>a button.pull-left.toctree-expand,.wy-menu-vertical li.on a button.pull-left.toctree-expand,.wy-menu-vertical li button.pull-left.toctree-expand{margin-right:.3em}.fa.pull-right,.pull-right.icon,.rst-content .code-block-caption .pull-right.headerlink,.rst-content .eqno .pull-right.headerlink,.rst-content .pull-right.admonition-title,.rst-content code.download span.pull-right:first-child,.rst-content dl dt .pull-right.headerlink,.rst-content h1 .pull-right.headerlink,.rst-content h2 .pull-right.headerlink,.rst-content h3 .pull-right.headerlink,.rst-content h4 .pull-right.headerlink,.rst-content h5 .pull-right.headerlink,.rst-content h6 .pull-right.headerlink,.rst-content p .pull-right.headerlink,.rst-content table>caption .pull-right.headerlink,.rst-content tt.download span.pull-right:first-child,.wy-menu-vertical li.current>a button.pull-right.toctree-expand,.wy-menu-vertical li.on a button.pull-right.toctree-expand,.wy-menu-vertical li button.pull-right.toctree-expand{margin-left:.3em}.fa-spin{-webkit-animation:fa-spin 2s linear infinite;animation:fa-spin 2s linear infinite}.fa-pulse{-webkit-animation:fa-spin 1s steps(8) infinite;animation:fa-spin 1s steps(8) infinite}@-webkit-keyframes fa-spin{0%{-webkit-transform:rotate(0deg);transform:rotate(0deg)}to{-webkit-transform:rotate(359deg);transform:rotate(359deg)}}@keyframes fa-spin{0%{-webkit-transform:rotate(0deg);transform:rotate(0deg)}to{-webkit-transform:rotate(359deg);transform:rotate(359deg)}}.fa-rotate-90{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=1)";-webkit-transform:rotate(90deg);-ms-transform:rotate(90deg);transform:rotate(90deg)}.fa-rotate-180{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=2)";-webkit-transform:rotate(180deg);-ms-transform:rotate(180deg);transform:rotate(180deg)}.fa-rotate-270{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=3)";-webkit-transform:rotate(270deg);-ms-transform:rotate(270deg);transform:rotate(270deg)}.fa-flip-horizontal{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=0, mirror=1)";-webkit-transform:scaleX(-1);-ms-transform:scaleX(-1);transform:scaleX(-1)}.fa-flip-vertical{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=2, mirror=1)";-webkit-transform:scaleY(-1);-ms-transform:scaleY(-1);transform:scaleY(-1)}:root .fa-flip-horizontal,:root .fa-flip-vertical,:root .fa-rotate-90,:root .fa-rotate-180,:root .fa-rotate-270{filter:none}.fa-stack{position:relative;display:inline-block;width:2em;height:2em;line-height:2em;vertical-align:middle}.fa-stack-1x,.fa-stack-2x{position:absolute;left:0;width:100%;text-align:center}.fa-stack-1x{line-height:inherit}.fa-stack-2x{font-size:2em}.fa-inverse{color:#fff}.fa-glass:before{content:""}.fa-music:before{content:""}.fa-search:before,.icon-search:before{content:""}.fa-envelope-o:before{content:""}.fa-heart:before{content:""}.fa-star:before{content:""}.fa-star-o:before{content:""}.fa-user:before{content:""}.fa-film:before{content:""}.fa-th-large:before{content:""}.fa-th:before{content:""}.fa-th-list:before{content:""}.fa-check:before{content:""}.fa-close:before,.fa-remove:before,.fa-times:before{content:""}.fa-search-plus:before{content:""}.fa-search-minus:before{content:""}.fa-power-off:before{content:""}.fa-signal:before{content:""}.fa-cog:before,.fa-gear:before{content:""}.fa-trash-o:before{content:""}.fa-home:before,.icon-home:before{content:""}.fa-file-o:before{content:""}.fa-clock-o:before{content:""}.fa-road:before{content:""}.fa-download:before,.rst-content code.download span:first-child:before,.rst-content tt.download span:first-child:before{content:""}.fa-arrow-circle-o-down:before{content:""}.fa-arrow-circle-o-up:before{content:""}.fa-inbox:before{content:""}.fa-play-circle-o:before{content:""}.fa-repeat:before,.fa-rotate-right:before{content:""}.fa-refresh:before{content:""}.fa-list-alt:before{content:""}.fa-lock:before{content:""}.fa-flag:before{content:""}.fa-headphones:before{content:""}.fa-volume-off:before{content:""}.fa-volume-down:before{content:""}.fa-volume-up:before{content:""}.fa-qrcode:before{content:""}.fa-barcode:before{content:""}.fa-tag:before{content:""}.fa-tags:before{content:""}.fa-book:before,.icon-book:before{content:""}.fa-bookmark:before{content:""}.fa-print:before{content:""}.fa-camera:before{content:""}.fa-font:before{content:""}.fa-bold:before{content:""}.fa-italic:before{content:""}.fa-text-height:before{content:""}.fa-text-width:before{content:""}.fa-align-left:before{content:""}.fa-align-center:before{content:""}.fa-align-right:before{content:""}.fa-align-justify:before{content:""}.fa-list:before{content:""}.fa-dedent:before,.fa-outdent:before{content:""}.fa-indent:before{content:""}.fa-video-camera:before{content:""}.fa-image:before,.fa-photo:before,.fa-picture-o:before{content:""}.fa-pencil:before{content:""}.fa-map-marker:before{content:""}.fa-adjust:before{content:""}.fa-tint:before{content:""}.fa-edit:before,.fa-pencil-square-o:before{content:""}.fa-share-square-o:before{content:""}.fa-check-square-o:before{content:""}.fa-arrows:before{content:""}.fa-step-backward:before{content:""}.fa-fast-backward:before{content:""}.fa-backward:before{content:""}.fa-play:before{content:""}.fa-pause:before{content:""}.fa-stop:before{content:""}.fa-forward:before{content:""}.fa-fast-forward:before{content:""}.fa-step-forward:before{content:""}.fa-eject:before{content:""}.fa-chevron-left:before{content:""}.fa-chevron-right:before{content:""}.fa-plus-circle:before{content:""}.fa-minus-circle:before{content:""}.fa-times-circle:before,.wy-inline-validate.wy-inline-validate-danger .wy-input-context:before{content:""}.fa-check-circle:before,.wy-inline-validate.wy-inline-validate-success .wy-input-context:before{content:""}.fa-question-circle:before{content:""}.fa-info-circle:before{content:""}.fa-crosshairs:before{content:""}.fa-times-circle-o:before{content:""}.fa-check-circle-o:before{content:""}.fa-ban:before{content:""}.fa-arrow-left:before{content:""}.fa-arrow-right:before{content:""}.fa-arrow-up:before{content:""}.fa-arrow-down:before{content:""}.fa-mail-forward:before,.fa-share:before{content:""}.fa-expand:before{content:""}.fa-compress:before{content:""}.fa-plus:before{content:""}.fa-minus:before{content:""}.fa-asterisk:before{content:""}.fa-exclamation-circle:before,.rst-content .admonition-title:before,.wy-inline-validate.wy-inline-validate-info .wy-input-context:before,.wy-inline-validate.wy-inline-validate-warning .wy-input-context:before{content:""}.fa-gift:before{content:""}.fa-leaf:before{content:""}.fa-fire:before,.icon-fire:before{content:""}.fa-eye:before{content:""}.fa-eye-slash:before{content:""}.fa-exclamation-triangle:before,.fa-warning:before{content:""}.fa-plane:before{content:""}.fa-calendar:before{content:""}.fa-random:before{content:""}.fa-comment:before{content:""}.fa-magnet:before{content:""}.fa-chevron-up:before{content:""}.fa-chevron-down:before{content:""}.fa-retweet:before{content:""}.fa-shopping-cart:before{content:""}.fa-folder:before{content:""}.fa-folder-open:before{content:""}.fa-arrows-v:before{content:""}.fa-arrows-h:before{content:""}.fa-bar-chart-o:before,.fa-bar-chart:before{content:""}.fa-twitter-square:before{content:""}.fa-facebook-square:before{content:""}.fa-camera-retro:before{content:""}.fa-key:before{content:""}.fa-cogs:before,.fa-gears:before{content:""}.fa-comments:before{content:""}.fa-thumbs-o-up:before{content:""}.fa-thumbs-o-down:before{content:""}.fa-star-half:before{content:""}.fa-heart-o:before{content:""}.fa-sign-out:before{content:""}.fa-linkedin-square:before{content:""}.fa-thumb-tack:before{content:""}.fa-external-link:before{content:""}.fa-sign-in:before{content:""}.fa-trophy:before{content:""}.fa-github-square:before{content:""}.fa-upload:before{content:""}.fa-lemon-o:before{content:""}.fa-phone:before{content:""}.fa-square-o:before{content:""}.fa-bookmark-o:before{content:""}.fa-phone-square:before{content:""}.fa-twitter:before{content:""}.fa-facebook-f:before,.fa-facebook:before{content:""}.fa-github:before,.icon-github:before{content:""}.fa-unlock:before{content:""}.fa-credit-card:before{content:""}.fa-feed:before,.fa-rss:before{content:""}.fa-hdd-o:before{content:""}.fa-bullhorn:before{content:""}.fa-bell:before{content:""}.fa-certificate:before{content:""}.fa-hand-o-right:before{content:""}.fa-hand-o-left:before{content:""}.fa-hand-o-up:before{content:""}.fa-hand-o-down:before{content:""}.fa-arrow-circle-left:before,.icon-circle-arrow-left:before{content:""}.fa-arrow-circle-right:before,.icon-circle-arrow-right:before{content:""}.fa-arrow-circle-up:before{content:""}.fa-arrow-circle-down:before{content:""}.fa-globe:before{content:""}.fa-wrench:before{content:""}.fa-tasks:before{content:""}.fa-filter:before{content:""}.fa-briefcase:before{content:""}.fa-arrows-alt:before{content:""}.fa-group:before,.fa-users:before{content:""}.fa-chain:before,.fa-link:before,.icon-link:before{content:""}.fa-cloud:before{content:""}.fa-flask:before{content:""}.fa-cut:before,.fa-scissors:before{content:""}.fa-copy:before,.fa-files-o:before{content:""}.fa-paperclip:before{content:""}.fa-floppy-o:before,.fa-save:before{content:""}.fa-square:before{content:""}.fa-bars:before,.fa-navicon:before,.fa-reorder:before{content:""}.fa-list-ul:before{content:""}.fa-list-ol:before{content:""}.fa-strikethrough:before{content:""}.fa-underline:before{content:""}.fa-table:before{content:""}.fa-magic:before{content:""}.fa-truck:before{content:""}.fa-pinterest:before{content:""}.fa-pinterest-square:before{content:""}.fa-google-plus-square:before{content:""}.fa-google-plus:before{content:""}.fa-money:before{content:""}.fa-caret-down:before,.icon-caret-down:before,.wy-dropdown .caret:before{content:""}.fa-caret-up:before{content:""}.fa-caret-left:before{content:""}.fa-caret-right:before{content:""}.fa-columns:before{content:""}.fa-sort:before,.fa-unsorted:before{content:""}.fa-sort-desc:before,.fa-sort-down:before{content:""}.fa-sort-asc:before,.fa-sort-up:before{content:""}.fa-envelope:before{content:""}.fa-linkedin:before{content:""}.fa-rotate-left:before,.fa-undo:before{content:""}.fa-gavel:before,.fa-legal:before{content:""}.fa-dashboard:before,.fa-tachometer:before{content:""}.fa-comment-o:before{content:""}.fa-comments-o:before{content:""}.fa-bolt:before,.fa-flash:before{content:""}.fa-sitemap:before{content:""}.fa-umbrella:before{content:""}.fa-clipboard:before,.fa-paste:before{content:""}.fa-lightbulb-o:before{content:""}.fa-exchange:before{content:""}.fa-cloud-download:before{content:""}.fa-cloud-upload:before{content:""}.fa-user-md:before{content:""}.fa-stethoscope:before{content:""}.fa-suitcase:before{content:""}.fa-bell-o:before{content:""}.fa-coffee:before{content:""}.fa-cutlery:before{content:""}.fa-file-text-o:before{content:""}.fa-building-o:before{content:""}.fa-hospital-o:before{content:""}.fa-ambulance:before{content:""}.fa-medkit:before{content:""}.fa-fighter-jet:before{content:""}.fa-beer:before{content:""}.fa-h-square:before{content:""}.fa-plus-square:before{content:""}.fa-angle-double-left:before{content:""}.fa-angle-double-right:before{content:""}.fa-angle-double-up:before{content:""}.fa-angle-double-down:before{content:""}.fa-angle-left:before{content:""}.fa-angle-right:before{content:""}.fa-angle-up:before{content:""}.fa-angle-down:before{content:""}.fa-desktop:before{content:""}.fa-laptop:before{content:""}.fa-tablet:before{content:""}.fa-mobile-phone:before,.fa-mobile:before{content:""}.fa-circle-o:before{content:""}.fa-quote-left:before{content:""}.fa-quote-right:before{content:""}.fa-spinner:before{content:""}.fa-circle:before{content:""}.fa-mail-reply:before,.fa-reply:before{content:""}.fa-github-alt:before{content:""}.fa-folder-o:before{content:""}.fa-folder-open-o:before{content:""}.fa-smile-o:before{content:""}.fa-frown-o:before{content:""}.fa-meh-o:before{content:""}.fa-gamepad:before{content:""}.fa-keyboard-o:before{content:""}.fa-flag-o:before{content:""}.fa-flag-checkered:before{content:""}.fa-terminal:before{content:""}.fa-code:before{content:""}.fa-mail-reply-all:before,.fa-reply-all:before{content:""}.fa-star-half-empty:before,.fa-star-half-full:before,.fa-star-half-o:before{content:""}.fa-location-arrow:before{content:""}.fa-crop:before{content:""}.fa-code-fork:before{content:""}.fa-chain-broken:before,.fa-unlink:before{content:""}.fa-question:before{content:""}.fa-info:before{content:""}.fa-exclamation:before{content:""}.fa-superscript:before{content:""}.fa-subscript:before{content:""}.fa-eraser:before{content:""}.fa-puzzle-piece:before{content:""}.fa-microphone:before{content:""}.fa-microphone-slash:before{content:""}.fa-shield:before{content:""}.fa-calendar-o:before{content:""}.fa-fire-extinguisher:before{content:""}.fa-rocket:before{content:""}.fa-maxcdn:before{content:""}.fa-chevron-circle-left:before{content:""}.fa-chevron-circle-right:before{content:""}.fa-chevron-circle-up:before{content:""}.fa-chevron-circle-down:before{content:""}.fa-html5:before{content:""}.fa-css3:before{content:""}.fa-anchor:before{content:""}.fa-unlock-alt:before{content:""}.fa-bullseye:before{content:""}.fa-ellipsis-h:before{content:""}.fa-ellipsis-v:before{content:""}.fa-rss-square:before{content:""}.fa-play-circle:before{content:""}.fa-ticket:before{content:""}.fa-minus-square:before{content:""}.fa-minus-square-o:before,.wy-menu-vertical li.current>a button.toctree-expand:before,.wy-menu-vertical li.on a button.toctree-expand:before{content:""}.fa-level-up:before{content:""}.fa-level-down:before{content:""}.fa-check-square:before{content:""}.fa-pencil-square:before{content:""}.fa-external-link-square:before{content:""}.fa-share-square:before{content:""}.fa-compass:before{content:""}.fa-caret-square-o-down:before,.fa-toggle-down:before{content:""}.fa-caret-square-o-up:before,.fa-toggle-up:before{content:""}.fa-caret-square-o-right:before,.fa-toggle-right:before{content:""}.fa-eur:before,.fa-euro:before{content:""}.fa-gbp:before{content:""}.fa-dollar:before,.fa-usd:before{content:""}.fa-inr:before,.fa-rupee:before{content:""}.fa-cny:before,.fa-jpy:before,.fa-rmb:before,.fa-yen:before{content:""}.fa-rouble:before,.fa-rub:before,.fa-ruble:before{content:""}.fa-krw:before,.fa-won:before{content:""}.fa-bitcoin:before,.fa-btc:before{content:""}.fa-file:before{content:""}.fa-file-text:before{content:""}.fa-sort-alpha-asc:before{content:""}.fa-sort-alpha-desc:before{content:""}.fa-sort-amount-asc:before{content:""}.fa-sort-amount-desc:before{content:""}.fa-sort-numeric-asc:before{content:""}.fa-sort-numeric-desc:before{content:""}.fa-thumbs-up:before{content:""}.fa-thumbs-down:before{content:""}.fa-youtube-square:before{content:""}.fa-youtube:before{content:""}.fa-xing:before{content:""}.fa-xing-square:before{content:""}.fa-youtube-play:before{content:""}.fa-dropbox:before{content:""}.fa-stack-overflow:before{content:""}.fa-instagram:before{content:""}.fa-flickr:before{content:""}.fa-adn:before{content:""}.fa-bitbucket:before,.icon-bitbucket:before{content:""}.fa-bitbucket-square:before{content:""}.fa-tumblr:before{content:""}.fa-tumblr-square:before{content:""}.fa-long-arrow-down:before{content:""}.fa-long-arrow-up:before{content:""}.fa-long-arrow-left:before{content:""}.fa-long-arrow-right:before{content:""}.fa-apple:before{content:""}.fa-windows:before{content:""}.fa-android:before{content:""}.fa-linux:before{content:""}.fa-dribbble:before{content:""}.fa-skype:before{content:""}.fa-foursquare:before{content:""}.fa-trello:before{content:""}.fa-female:before{content:""}.fa-male:before{content:""}.fa-gittip:before,.fa-gratipay:before{content:""}.fa-sun-o:before{content:""}.fa-moon-o:before{content:""}.fa-archive:before{content:""}.fa-bug:before{content:""}.fa-vk:before{content:""}.fa-weibo:before{content:""}.fa-renren:before{content:""}.fa-pagelines:before{content:""}.fa-stack-exchange:before{content:""}.fa-arrow-circle-o-right:before{content:""}.fa-arrow-circle-o-left:before{content:""}.fa-caret-square-o-left:before,.fa-toggle-left:before{content:""}.fa-dot-circle-o:before{content:""}.fa-wheelchair:before{content:""}.fa-vimeo-square:before{content:""}.fa-try:before,.fa-turkish-lira:before{content:""}.fa-plus-square-o:before,.wy-menu-vertical li button.toctree-expand:before{content:""}.fa-space-shuttle:before{content:""}.fa-slack:before{content:""}.fa-envelope-square:before{content:""}.fa-wordpress:before{content:""}.fa-openid:before{content:""}.fa-bank:before,.fa-institution:before,.fa-university:before{content:""}.fa-graduation-cap:before,.fa-mortar-board:before{content:""}.fa-yahoo:before{content:""}.fa-google:before{content:""}.fa-reddit:before{content:""}.fa-reddit-square:before{content:""}.fa-stumbleupon-circle:before{content:""}.fa-stumbleupon:before{content:""}.fa-delicious:before{content:""}.fa-digg:before{content:""}.fa-pied-piper-pp:before{content:""}.fa-pied-piper-alt:before{content:""}.fa-drupal:before{content:""}.fa-joomla:before{content:""}.fa-language:before{content:""}.fa-fax:before{content:""}.fa-building:before{content:""}.fa-child:before{content:""}.fa-paw:before{content:""}.fa-spoon:before{content:""}.fa-cube:before{content:""}.fa-cubes:before{content:""}.fa-behance:before{content:""}.fa-behance-square:before{content:""}.fa-steam:before{content:""}.fa-steam-square:before{content:""}.fa-recycle:before{content:""}.fa-automobile:before,.fa-car:before{content:""}.fa-cab:before,.fa-taxi:before{content:""}.fa-tree:before{content:""}.fa-spotify:before{content:""}.fa-deviantart:before{content:""}.fa-soundcloud:before{content:""}.fa-database:before{content:""}.fa-file-pdf-o:before{content:""}.fa-file-word-o:before{content:""}.fa-file-excel-o:before{content:""}.fa-file-powerpoint-o:before{content:""}.fa-file-image-o:before,.fa-file-photo-o:before,.fa-file-picture-o:before{content:""}.fa-file-archive-o:before,.fa-file-zip-o:before{content:""}.fa-file-audio-o:before,.fa-file-sound-o:before{content:""}.fa-file-movie-o:before,.fa-file-video-o:before{content:""}.fa-file-code-o:before{content:""}.fa-vine:before{content:""}.fa-codepen:before{content:""}.fa-jsfiddle:before{content:""}.fa-life-bouy:before,.fa-life-buoy:before,.fa-life-ring:before,.fa-life-saver:before,.fa-support:before{content:""}.fa-circle-o-notch:before{content:""}.fa-ra:before,.fa-rebel:before,.fa-resistance:before{content:""}.fa-empire:before,.fa-ge:before{content:""}.fa-git-square:before{content:""}.fa-git:before{content:""}.fa-hacker-news:before,.fa-y-combinator-square:before,.fa-yc-square:before{content:""}.fa-tencent-weibo:before{content:""}.fa-qq:before{content:""}.fa-wechat:before,.fa-weixin:before{content:""}.fa-paper-plane:before,.fa-send:before{content:""}.fa-paper-plane-o:before,.fa-send-o:before{content:""}.fa-history:before{content:""}.fa-circle-thin:before{content:""}.fa-header:before{content:""}.fa-paragraph:before{content:""}.fa-sliders:before{content:""}.fa-share-alt:before{content:""}.fa-share-alt-square:before{content:""}.fa-bomb:before{content:""}.fa-futbol-o:before,.fa-soccer-ball-o:before{content:""}.fa-tty:before{content:""}.fa-binoculars:before{content:""}.fa-plug:before{content:""}.fa-slideshare:before{content:""}.fa-twitch:before{content:""}.fa-yelp:before{content:""}.fa-newspaper-o:before{content:""}.fa-wifi:before{content:""}.fa-calculator:before{content:""}.fa-paypal:before{content:""}.fa-google-wallet:before{content:""}.fa-cc-visa:before{content:""}.fa-cc-mastercard:before{content:""}.fa-cc-discover:before{content:""}.fa-cc-amex:before{content:""}.fa-cc-paypal:before{content:""}.fa-cc-stripe:before{content:""}.fa-bell-slash:before{content:""}.fa-bell-slash-o:before{content:""}.fa-trash:before{content:""}.fa-copyright:before{content:""}.fa-at:before{content:""}.fa-eyedropper:before{content:""}.fa-paint-brush:before{content:""}.fa-birthday-cake:before{content:""}.fa-area-chart:before{content:""}.fa-pie-chart:before{content:""}.fa-line-chart:before{content:""}.fa-lastfm:before{content:""}.fa-lastfm-square:before{content:""}.fa-toggle-off:before{content:""}.fa-toggle-on:before{content:""}.fa-bicycle:before{content:""}.fa-bus:before{content:""}.fa-ioxhost:before{content:""}.fa-angellist:before{content:""}.fa-cc:before{content:""}.fa-ils:before,.fa-shekel:before,.fa-sheqel:before{content:""}.fa-meanpath:before{content:""}.fa-buysellads:before{content:""}.fa-connectdevelop:before{content:""}.fa-dashcube:before{content:""}.fa-forumbee:before{content:""}.fa-leanpub:before{content:""}.fa-sellsy:before{content:""}.fa-shirtsinbulk:before{content:""}.fa-simplybuilt:before{content:""}.fa-skyatlas:before{content:""}.fa-cart-plus:before{content:""}.fa-cart-arrow-down:before{content:""}.fa-diamond:before{content:""}.fa-ship:before{content:""}.fa-user-secret:before{content:""}.fa-motorcycle:before{content:""}.fa-street-view:before{content:""}.fa-heartbeat:before{content:""}.fa-venus:before{content:""}.fa-mars:before{content:""}.fa-mercury:before{content:""}.fa-intersex:before,.fa-transgender:before{content:""}.fa-transgender-alt:before{content:""}.fa-venus-double:before{content:""}.fa-mars-double:before{content:""}.fa-venus-mars:before{content:""}.fa-mars-stroke:before{content:""}.fa-mars-stroke-v:before{content:""}.fa-mars-stroke-h:before{content:""}.fa-neuter:before{content:""}.fa-genderless:before{content:""}.fa-facebook-official:before{content:""}.fa-pinterest-p:before{content:""}.fa-whatsapp:before{content:""}.fa-server:before{content:""}.fa-user-plus:before{content:""}.fa-user-times:before{content:""}.fa-bed:before,.fa-hotel:before{content:""}.fa-viacoin:before{content:""}.fa-train:before{content:""}.fa-subway:before{content:""}.fa-medium:before{content:""}.fa-y-combinator:before,.fa-yc:before{content:""}.fa-optin-monster:before{content:""}.fa-opencart:before{content:""}.fa-expeditedssl:before{content:""}.fa-battery-4:before,.fa-battery-full:before,.fa-battery:before{content:""}.fa-battery-3:before,.fa-battery-three-quarters:before{content:""}.fa-battery-2:before,.fa-battery-half:before{content:""}.fa-battery-1:before,.fa-battery-quarter:before{content:""}.fa-battery-0:before,.fa-battery-empty:before{content:""}.fa-mouse-pointer:before{content:""}.fa-i-cursor:before{content:""}.fa-object-group:before{content:""}.fa-object-ungroup:before{content:""}.fa-sticky-note:before{content:""}.fa-sticky-note-o:before{content:""}.fa-cc-jcb:before{content:""}.fa-cc-diners-club:before{content:""}.fa-clone:before{content:""}.fa-balance-scale:before{content:""}.fa-hourglass-o:before{content:""}.fa-hourglass-1:before,.fa-hourglass-start:before{content:""}.fa-hourglass-2:before,.fa-hourglass-half:before{content:""}.fa-hourglass-3:before,.fa-hourglass-end:before{content:""}.fa-hourglass:before{content:""}.fa-hand-grab-o:before,.fa-hand-rock-o:before{content:""}.fa-hand-paper-o:before,.fa-hand-stop-o:before{content:""}.fa-hand-scissors-o:before{content:""}.fa-hand-lizard-o:before{content:""}.fa-hand-spock-o:before{content:""}.fa-hand-pointer-o:before{content:""}.fa-hand-peace-o:before{content:""}.fa-trademark:before{content:""}.fa-registered:before{content:""}.fa-creative-commons:before{content:""}.fa-gg:before{content:""}.fa-gg-circle:before{content:""}.fa-tripadvisor:before{content:""}.fa-odnoklassniki:before{content:""}.fa-odnoklassniki-square:before{content:""}.fa-get-pocket:before{content:""}.fa-wikipedia-w:before{content:""}.fa-safari:before{content:""}.fa-chrome:before{content:""}.fa-firefox:before{content:""}.fa-opera:before{content:""}.fa-internet-explorer:before{content:""}.fa-television:before,.fa-tv:before{content:""}.fa-contao:before{content:""}.fa-500px:before{content:""}.fa-amazon:before{content:""}.fa-calendar-plus-o:before{content:""}.fa-calendar-minus-o:before{content:""}.fa-calendar-times-o:before{content:""}.fa-calendar-check-o:before{content:""}.fa-industry:before{content:""}.fa-map-pin:before{content:""}.fa-map-signs:before{content:""}.fa-map-o:before{content:""}.fa-map:before{content:""}.fa-commenting:before{content:""}.fa-commenting-o:before{content:""}.fa-houzz:before{content:""}.fa-vimeo:before{content:""}.fa-black-tie:before{content:""}.fa-fonticons:before{content:""}.fa-reddit-alien:before{content:""}.fa-edge:before{content:""}.fa-credit-card-alt:before{content:""}.fa-codiepie:before{content:""}.fa-modx:before{content:""}.fa-fort-awesome:before{content:""}.fa-usb:before{content:""}.fa-product-hunt:before{content:""}.fa-mixcloud:before{content:""}.fa-scribd:before{content:""}.fa-pause-circle:before{content:""}.fa-pause-circle-o:before{content:""}.fa-stop-circle:before{content:""}.fa-stop-circle-o:before{content:""}.fa-shopping-bag:before{content:""}.fa-shopping-basket:before{content:""}.fa-hashtag:before{content:""}.fa-bluetooth:before{content:""}.fa-bluetooth-b:before{content:""}.fa-percent:before{content:""}.fa-gitlab:before,.icon-gitlab:before{content:""}.fa-wpbeginner:before{content:""}.fa-wpforms:before{content:""}.fa-envira:before{content:""}.fa-universal-access:before{content:""}.fa-wheelchair-alt:before{content:""}.fa-question-circle-o:before{content:""}.fa-blind:before{content:""}.fa-audio-description:before{content:""}.fa-volume-control-phone:before{content:""}.fa-braille:before{content:""}.fa-assistive-listening-systems:before{content:""}.fa-american-sign-language-interpreting:before,.fa-asl-interpreting:before{content:""}.fa-deaf:before,.fa-deafness:before,.fa-hard-of-hearing:before{content:""}.fa-glide:before{content:""}.fa-glide-g:before{content:""}.fa-sign-language:before,.fa-signing:before{content:""}.fa-low-vision:before{content:""}.fa-viadeo:before{content:""}.fa-viadeo-square:before{content:""}.fa-snapchat:before{content:""}.fa-snapchat-ghost:before{content:""}.fa-snapchat-square:before{content:""}.fa-pied-piper:before{content:""}.fa-first-order:before{content:""}.fa-yoast:before{content:""}.fa-themeisle:before{content:""}.fa-google-plus-circle:before,.fa-google-plus-official:before{content:""}.fa-fa:before,.fa-font-awesome:before{content:""}.fa-handshake-o:before{content:""}.fa-envelope-open:before{content:""}.fa-envelope-open-o:before{content:""}.fa-linode:before{content:""}.fa-address-book:before{content:""}.fa-address-book-o:before{content:""}.fa-address-card:before,.fa-vcard:before{content:""}.fa-address-card-o:before,.fa-vcard-o:before{content:""}.fa-user-circle:before{content:""}.fa-user-circle-o:before{content:""}.fa-user-o:before{content:""}.fa-id-badge:before{content:""}.fa-drivers-license:before,.fa-id-card:before{content:""}.fa-drivers-license-o:before,.fa-id-card-o:before{content:""}.fa-quora:before{content:""}.fa-free-code-camp:before{content:""}.fa-telegram:before{content:""}.fa-thermometer-4:before,.fa-thermometer-full:before,.fa-thermometer:before{content:""}.fa-thermometer-3:before,.fa-thermometer-three-quarters:before{content:""}.fa-thermometer-2:before,.fa-thermometer-half:before{content:""}.fa-thermometer-1:before,.fa-thermometer-quarter:before{content:""}.fa-thermometer-0:before,.fa-thermometer-empty:before{content:""}.fa-shower:before{content:""}.fa-bath:before,.fa-bathtub:before,.fa-s15:before{content:""}.fa-podcast:before{content:""}.fa-window-maximize:before{content:""}.fa-window-minimize:before{content:""}.fa-window-restore:before{content:""}.fa-times-rectangle:before,.fa-window-close:before{content:""}.fa-times-rectangle-o:before,.fa-window-close-o:before{content:""}.fa-bandcamp:before{content:""}.fa-grav:before{content:""}.fa-etsy:before{content:""}.fa-imdb:before{content:""}.fa-ravelry:before{content:""}.fa-eercast:before{content:""}.fa-microchip:before{content:""}.fa-snowflake-o:before{content:""}.fa-superpowers:before{content:""}.fa-wpexplorer:before{content:""}.fa-meetup:before{content:""}.sr-only{position:absolute;width:1px;height:1px;padding:0;margin:-1px;overflow:hidden;clip:rect(0,0,0,0);border:0}.sr-only-focusable:active,.sr-only-focusable:focus{position:static;width:auto;height:auto;margin:0;overflow:visible;clip:auto}.fa,.icon,.rst-content .admonition-title,.rst-content .code-block-caption .headerlink,.rst-content .eqno .headerlink,.rst-content code.download span:first-child,.rst-content dl dt .headerlink,.rst-content h1 .headerlink,.rst-content h2 .headerlink,.rst-content h3 .headerlink,.rst-content h4 .headerlink,.rst-content h5 .headerlink,.rst-content h6 .headerlink,.rst-content p.caption .headerlink,.rst-content p .headerlink,.rst-content table>caption .headerlink,.rst-content tt.download span:first-child,.wy-dropdown .caret,.wy-inline-validate.wy-inline-validate-danger .wy-input-context,.wy-inline-validate.wy-inline-validate-info .wy-input-context,.wy-inline-validate.wy-inline-validate-success .wy-input-context,.wy-inline-validate.wy-inline-validate-warning .wy-input-context,.wy-menu-vertical li.current>a button.toctree-expand,.wy-menu-vertical li.on a button.toctree-expand,.wy-menu-vertical li button.toctree-expand{font-family:inherit}.fa:before,.icon:before,.rst-content .admonition-title:before,.rst-content .code-block-caption .headerlink:before,.rst-content .eqno .headerlink:before,.rst-content code.download span:first-child:before,.rst-content dl dt .headerlink:before,.rst-content h1 .headerlink:before,.rst-content h2 .headerlink:before,.rst-content h3 .headerlink:before,.rst-content h4 .headerlink:before,.rst-content h5 .headerlink:before,.rst-content h6 .headerlink:before,.rst-content p.caption .headerlink:before,.rst-content p .headerlink:before,.rst-content table>caption .headerlink:before,.rst-content tt.download span:first-child:before,.wy-dropdown .caret:before,.wy-inline-validate.wy-inline-validate-danger .wy-input-context:before,.wy-inline-validate.wy-inline-validate-info .wy-input-context:before,.wy-inline-validate.wy-inline-validate-success .wy-input-context:before,.wy-inline-validate.wy-inline-validate-warning .wy-input-context:before,.wy-menu-vertical li.current>a button.toctree-expand:before,.wy-menu-vertical li.on a button.toctree-expand:before,.wy-menu-vertical li button.toctree-expand:before{font-family:FontAwesome;display:inline-block;font-style:normal;font-weight:400;line-height:1;text-decoration:inherit}.rst-content .code-block-caption a .headerlink,.rst-content .eqno a .headerlink,.rst-content a .admonition-title,.rst-content code.download a span:first-child,.rst-content dl dt a .headerlink,.rst-content h1 a .headerlink,.rst-content h2 a .headerlink,.rst-content h3 a .headerlink,.rst-content h4 a .headerlink,.rst-content h5 a .headerlink,.rst-content h6 a .headerlink,.rst-content p.caption a .headerlink,.rst-content p a .headerlink,.rst-content table>caption a .headerlink,.rst-content tt.download a span:first-child,.wy-menu-vertical li.current>a button.toctree-expand,.wy-menu-vertical li.on a button.toctree-expand,.wy-menu-vertical li a button.toctree-expand,a .fa,a .icon,a .rst-content .admonition-title,a .rst-content .code-block-caption .headerlink,a .rst-content .eqno .headerlink,a .rst-content code.download span:first-child,a .rst-content dl dt .headerlink,a .rst-content h1 .headerlink,a .rst-content h2 .headerlink,a .rst-content h3 .headerlink,a .rst-content h4 .headerlink,a .rst-content h5 .headerlink,a .rst-content h6 .headerlink,a .rst-content p.caption .headerlink,a .rst-content p .headerlink,a .rst-content table>caption .headerlink,a .rst-content tt.download span:first-child,a .wy-menu-vertical li button.toctree-expand{display:inline-block;text-decoration:inherit}.btn .fa,.btn .icon,.btn .rst-content .admonition-title,.btn .rst-content .code-block-caption .headerlink,.btn .rst-content .eqno .headerlink,.btn .rst-content code.download span:first-child,.btn .rst-content dl dt .headerlink,.btn .rst-content h1 .headerlink,.btn .rst-content h2 .headerlink,.btn .rst-content h3 .headerlink,.btn .rst-content h4 .headerlink,.btn .rst-content h5 .headerlink,.btn .rst-content h6 .headerlink,.btn .rst-content p .headerlink,.btn .rst-content table>caption .headerlink,.btn .rst-content tt.download span:first-child,.btn .wy-menu-vertical li.current>a button.toctree-expand,.btn .wy-menu-vertical li.on a button.toctree-expand,.btn .wy-menu-vertical li button.toctree-expand,.nav .fa,.nav .icon,.nav .rst-content .admonition-title,.nav .rst-content .code-block-caption .headerlink,.nav .rst-content .eqno .headerlink,.nav .rst-content code.download span:first-child,.nav .rst-content dl dt .headerlink,.nav .rst-content h1 .headerlink,.nav .rst-content h2 .headerlink,.nav .rst-content h3 .headerlink,.nav .rst-content h4 .headerlink,.nav .rst-content h5 .headerlink,.nav .rst-content h6 .headerlink,.nav .rst-content p .headerlink,.nav .rst-content table>caption .headerlink,.nav .rst-content tt.download span:first-child,.nav .wy-menu-vertical li.current>a button.toctree-expand,.nav .wy-menu-vertical li.on a button.toctree-expand,.nav .wy-menu-vertical li button.toctree-expand,.rst-content .btn .admonition-title,.rst-content .code-block-caption .btn .headerlink,.rst-content .code-block-caption .nav .headerlink,.rst-content .eqno .btn .headerlink,.rst-content .eqno .nav .headerlink,.rst-content .nav .admonition-title,.rst-content code.download .btn span:first-child,.rst-content code.download .nav span:first-child,.rst-content dl dt .btn .headerlink,.rst-content dl dt .nav .headerlink,.rst-content h1 .btn .headerlink,.rst-content h1 .nav .headerlink,.rst-content h2 .btn .headerlink,.rst-content h2 .nav .headerlink,.rst-content h3 .btn .headerlink,.rst-content h3 .nav .headerlink,.rst-content h4 .btn .headerlink,.rst-content h4 .nav .headerlink,.rst-content h5 .btn .headerlink,.rst-content h5 .nav .headerlink,.rst-content h6 .btn .headerlink,.rst-content h6 .nav .headerlink,.rst-content p .btn .headerlink,.rst-content p .nav .headerlink,.rst-content table>caption .btn .headerlink,.rst-content table>caption .nav .headerlink,.rst-content tt.download .btn span:first-child,.rst-content tt.download .nav span:first-child,.wy-menu-vertical li .btn button.toctree-expand,.wy-menu-vertical li.current>a .btn button.toctree-expand,.wy-menu-vertical li.current>a .nav button.toctree-expand,.wy-menu-vertical li .nav button.toctree-expand,.wy-menu-vertical li.on a .btn button.toctree-expand,.wy-menu-vertical li.on a .nav button.toctree-expand{display:inline}.btn .fa-large.icon,.btn .fa.fa-large,.btn .rst-content .code-block-caption .fa-large.headerlink,.btn .rst-content .eqno .fa-large.headerlink,.btn .rst-content .fa-large.admonition-title,.btn .rst-content code.download span.fa-large:first-child,.btn .rst-content dl dt .fa-large.headerlink,.btn .rst-content h1 .fa-large.headerlink,.btn .rst-content h2 .fa-large.headerlink,.btn .rst-content h3 .fa-large.headerlink,.btn .rst-content h4 .fa-large.headerlink,.btn .rst-content h5 .fa-large.headerlink,.btn .rst-content h6 .fa-large.headerlink,.btn .rst-content p .fa-large.headerlink,.btn .rst-content table>caption .fa-large.headerlink,.btn .rst-content tt.download span.fa-large:first-child,.btn .wy-menu-vertical li button.fa-large.toctree-expand,.nav .fa-large.icon,.nav .fa.fa-large,.nav .rst-content .code-block-caption .fa-large.headerlink,.nav .rst-content .eqno .fa-large.headerlink,.nav .rst-content .fa-large.admonition-title,.nav .rst-content code.download span.fa-large:first-child,.nav .rst-content dl dt .fa-large.headerlink,.nav .rst-content h1 .fa-large.headerlink,.nav .rst-content h2 .fa-large.headerlink,.nav .rst-content h3 .fa-large.headerlink,.nav .rst-content h4 .fa-large.headerlink,.nav .rst-content h5 .fa-large.headerlink,.nav .rst-content h6 .fa-large.headerlink,.nav .rst-content p .fa-large.headerlink,.nav .rst-content table>caption .fa-large.headerlink,.nav .rst-content tt.download span.fa-large:first-child,.nav .wy-menu-vertical li button.fa-large.toctree-expand,.rst-content .btn .fa-large.admonition-title,.rst-content .code-block-caption .btn .fa-large.headerlink,.rst-content .code-block-caption .nav .fa-large.headerlink,.rst-content .eqno .btn .fa-large.headerlink,.rst-content .eqno .nav .fa-large.headerlink,.rst-content .nav .fa-large.admonition-title,.rst-content code.download .btn span.fa-large:first-child,.rst-content code.download .nav span.fa-large:first-child,.rst-content dl dt .btn .fa-large.headerlink,.rst-content dl dt .nav .fa-large.headerlink,.rst-content h1 .btn .fa-large.headerlink,.rst-content h1 .nav .fa-large.headerlink,.rst-content h2 .btn .fa-large.headerlink,.rst-content h2 .nav .fa-large.headerlink,.rst-content h3 .btn .fa-large.headerlink,.rst-content h3 .nav .fa-large.headerlink,.rst-content h4 .btn .fa-large.headerlink,.rst-content h4 .nav .fa-large.headerlink,.rst-content h5 .btn .fa-large.headerlink,.rst-content h5 .nav .fa-large.headerlink,.rst-content h6 .btn .fa-large.headerlink,.rst-content h6 .nav .fa-large.headerlink,.rst-content p .btn .fa-large.headerlink,.rst-content p .nav .fa-large.headerlink,.rst-content table>caption .btn .fa-large.headerlink,.rst-content table>caption .nav .fa-large.headerlink,.rst-content tt.download .btn span.fa-large:first-child,.rst-content tt.download .nav span.fa-large:first-child,.wy-menu-vertical li .btn button.fa-large.toctree-expand,.wy-menu-vertical li .nav button.fa-large.toctree-expand{line-height:.9em}.btn .fa-spin.icon,.btn .fa.fa-spin,.btn .rst-content .code-block-caption .fa-spin.headerlink,.btn .rst-content .eqno .fa-spin.headerlink,.btn .rst-content .fa-spin.admonition-title,.btn .rst-content code.download span.fa-spin:first-child,.btn .rst-content dl dt .fa-spin.headerlink,.btn .rst-content h1 .fa-spin.headerlink,.btn .rst-content h2 .fa-spin.headerlink,.btn .rst-content h3 .fa-spin.headerlink,.btn .rst-content h4 .fa-spin.headerlink,.btn .rst-content h5 .fa-spin.headerlink,.btn .rst-content h6 .fa-spin.headerlink,.btn .rst-content p .fa-spin.headerlink,.btn .rst-content table>caption .fa-spin.headerlink,.btn .rst-content tt.download span.fa-spin:first-child,.btn .wy-menu-vertical li button.fa-spin.toctree-expand,.nav .fa-spin.icon,.nav .fa.fa-spin,.nav .rst-content .code-block-caption .fa-spin.headerlink,.nav .rst-content .eqno .fa-spin.headerlink,.nav .rst-content .fa-spin.admonition-title,.nav .rst-content code.download span.fa-spin:first-child,.nav .rst-content dl dt .fa-spin.headerlink,.nav .rst-content h1 .fa-spin.headerlink,.nav .rst-content h2 .fa-spin.headerlink,.nav .rst-content h3 .fa-spin.headerlink,.nav .rst-content h4 .fa-spin.headerlink,.nav .rst-content h5 .fa-spin.headerlink,.nav .rst-content h6 .fa-spin.headerlink,.nav .rst-content p .fa-spin.headerlink,.nav .rst-content table>caption .fa-spin.headerlink,.nav .rst-content tt.download span.fa-spin:first-child,.nav .wy-menu-vertical li button.fa-spin.toctree-expand,.rst-content .btn .fa-spin.admonition-title,.rst-content .code-block-caption .btn .fa-spin.headerlink,.rst-content .code-block-caption .nav .fa-spin.headerlink,.rst-content .eqno .btn .fa-spin.headerlink,.rst-content .eqno .nav .fa-spin.headerlink,.rst-content .nav .fa-spin.admonition-title,.rst-content code.download .btn span.fa-spin:first-child,.rst-content code.download .nav span.fa-spin:first-child,.rst-content dl dt .btn .fa-spin.headerlink,.rst-content dl dt .nav .fa-spin.headerlink,.rst-content h1 .btn .fa-spin.headerlink,.rst-content h1 .nav .fa-spin.headerlink,.rst-content h2 .btn .fa-spin.headerlink,.rst-content h2 .nav .fa-spin.headerlink,.rst-content h3 .btn .fa-spin.headerlink,.rst-content h3 .nav .fa-spin.headerlink,.rst-content h4 .btn .fa-spin.headerlink,.rst-content h4 .nav .fa-spin.headerlink,.rst-content h5 .btn .fa-spin.headerlink,.rst-content h5 .nav .fa-spin.headerlink,.rst-content h6 .btn .fa-spin.headerlink,.rst-content h6 .nav .fa-spin.headerlink,.rst-content p .btn .fa-spin.headerlink,.rst-content p .nav .fa-spin.headerlink,.rst-content table>caption .btn .fa-spin.headerlink,.rst-content table>caption .nav .fa-spin.headerlink,.rst-content tt.download .btn span.fa-spin:first-child,.rst-content tt.download .nav span.fa-spin:first-child,.wy-menu-vertical li .btn button.fa-spin.toctree-expand,.wy-menu-vertical li .nav button.fa-spin.toctree-expand{display:inline-block}.btn.fa:before,.btn.icon:before,.rst-content .btn.admonition-title:before,.rst-content .code-block-caption .btn.headerlink:before,.rst-content .eqno .btn.headerlink:before,.rst-content code.download span.btn:first-child:before,.rst-content dl dt .btn.headerlink:before,.rst-content h1 .btn.headerlink:before,.rst-content h2 .btn.headerlink:before,.rst-content h3 .btn.headerlink:before,.rst-content h4 .btn.headerlink:before,.rst-content h5 .btn.headerlink:before,.rst-content h6 .btn.headerlink:before,.rst-content p .btn.headerlink:before,.rst-content table>caption .btn.headerlink:before,.rst-content tt.download span.btn:first-child:before,.wy-menu-vertical li button.btn.toctree-expand:before{opacity:.5;-webkit-transition:opacity .05s ease-in;-moz-transition:opacity .05s ease-in;transition:opacity .05s ease-in}.btn.fa:hover:before,.btn.icon:hover:before,.rst-content .btn.admonition-title:hover:before,.rst-content .code-block-caption .btn.headerlink:hover:before,.rst-content .eqno .btn.headerlink:hover:before,.rst-content code.download span.btn:first-child:hover:before,.rst-content dl dt .btn.headerlink:hover:before,.rst-content h1 .btn.headerlink:hover:before,.rst-content h2 .btn.headerlink:hover:before,.rst-content h3 .btn.headerlink:hover:before,.rst-content h4 .btn.headerlink:hover:before,.rst-content h5 .btn.headerlink:hover:before,.rst-content h6 .btn.headerlink:hover:before,.rst-content p .btn.headerlink:hover:before,.rst-content table>caption .btn.headerlink:hover:before,.rst-content tt.download span.btn:first-child:hover:before,.wy-menu-vertical li button.btn.toctree-expand:hover:before{opacity:1}.btn-mini .fa:before,.btn-mini .icon:before,.btn-mini .rst-content .admonition-title:before,.btn-mini .rst-content .code-block-caption .headerlink:before,.btn-mini .rst-content .eqno .headerlink:before,.btn-mini .rst-content code.download span:first-child:before,.btn-mini .rst-content dl dt .headerlink:before,.btn-mini .rst-content h1 .headerlink:before,.btn-mini .rst-content h2 .headerlink:before,.btn-mini .rst-content h3 .headerlink:before,.btn-mini .rst-content h4 .headerlink:before,.btn-mini .rst-content h5 .headerlink:before,.btn-mini .rst-content h6 .headerlink:before,.btn-mini .rst-content p .headerlink:before,.btn-mini .rst-content table>caption .headerlink:before,.btn-mini .rst-content tt.download span:first-child:before,.btn-mini .wy-menu-vertical li button.toctree-expand:before,.rst-content .btn-mini .admonition-title:before,.rst-content .code-block-caption .btn-mini .headerlink:before,.rst-content .eqno .btn-mini .headerlink:before,.rst-content code.download .btn-mini span:first-child:before,.rst-content dl dt .btn-mini .headerlink:before,.rst-content h1 .btn-mini .headerlink:before,.rst-content h2 .btn-mini .headerlink:before,.rst-content h3 .btn-mini .headerlink:before,.rst-content h4 .btn-mini .headerlink:before,.rst-content h5 .btn-mini .headerlink:before,.rst-content h6 .btn-mini .headerlink:before,.rst-content p .btn-mini .headerlink:before,.rst-content table>caption .btn-mini .headerlink:before,.rst-content tt.download .btn-mini span:first-child:before,.wy-menu-vertical li .btn-mini button.toctree-expand:before{font-size:14px;vertical-align:-15%}.rst-content .admonition,.rst-content .admonition-todo,.rst-content .attention,.rst-content .caution,.rst-content .danger,.rst-content .error,.rst-content .hint,.rst-content .important,.rst-content .note,.rst-content .seealso,.rst-content .tip,.rst-content .warning,.wy-alert{padding:12px;line-height:24px;margin-bottom:24px;background:#e7f2fa}.rst-content .admonition-title,.wy-alert-title{font-weight:700;display:block;color:#fff;background:#6ab0de;padding:6px 12px;margin:-12px -12px 12px}.rst-content .danger,.rst-content .error,.rst-content .wy-alert-danger.admonition,.rst-content .wy-alert-danger.admonition-todo,.rst-content .wy-alert-danger.attention,.rst-content .wy-alert-danger.caution,.rst-content .wy-alert-danger.hint,.rst-content .wy-alert-danger.important,.rst-content .wy-alert-danger.note,.rst-content .wy-alert-danger.seealso,.rst-content .wy-alert-danger.tip,.rst-content .wy-alert-danger.warning,.wy-alert.wy-alert-danger{background:#fdf3f2}.rst-content .danger .admonition-title,.rst-content .danger .wy-alert-title,.rst-content .error .admonition-title,.rst-content .error .wy-alert-title,.rst-content .wy-alert-danger.admonition-todo .admonition-title,.rst-content .wy-alert-danger.admonition-todo .wy-alert-title,.rst-content .wy-alert-danger.admonition .admonition-title,.rst-content .wy-alert-danger.admonition .wy-alert-title,.rst-content .wy-alert-danger.attention .admonition-title,.rst-content .wy-alert-danger.attention .wy-alert-title,.rst-content .wy-alert-danger.caution .admonition-title,.rst-content .wy-alert-danger.caution .wy-alert-title,.rst-content .wy-alert-danger.hint .admonition-title,.rst-content .wy-alert-danger.hint .wy-alert-title,.rst-content .wy-alert-danger.important .admonition-title,.rst-content .wy-alert-danger.important .wy-alert-title,.rst-content .wy-alert-danger.note .admonition-title,.rst-content .wy-alert-danger.note .wy-alert-title,.rst-content .wy-alert-danger.seealso .admonition-title,.rst-content .wy-alert-danger.seealso .wy-alert-title,.rst-content .wy-alert-danger.tip .admonition-title,.rst-content .wy-alert-danger.tip .wy-alert-title,.rst-content .wy-alert-danger.warning .admonition-title,.rst-content .wy-alert-danger.warning .wy-alert-title,.rst-content .wy-alert.wy-alert-danger .admonition-title,.wy-alert.wy-alert-danger .rst-content .admonition-title,.wy-alert.wy-alert-danger .wy-alert-title{background:#f29f97}.rst-content .admonition-todo,.rst-content .attention,.rst-content .caution,.rst-content .warning,.rst-content .wy-alert-warning.admonition,.rst-content .wy-alert-warning.danger,.rst-content .wy-alert-warning.error,.rst-content .wy-alert-warning.hint,.rst-content .wy-alert-warning.important,.rst-content .wy-alert-warning.note,.rst-content .wy-alert-warning.seealso,.rst-content .wy-alert-warning.tip,.wy-alert.wy-alert-warning{background:#ffedcc}.rst-content .admonition-todo .admonition-title,.rst-content .admonition-todo .wy-alert-title,.rst-content .attention .admonition-title,.rst-content .attention .wy-alert-title,.rst-content .caution .admonition-title,.rst-content .caution .wy-alert-title,.rst-content .warning .admonition-title,.rst-content .warning .wy-alert-title,.rst-content .wy-alert-warning.admonition .admonition-title,.rst-content .wy-alert-warning.admonition .wy-alert-title,.rst-content .wy-alert-warning.danger .admonition-title,.rst-content .wy-alert-warning.danger .wy-alert-title,.rst-content .wy-alert-warning.error .admonition-title,.rst-content .wy-alert-warning.error .wy-alert-title,.rst-content .wy-alert-warning.hint .admonition-title,.rst-content .wy-alert-warning.hint .wy-alert-title,.rst-content .wy-alert-warning.important .admonition-title,.rst-content .wy-alert-warning.important .wy-alert-title,.rst-content .wy-alert-warning.note .admonition-title,.rst-content .wy-alert-warning.note .wy-alert-title,.rst-content .wy-alert-warning.seealso .admonition-title,.rst-content .wy-alert-warning.seealso .wy-alert-title,.rst-content .wy-alert-warning.tip .admonition-title,.rst-content .wy-alert-warning.tip .wy-alert-title,.rst-content .wy-alert.wy-alert-warning .admonition-title,.wy-alert.wy-alert-warning .rst-content .admonition-title,.wy-alert.wy-alert-warning .wy-alert-title{background:#f0b37e}.rst-content .note,.rst-content .seealso,.rst-content .wy-alert-info.admonition,.rst-content .wy-alert-info.admonition-todo,.rst-content .wy-alert-info.attention,.rst-content .wy-alert-info.caution,.rst-content .wy-alert-info.danger,.rst-content .wy-alert-info.error,.rst-content .wy-alert-info.hint,.rst-content .wy-alert-info.important,.rst-content .wy-alert-info.tip,.rst-content .wy-alert-info.warning,.wy-alert.wy-alert-info{background:#e7f2fa}.rst-content .note .admonition-title,.rst-content .note .wy-alert-title,.rst-content .seealso .admonition-title,.rst-content .seealso .wy-alert-title,.rst-content .wy-alert-info.admonition-todo .admonition-title,.rst-content .wy-alert-info.admonition-todo .wy-alert-title,.rst-content .wy-alert-info.admonition .admonition-title,.rst-content .wy-alert-info.admonition .wy-alert-title,.rst-content .wy-alert-info.attention .admonition-title,.rst-content .wy-alert-info.attention .wy-alert-title,.rst-content .wy-alert-info.caution .admonition-title,.rst-content .wy-alert-info.caution .wy-alert-title,.rst-content .wy-alert-info.danger .admonition-title,.rst-content .wy-alert-info.danger .wy-alert-title,.rst-content .wy-alert-info.error .admonition-title,.rst-content .wy-alert-info.error .wy-alert-title,.rst-content .wy-alert-info.hint .admonition-title,.rst-content .wy-alert-info.hint .wy-alert-title,.rst-content .wy-alert-info.important .admonition-title,.rst-content .wy-alert-info.important .wy-alert-title,.rst-content .wy-alert-info.tip .admonition-title,.rst-content .wy-alert-info.tip .wy-alert-title,.rst-content .wy-alert-info.warning .admonition-title,.rst-content .wy-alert-info.warning .wy-alert-title,.rst-content .wy-alert.wy-alert-info .admonition-title,.wy-alert.wy-alert-info .rst-content .admonition-title,.wy-alert.wy-alert-info .wy-alert-title{background:#6ab0de}.rst-content .hint,.rst-content .important,.rst-content .tip,.rst-content .wy-alert-success.admonition,.rst-content .wy-alert-success.admonition-todo,.rst-content .wy-alert-success.attention,.rst-content .wy-alert-success.caution,.rst-content .wy-alert-success.danger,.rst-content .wy-alert-success.error,.rst-content .wy-alert-success.note,.rst-content .wy-alert-success.seealso,.rst-content .wy-alert-success.warning,.wy-alert.wy-alert-success{background:#dbfaf4}.rst-content .hint .admonition-title,.rst-content .hint .wy-alert-title,.rst-content .important .admonition-title,.rst-content .important .wy-alert-title,.rst-content .tip .admonition-title,.rst-content .tip .wy-alert-title,.rst-content .wy-alert-success.admonition-todo .admonition-title,.rst-content .wy-alert-success.admonition-todo .wy-alert-title,.rst-content .wy-alert-success.admonition .admonition-title,.rst-content .wy-alert-success.admonition .wy-alert-title,.rst-content .wy-alert-success.attention .admonition-title,.rst-content .wy-alert-success.attention .wy-alert-title,.rst-content .wy-alert-success.caution .admonition-title,.rst-content .wy-alert-success.caution .wy-alert-title,.rst-content .wy-alert-success.danger .admonition-title,.rst-content .wy-alert-success.danger .wy-alert-title,.rst-content .wy-alert-success.error .admonition-title,.rst-content .wy-alert-success.error .wy-alert-title,.rst-content .wy-alert-success.note .admonition-title,.rst-content .wy-alert-success.note .wy-alert-title,.rst-content .wy-alert-success.seealso .admonition-title,.rst-content .wy-alert-success.seealso .wy-alert-title,.rst-content .wy-alert-success.warning .admonition-title,.rst-content .wy-alert-success.warning .wy-alert-title,.rst-content .wy-alert.wy-alert-success .admonition-title,.wy-alert.wy-alert-success .rst-content .admonition-title,.wy-alert.wy-alert-success .wy-alert-title{background:#1abc9c}.rst-content .wy-alert-neutral.admonition,.rst-content .wy-alert-neutral.admonition-todo,.rst-content .wy-alert-neutral.attention,.rst-content .wy-alert-neutral.caution,.rst-content .wy-alert-neutral.danger,.rst-content .wy-alert-neutral.error,.rst-content .wy-alert-neutral.hint,.rst-content .wy-alert-neutral.important,.rst-content .wy-alert-neutral.note,.rst-content .wy-alert-neutral.seealso,.rst-content .wy-alert-neutral.tip,.rst-content .wy-alert-neutral.warning,.wy-alert.wy-alert-neutral{background:#f3f6f6}.rst-content .wy-alert-neutral.admonition-todo .admonition-title,.rst-content .wy-alert-neutral.admonition-todo .wy-alert-title,.rst-content .wy-alert-neutral.admonition .admonition-title,.rst-content .wy-alert-neutral.admonition .wy-alert-title,.rst-content .wy-alert-neutral.attention .admonition-title,.rst-content .wy-alert-neutral.attention .wy-alert-title,.rst-content .wy-alert-neutral.caution .admonition-title,.rst-content .wy-alert-neutral.caution .wy-alert-title,.rst-content .wy-alert-neutral.danger .admonition-title,.rst-content .wy-alert-neutral.danger .wy-alert-title,.rst-content .wy-alert-neutral.error .admonition-title,.rst-content .wy-alert-neutral.error .wy-alert-title,.rst-content .wy-alert-neutral.hint .admonition-title,.rst-content .wy-alert-neutral.hint .wy-alert-title,.rst-content .wy-alert-neutral.important .admonition-title,.rst-content .wy-alert-neutral.important .wy-alert-title,.rst-content .wy-alert-neutral.note .admonition-title,.rst-content .wy-alert-neutral.note .wy-alert-title,.rst-content .wy-alert-neutral.seealso .admonition-title,.rst-content .wy-alert-neutral.seealso .wy-alert-title,.rst-content .wy-alert-neutral.tip .admonition-title,.rst-content .wy-alert-neutral.tip .wy-alert-title,.rst-content .wy-alert-neutral.warning .admonition-title,.rst-content .wy-alert-neutral.warning .wy-alert-title,.rst-content .wy-alert.wy-alert-neutral .admonition-title,.wy-alert.wy-alert-neutral .rst-content .admonition-title,.wy-alert.wy-alert-neutral .wy-alert-title{color:#404040;background:#e1e4e5}.rst-content .wy-alert-neutral.admonition-todo a,.rst-content .wy-alert-neutral.admonition a,.rst-content .wy-alert-neutral.attention a,.rst-content .wy-alert-neutral.caution a,.rst-content .wy-alert-neutral.danger a,.rst-content .wy-alert-neutral.error a,.rst-content .wy-alert-neutral.hint a,.rst-content .wy-alert-neutral.important a,.rst-content .wy-alert-neutral.note a,.rst-content .wy-alert-neutral.seealso a,.rst-content .wy-alert-neutral.tip a,.rst-content .wy-alert-neutral.warning a,.wy-alert.wy-alert-neutral a{color:#2980b9}.rst-content .admonition-todo p:last-child,.rst-content .admonition p:last-child,.rst-content .attention p:last-child,.rst-content .caution p:last-child,.rst-content .danger p:last-child,.rst-content .error p:last-child,.rst-content .hint p:last-child,.rst-content .important p:last-child,.rst-content .note p:last-child,.rst-content .seealso p:last-child,.rst-content .tip p:last-child,.rst-content .warning p:last-child,.wy-alert p:last-child{margin-bottom:0}.wy-tray-container{position:fixed;bottom:0;left:0;z-index:600}.wy-tray-container li{display:block;width:300px;background:transparent;color:#fff;text-align:center;box-shadow:0 5px 5px 0 rgba(0,0,0,.1);padding:0 24px;min-width:20%;opacity:0;height:0;line-height:56px;overflow:hidden;-webkit-transition:all .3s ease-in;-moz-transition:all .3s ease-in;transition:all .3s ease-in}.wy-tray-container li.wy-tray-item-success{background:#27ae60}.wy-tray-container li.wy-tray-item-info{background:#2980b9}.wy-tray-container li.wy-tray-item-warning{background:#e67e22}.wy-tray-container li.wy-tray-item-danger{background:#e74c3c}.wy-tray-container li.on{opacity:1;height:56px}@media screen and (max-width:768px){.wy-tray-container{bottom:auto;top:0;width:100%}.wy-tray-container li{width:100%}}button{font-size:100%;margin:0;vertical-align:baseline;*vertical-align:middle;cursor:pointer;line-height:normal;-webkit-appearance:button;*overflow:visible}button::-moz-focus-inner,input::-moz-focus-inner{border:0;padding:0}button[disabled]{cursor:default}.btn{display:inline-block;border-radius:2px;line-height:normal;white-space:nowrap;text-align:center;cursor:pointer;font-size:100%;padding:6px 12px 8px;color:#fff;border:1px solid rgba(0,0,0,.1);background-color:#27ae60;text-decoration:none;font-weight:400;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;box-shadow:inset 0 1px 2px -1px hsla(0,0%,100%,.5),inset 0 -2px 0 0 rgba(0,0,0,.1);outline-none:false;vertical-align:middle;*display:inline;zoom:1;-webkit-user-drag:none;-webkit-user-select:none;-moz-user-select:none;-ms-user-select:none;user-select:none;-webkit-transition:all .1s linear;-moz-transition:all .1s linear;transition:all .1s linear}.btn-hover{background:#2e8ece;color:#fff}.btn:hover{background:#2cc36b;color:#fff}.btn:focus{background:#2cc36b;outline:0}.btn:active{box-shadow:inset 0 -1px 0 0 rgba(0,0,0,.05),inset 0 2px 0 0 rgba(0,0,0,.1);padding:8px 12px 6px}.btn:visited{color:#fff}.btn-disabled,.btn-disabled:active,.btn-disabled:focus,.btn-disabled:hover,.btn:disabled{background-image:none;filter:progid:DXImageTransform.Microsoft.gradient(enabled = false);filter:alpha(opacity=40);opacity:.4;cursor:not-allowed;box-shadow:none}.btn::-moz-focus-inner{padding:0;border:0}.btn-small{font-size:80%}.btn-info{background-color:#2980b9!important}.btn-info:hover{background-color:#2e8ece!important}.btn-neutral{background-color:#f3f6f6!important;color:#404040!important}.btn-neutral:hover{background-color:#e5ebeb!important;color:#404040}.btn-neutral:visited{color:#404040!important}.btn-success{background-color:#27ae60!important}.btn-success:hover{background-color:#295!important}.btn-danger{background-color:#e74c3c!important}.btn-danger:hover{background-color:#ea6153!important}.btn-warning{background-color:#e67e22!important}.btn-warning:hover{background-color:#e98b39!important}.btn-invert{background-color:#222}.btn-invert:hover{background-color:#2f2f2f!important}.btn-link{background-color:transparent!important;color:#2980b9;box-shadow:none;border-color:transparent!important}.btn-link:active,.btn-link:hover{background-color:transparent!important;color:#409ad5!important;box-shadow:none}.btn-link:visited{color:#9b59b6}.wy-btn-group .btn,.wy-control .btn{vertical-align:middle}.wy-btn-group{margin-bottom:24px;*zoom:1}.wy-btn-group:after,.wy-btn-group:before{display:table;content:""}.wy-btn-group:after{clear:both}.wy-dropdown{position:relative;display:inline-block}.wy-dropdown-active .wy-dropdown-menu{display:block}.wy-dropdown-menu{position:absolute;left:0;display:none;float:left;top:100%;min-width:100%;background:#fcfcfc;z-index:100;border:1px solid #cfd7dd;box-shadow:0 2px 2px 0 rgba(0,0,0,.1);padding:12px}.wy-dropdown-menu>dd>a{display:block;clear:both;color:#404040;white-space:nowrap;font-size:90%;padding:0 12px;cursor:pointer}.wy-dropdown-menu>dd>a:hover{background:#2980b9;color:#fff}.wy-dropdown-menu>dd.divider{border-top:1px solid #cfd7dd;margin:6px 0}.wy-dropdown-menu>dd.search{padding-bottom:12px}.wy-dropdown-menu>dd.search input[type=search]{width:100%}.wy-dropdown-menu>dd.call-to-action{background:#e3e3e3;text-transform:uppercase;font-weight:500;font-size:80%}.wy-dropdown-menu>dd.call-to-action:hover{background:#e3e3e3}.wy-dropdown-menu>dd.call-to-action .btn{color:#fff}.wy-dropdown.wy-dropdown-up .wy-dropdown-menu{bottom:100%;top:auto;left:auto;right:0}.wy-dropdown.wy-dropdown-bubble .wy-dropdown-menu{background:#fcfcfc;margin-top:2px}.wy-dropdown.wy-dropdown-bubble .wy-dropdown-menu a{padding:6px 12px}.wy-dropdown.wy-dropdown-bubble .wy-dropdown-menu a:hover{background:#2980b9;color:#fff}.wy-dropdown.wy-dropdown-left .wy-dropdown-menu{right:0;left:auto;text-align:right}.wy-dropdown-arrow:before{content:" ";border-bottom:5px solid #f5f5f5;border-left:5px solid transparent;border-right:5px solid transparent;position:absolute;display:block;top:-4px;left:50%;margin-left:-3px}.wy-dropdown-arrow.wy-dropdown-arrow-left:before{left:11px}.wy-form-stacked select{display:block}.wy-form-aligned .wy-help-inline,.wy-form-aligned input,.wy-form-aligned label,.wy-form-aligned select,.wy-form-aligned textarea{display:inline-block;*display:inline;*zoom:1;vertical-align:middle}.wy-form-aligned .wy-control-group>label{display:inline-block;vertical-align:middle;width:10em;margin:6px 12px 0 0;float:left}.wy-form-aligned .wy-control{float:left}.wy-form-aligned .wy-control label{display:block}.wy-form-aligned .wy-control select{margin-top:6px}fieldset{margin:0}fieldset,legend{border:0;padding:0}legend{width:100%;white-space:normal;margin-bottom:24px;font-size:150%;*margin-left:-7px}label,legend{display:block}label{margin:0 0 .3125em;color:#333;font-size:90%}input,select,textarea{font-size:100%;margin:0;vertical-align:baseline;*vertical-align:middle}.wy-control-group{margin-bottom:24px;max-width:1200px;margin-left:auto;margin-right:auto;*zoom:1}.wy-control-group:after,.wy-control-group:before{display:table;content:""}.wy-control-group:after{clear:both}.wy-control-group.wy-control-group-required>label:after{content:" *";color:#e74c3c}.wy-control-group .wy-form-full,.wy-control-group .wy-form-halves,.wy-control-group .wy-form-thirds{padding-bottom:12px}.wy-control-group .wy-form-full input[type=color],.wy-control-group .wy-form-full input[type=date],.wy-control-group .wy-form-full input[type=datetime-local],.wy-control-group .wy-form-full input[type=datetime],.wy-control-group .wy-form-full input[type=email],.wy-control-group .wy-form-full input[type=month],.wy-control-group .wy-form-full input[type=number],.wy-control-group .wy-form-full input[type=password],.wy-control-group .wy-form-full input[type=search],.wy-control-group .wy-form-full input[type=tel],.wy-control-group .wy-form-full input[type=text],.wy-control-group .wy-form-full input[type=time],.wy-control-group .wy-form-full input[type=url],.wy-control-group .wy-form-full input[type=week],.wy-control-group .wy-form-full select,.wy-control-group .wy-form-halves input[type=color],.wy-control-group .wy-form-halves input[type=date],.wy-control-group .wy-form-halves input[type=datetime-local],.wy-control-group .wy-form-halves input[type=datetime],.wy-control-group .wy-form-halves input[type=email],.wy-control-group .wy-form-halves input[type=month],.wy-control-group .wy-form-halves input[type=number],.wy-control-group .wy-form-halves input[type=password],.wy-control-group .wy-form-halves input[type=search],.wy-control-group .wy-form-halves input[type=tel],.wy-control-group .wy-form-halves input[type=text],.wy-control-group .wy-form-halves input[type=time],.wy-control-group .wy-form-halves input[type=url],.wy-control-group .wy-form-halves input[type=week],.wy-control-group .wy-form-halves select,.wy-control-group .wy-form-thirds input[type=color],.wy-control-group .wy-form-thirds input[type=date],.wy-control-group .wy-form-thirds input[type=datetime-local],.wy-control-group .wy-form-thirds input[type=datetime],.wy-control-group .wy-form-thirds input[type=email],.wy-control-group .wy-form-thirds input[type=month],.wy-control-group .wy-form-thirds input[type=number],.wy-control-group .wy-form-thirds input[type=password],.wy-control-group .wy-form-thirds input[type=search],.wy-control-group .wy-form-thirds input[type=tel],.wy-control-group .wy-form-thirds input[type=text],.wy-control-group .wy-form-thirds input[type=time],.wy-control-group .wy-form-thirds input[type=url],.wy-control-group .wy-form-thirds input[type=week],.wy-control-group .wy-form-thirds select{width:100%}.wy-control-group .wy-form-full{float:left;display:block;width:100%;margin-right:0}.wy-control-group .wy-form-full:last-child{margin-right:0}.wy-control-group .wy-form-halves{float:left;display:block;margin-right:2.35765%;width:48.82117%}.wy-control-group .wy-form-halves:last-child,.wy-control-group .wy-form-halves:nth-of-type(2n){margin-right:0}.wy-control-group .wy-form-halves:nth-of-type(odd){clear:left}.wy-control-group .wy-form-thirds{float:left;display:block;margin-right:2.35765%;width:31.76157%}.wy-control-group .wy-form-thirds:last-child,.wy-control-group .wy-form-thirds:nth-of-type(3n){margin-right:0}.wy-control-group .wy-form-thirds:nth-of-type(3n+1){clear:left}.wy-control-group.wy-control-group-no-input .wy-control,.wy-control-no-input{margin:6px 0 0;font-size:90%}.wy-control-no-input{display:inline-block}.wy-control-group.fluid-input input[type=color],.wy-control-group.fluid-input input[type=date],.wy-control-group.fluid-input input[type=datetime-local],.wy-control-group.fluid-input input[type=datetime],.wy-control-group.fluid-input input[type=email],.wy-control-group.fluid-input input[type=month],.wy-control-group.fluid-input input[type=number],.wy-control-group.fluid-input input[type=password],.wy-control-group.fluid-input input[type=search],.wy-control-group.fluid-input input[type=tel],.wy-control-group.fluid-input input[type=text],.wy-control-group.fluid-input input[type=time],.wy-control-group.fluid-input input[type=url],.wy-control-group.fluid-input input[type=week]{width:100%}.wy-form-message-inline{padding-left:.3em;color:#666;font-size:90%}.wy-form-message{display:block;color:#999;font-size:70%;margin-top:.3125em;font-style:italic}.wy-form-message p{font-size:inherit;font-style:italic;margin-bottom:6px}.wy-form-message p:last-child{margin-bottom:0}input{line-height:normal}input[type=button],input[type=reset],input[type=submit]{-webkit-appearance:button;cursor:pointer;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;*overflow:visible}input[type=color],input[type=date],input[type=datetime-local],input[type=datetime],input[type=email],input[type=month],input[type=number],input[type=password],input[type=search],input[type=tel],input[type=text],input[type=time],input[type=url],input[type=week]{-webkit-appearance:none;padding:6px;display:inline-block;border:1px solid #ccc;font-size:80%;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;box-shadow:inset 0 1px 3px #ddd;border-radius:0;-webkit-transition:border .3s linear;-moz-transition:border .3s linear;transition:border .3s linear}input[type=datetime-local]{padding:.34375em .625em}input[disabled]{cursor:default}input[type=checkbox],input[type=radio]{padding:0;margin-right:.3125em;*height:13px;*width:13px}input[type=checkbox],input[type=radio],input[type=search]{-webkit-box-sizing:border-box;-moz-box-sizing:border-box;box-sizing:border-box}input[type=search]::-webkit-search-cancel-button,input[type=search]::-webkit-search-decoration{-webkit-appearance:none}input[type=color]:focus,input[type=date]:focus,input[type=datetime-local]:focus,input[type=datetime]:focus,input[type=email]:focus,input[type=month]:focus,input[type=number]:focus,input[type=password]:focus,input[type=search]:focus,input[type=tel]:focus,input[type=text]:focus,input[type=time]:focus,input[type=url]:focus,input[type=week]:focus{outline:0;outline:thin dotted\9;border-color:#333}input.no-focus:focus{border-color:#ccc!important}input[type=checkbox]:focus,input[type=file]:focus,input[type=radio]:focus{outline:thin dotted #333;outline:1px auto #129fea}input[type=color][disabled],input[type=date][disabled],input[type=datetime-local][disabled],input[type=datetime][disabled],input[type=email][disabled],input[type=month][disabled],input[type=number][disabled],input[type=password][disabled],input[type=search][disabled],input[type=tel][disabled],input[type=text][disabled],input[type=time][disabled],input[type=url][disabled],input[type=week][disabled]{cursor:not-allowed;background-color:#fafafa}input:focus:invalid,select:focus:invalid,textarea:focus:invalid{color:#e74c3c;border:1px solid #e74c3c}input:focus:invalid:focus,select:focus:invalid:focus,textarea:focus:invalid:focus{border-color:#e74c3c}input[type=checkbox]:focus:invalid:focus,input[type=file]:focus:invalid:focus,input[type=radio]:focus:invalid:focus{outline-color:#e74c3c}input.wy-input-large{padding:12px;font-size:100%}textarea{overflow:auto;vertical-align:top;width:100%;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif}select,textarea{padding:.5em .625em;display:inline-block;border:1px solid #ccc;font-size:80%;box-shadow:inset 0 1px 3px #ddd;-webkit-transition:border .3s linear;-moz-transition:border .3s linear;transition:border .3s linear}select{border:1px solid #ccc;background-color:#fff}select[multiple]{height:auto}select:focus,textarea:focus{outline:0}input[readonly],select[disabled],select[readonly],textarea[disabled],textarea[readonly]{cursor:not-allowed;background-color:#fafafa}input[type=checkbox][disabled],input[type=radio][disabled]{cursor:not-allowed}.wy-checkbox,.wy-radio{margin:6px 0;color:#404040;display:block}.wy-checkbox input,.wy-radio input{vertical-align:baseline}.wy-form-message-inline{display:inline-block;*display:inline;*zoom:1;vertical-align:middle}.wy-input-prefix,.wy-input-suffix{white-space:nowrap;padding:6px}.wy-input-prefix .wy-input-context,.wy-input-suffix .wy-input-context{line-height:27px;padding:0 8px;display:inline-block;font-size:80%;background-color:#f3f6f6;border:1px solid #ccc;color:#999}.wy-input-suffix .wy-input-context{border-left:0}.wy-input-prefix .wy-input-context{border-right:0}.wy-switch{position:relative;display:block;height:24px;margin-top:12px;cursor:pointer}.wy-switch:before{left:0;top:0;width:36px;height:12px;background:#ccc}.wy-switch:after,.wy-switch:before{position:absolute;content:"";display:block;border-radius:4px;-webkit-transition:all .2s ease-in-out;-moz-transition:all .2s ease-in-out;transition:all .2s ease-in-out}.wy-switch:after{width:18px;height:18px;background:#999;left:-3px;top:-3px}.wy-switch span{position:absolute;left:48px;display:block;font-size:12px;color:#ccc;line-height:1}.wy-switch.active:before{background:#1e8449}.wy-switch.active:after{left:24px;background:#27ae60}.wy-switch.disabled{cursor:not-allowed;opacity:.8}.wy-control-group.wy-control-group-error .wy-form-message,.wy-control-group.wy-control-group-error>label{color:#e74c3c}.wy-control-group.wy-control-group-error input[type=color],.wy-control-group.wy-control-group-error input[type=date],.wy-control-group.wy-control-group-error input[type=datetime-local],.wy-control-group.wy-control-group-error input[type=datetime],.wy-control-group.wy-control-group-error input[type=email],.wy-control-group.wy-control-group-error input[type=month],.wy-control-group.wy-control-group-error input[type=number],.wy-control-group.wy-control-group-error input[type=password],.wy-control-group.wy-control-group-error input[type=search],.wy-control-group.wy-control-group-error input[type=tel],.wy-control-group.wy-control-group-error input[type=text],.wy-control-group.wy-control-group-error input[type=time],.wy-control-group.wy-control-group-error input[type=url],.wy-control-group.wy-control-group-error input[type=week],.wy-control-group.wy-control-group-error textarea{border:1px solid #e74c3c}.wy-inline-validate{white-space:nowrap}.wy-inline-validate .wy-input-context{padding:.5em .625em;display:inline-block;font-size:80%}.wy-inline-validate.wy-inline-validate-success .wy-input-context{color:#27ae60}.wy-inline-validate.wy-inline-validate-danger .wy-input-context{color:#e74c3c}.wy-inline-validate.wy-inline-validate-warning .wy-input-context{color:#e67e22}.wy-inline-validate.wy-inline-validate-info .wy-input-context{color:#2980b9}.rotate-90{-webkit-transform:rotate(90deg);-moz-transform:rotate(90deg);-ms-transform:rotate(90deg);-o-transform:rotate(90deg);transform:rotate(90deg)}.rotate-180{-webkit-transform:rotate(180deg);-moz-transform:rotate(180deg);-ms-transform:rotate(180deg);-o-transform:rotate(180deg);transform:rotate(180deg)}.rotate-270{-webkit-transform:rotate(270deg);-moz-transform:rotate(270deg);-ms-transform:rotate(270deg);-o-transform:rotate(270deg);transform:rotate(270deg)}.mirror{-webkit-transform:scaleX(-1);-moz-transform:scaleX(-1);-ms-transform:scaleX(-1);-o-transform:scaleX(-1);transform:scaleX(-1)}.mirror.rotate-90{-webkit-transform:scaleX(-1) rotate(90deg);-moz-transform:scaleX(-1) rotate(90deg);-ms-transform:scaleX(-1) rotate(90deg);-o-transform:scaleX(-1) rotate(90deg);transform:scaleX(-1) rotate(90deg)}.mirror.rotate-180{-webkit-transform:scaleX(-1) rotate(180deg);-moz-transform:scaleX(-1) rotate(180deg);-ms-transform:scaleX(-1) rotate(180deg);-o-transform:scaleX(-1) rotate(180deg);transform:scaleX(-1) rotate(180deg)}.mirror.rotate-270{-webkit-transform:scaleX(-1) rotate(270deg);-moz-transform:scaleX(-1) rotate(270deg);-ms-transform:scaleX(-1) rotate(270deg);-o-transform:scaleX(-1) rotate(270deg);transform:scaleX(-1) rotate(270deg)}@media only screen and (max-width:480px){.wy-form button[type=submit]{margin:.7em 0 0}.wy-form input[type=color],.wy-form input[type=date],.wy-form input[type=datetime-local],.wy-form input[type=datetime],.wy-form input[type=email],.wy-form input[type=month],.wy-form input[type=number],.wy-form input[type=password],.wy-form input[type=search],.wy-form input[type=tel],.wy-form input[type=text],.wy-form input[type=time],.wy-form input[type=url],.wy-form input[type=week],.wy-form label{margin-bottom:.3em;display:block}.wy-form input[type=color],.wy-form input[type=date],.wy-form input[type=datetime-local],.wy-form input[type=datetime],.wy-form input[type=email],.wy-form input[type=month],.wy-form input[type=number],.wy-form input[type=password],.wy-form input[type=search],.wy-form input[type=tel],.wy-form input[type=time],.wy-form input[type=url],.wy-form input[type=week]{margin-bottom:0}.wy-form-aligned .wy-control-group label{margin-bottom:.3em;text-align:left;display:block;width:100%}.wy-form-aligned .wy-control{margin:1.5em 0 0}.wy-form-message,.wy-form-message-inline,.wy-form .wy-help-inline{display:block;font-size:80%;padding:6px 0}}@media screen and (max-width:768px){.tablet-hide{display:none}}@media screen and (max-width:480px){.mobile-hide{display:none}}.float-left{float:left}.float-right{float:right}.full-width{width:100%}.rst-content table.docutils,.rst-content table.field-list,.wy-table{border-collapse:collapse;border-spacing:0;empty-cells:show;margin-bottom:24px}.rst-content table.docutils caption,.rst-content table.field-list caption,.wy-table caption{color:#000;font:italic 85%/1 arial,sans-serif;padding:1em 0;text-align:center}.rst-content table.docutils td,.rst-content table.docutils th,.rst-content table.field-list td,.rst-content table.field-list th,.wy-table td,.wy-table th{font-size:90%;margin:0;overflow:visible;padding:8px 16px}.rst-content table.docutils td:first-child,.rst-content table.docutils th:first-child,.rst-content table.field-list td:first-child,.rst-content table.field-list th:first-child,.wy-table td:first-child,.wy-table th:first-child{border-left-width:0}.rst-content table.docutils thead,.rst-content table.field-list thead,.wy-table thead{color:#000;text-align:left;vertical-align:bottom;white-space:nowrap}.rst-content table.docutils thead th,.rst-content table.field-list thead th,.wy-table thead th{font-weight:700;border-bottom:2px solid #e1e4e5}.rst-content table.docutils td,.rst-content table.field-list td,.wy-table td{background-color:transparent;vertical-align:middle}.rst-content table.docutils td p,.rst-content table.field-list td p,.wy-table td p{line-height:18px}.rst-content table.docutils td p:last-child,.rst-content table.field-list td p:last-child,.wy-table td p:last-child{margin-bottom:0}.rst-content table.docutils .wy-table-cell-min,.rst-content table.field-list .wy-table-cell-min,.wy-table .wy-table-cell-min{width:1%;padding-right:0}.rst-content table.docutils .wy-table-cell-min input[type=checkbox],.rst-content table.field-list .wy-table-cell-min input[type=checkbox],.wy-table .wy-table-cell-min input[type=checkbox]{margin:0}.wy-table-secondary{color:grey;font-size:90%}.wy-table-tertiary{color:grey;font-size:80%}.rst-content table.docutils:not(.field-list) tr:nth-child(2n-1) td,.wy-table-backed,.wy-table-odd td,.wy-table-striped tr:nth-child(2n-1) td{background-color:#f3f6f6}.rst-content table.docutils,.wy-table-bordered-all{border:1px solid #e1e4e5}.rst-content table.docutils td,.wy-table-bordered-all td{border-bottom:1px solid #e1e4e5;border-left:1px solid #e1e4e5}.rst-content table.docutils tbody>tr:last-child td,.wy-table-bordered-all tbody>tr:last-child td{border-bottom-width:0}.wy-table-bordered{border:1px solid #e1e4e5}.wy-table-bordered-rows td{border-bottom:1px solid #e1e4e5}.wy-table-bordered-rows tbody>tr:last-child td{border-bottom-width:0}.wy-table-horizontal td,.wy-table-horizontal th{border-width:0 0 1px;border-bottom:1px solid #e1e4e5}.wy-table-horizontal tbody>tr:last-child td{border-bottom-width:0}.wy-table-responsive{margin-bottom:24px;max-width:100%;overflow:auto}.wy-table-responsive table{margin-bottom:0!important}.wy-table-responsive table td,.wy-table-responsive table th{white-space:nowrap}a{color:#2980b9;text-decoration:none;cursor:pointer}a:hover{color:#3091d1}a:visited{color:#9b59b6}html{height:100%}body,html{overflow-x:hidden}body{font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;font-weight:400;color:#404040;min-height:100%;background:#edf0f2}.wy-text-left{text-align:left}.wy-text-center{text-align:center}.wy-text-right{text-align:right}.wy-text-large{font-size:120%}.wy-text-normal{font-size:100%}.wy-text-small,small{font-size:80%}.wy-text-strike{text-decoration:line-through}.wy-text-warning{color:#e67e22!important}a.wy-text-warning:hover{color:#eb9950!important}.wy-text-info{color:#2980b9!important}a.wy-text-info:hover{color:#409ad5!important}.wy-text-success{color:#27ae60!important}a.wy-text-success:hover{color:#36d278!important}.wy-text-danger{color:#e74c3c!important}a.wy-text-danger:hover{color:#ed7669!important}.wy-text-neutral{color:#404040!important}a.wy-text-neutral:hover{color:#595959!important}.rst-content .toctree-wrapper>p.caption,h1,h2,h3,h4,h5,h6,legend{margin-top:0;font-weight:700;font-family:Roboto Slab,ff-tisa-web-pro,Georgia,Arial,sans-serif}p{line-height:24px;font-size:16px;margin:0 0 24px}h1{font-size:175%}.rst-content .toctree-wrapper>p.caption,h2{font-size:150%}h3{font-size:125%}h4{font-size:115%}h5{font-size:110%}h6{font-size:100%}hr{display:block;height:1px;border:0;border-top:1px solid #e1e4e5;margin:24px 0;padding:0}.rst-content code,.rst-content tt,code{white-space:nowrap;max-width:100%;background:#fff;border:1px solid #e1e4e5;font-size:75%;padding:0 5px;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;color:#e74c3c;overflow-x:auto}.rst-content tt.code-large,code.code-large{font-size:90%}.rst-content .section ul,.rst-content .toctree-wrapper ul,.rst-content section ul,.wy-plain-list-disc,article ul{list-style:disc;line-height:24px;margin-bottom:24px}.rst-content .section ul li,.rst-content .toctree-wrapper ul li,.rst-content section ul li,.wy-plain-list-disc li,article ul li{list-style:disc;margin-left:24px}.rst-content .section ul li p:last-child,.rst-content .section ul li ul,.rst-content .toctree-wrapper ul li p:last-child,.rst-content .toctree-wrapper ul li ul,.rst-content section ul li p:last-child,.rst-content section ul li ul,.wy-plain-list-disc li p:last-child,.wy-plain-list-disc li ul,article ul li p:last-child,article ul li ul{margin-bottom:0}.rst-content .section ul li li,.rst-content .toctree-wrapper ul li li,.rst-content section ul li li,.wy-plain-list-disc li li,article ul li li{list-style:circle}.rst-content .section ul li li li,.rst-content .toctree-wrapper ul li li li,.rst-content section ul li li li,.wy-plain-list-disc li li li,article ul li li li{list-style:square}.rst-content .section ul li ol li,.rst-content .toctree-wrapper ul li ol li,.rst-content section ul li ol li,.wy-plain-list-disc li ol li,article ul li ol li{list-style:decimal}.rst-content .section ol,.rst-content .section ol.arabic,.rst-content .toctree-wrapper ol,.rst-content .toctree-wrapper ol.arabic,.rst-content section ol,.rst-content section ol.arabic,.wy-plain-list-decimal,article ol{list-style:decimal;line-height:24px;margin-bottom:24px}.rst-content .section ol.arabic li,.rst-content .section ol li,.rst-content .toctree-wrapper ol.arabic li,.rst-content .toctree-wrapper ol li,.rst-content section ol.arabic li,.rst-content section ol li,.wy-plain-list-decimal li,article ol li{list-style:decimal;margin-left:24px}.rst-content .section ol.arabic li ul,.rst-content .section ol li p:last-child,.rst-content .section ol li ul,.rst-content .toctree-wrapper ol.arabic li ul,.rst-content .toctree-wrapper ol li p:last-child,.rst-content .toctree-wrapper ol li ul,.rst-content section ol.arabic li ul,.rst-content section ol li p:last-child,.rst-content section ol li ul,.wy-plain-list-decimal li p:last-child,.wy-plain-list-decimal li ul,article ol li p:last-child,article ol li ul{margin-bottom:0}.rst-content .section ol.arabic li ul li,.rst-content .section ol li ul li,.rst-content .toctree-wrapper ol.arabic li ul li,.rst-content .toctree-wrapper ol li ul li,.rst-content section ol.arabic li ul li,.rst-content section ol li ul li,.wy-plain-list-decimal li ul li,article ol li ul li{list-style:disc}.wy-breadcrumbs{*zoom:1}.wy-breadcrumbs:after,.wy-breadcrumbs:before{display:table;content:""}.wy-breadcrumbs:after{clear:both}.wy-breadcrumbs>li{display:inline-block;padding-top:5px}.wy-breadcrumbs>li.wy-breadcrumbs-aside{float:right}.rst-content .wy-breadcrumbs>li code,.rst-content .wy-breadcrumbs>li tt,.wy-breadcrumbs>li .rst-content tt,.wy-breadcrumbs>li code{all:inherit;color:inherit}.breadcrumb-item:before{content:"/";color:#bbb;font-size:13px;padding:0 6px 0 3px}.wy-breadcrumbs-extra{margin-bottom:0;color:#b3b3b3;font-size:80%;display:inline-block}@media screen and (max-width:480px){.wy-breadcrumbs-extra,.wy-breadcrumbs li.wy-breadcrumbs-aside{display:none}}@media print{.wy-breadcrumbs li.wy-breadcrumbs-aside{display:none}}html{font-size:16px}.wy-affix{position:fixed;top:1.618em}.wy-menu a:hover{text-decoration:none}.wy-menu-horiz{*zoom:1}.wy-menu-horiz:after,.wy-menu-horiz:before{display:table;content:""}.wy-menu-horiz:after{clear:both}.wy-menu-horiz li,.wy-menu-horiz ul{display:inline-block}.wy-menu-horiz li:hover{background:hsla(0,0%,100%,.1)}.wy-menu-horiz li.divide-left{border-left:1px solid #404040}.wy-menu-horiz li.divide-right{border-right:1px solid #404040}.wy-menu-horiz a{height:32px;display:inline-block;line-height:32px;padding:0 16px}.wy-menu-vertical{width:300px}.wy-menu-vertical header,.wy-menu-vertical p.caption{color:#55a5d9;height:32px;line-height:32px;padding:0 1.618em;margin:12px 0 0;display:block;font-weight:700;text-transform:uppercase;font-size:85%;white-space:nowrap}.wy-menu-vertical ul{margin-bottom:0}.wy-menu-vertical li.divide-top{border-top:1px solid #404040}.wy-menu-vertical li.divide-bottom{border-bottom:1px solid #404040}.wy-menu-vertical li.current{background:#e3e3e3}.wy-menu-vertical li.current a{color:grey;border-right:1px solid #c9c9c9;padding:.4045em 2.427em}.wy-menu-vertical li.current a:hover{background:#d6d6d6}.rst-content .wy-menu-vertical li tt,.wy-menu-vertical li .rst-content tt,.wy-menu-vertical li code{border:none;background:inherit;color:inherit;padding-left:0;padding-right:0}.wy-menu-vertical li button.toctree-expand{display:block;float:left;margin-left:-1.2em;line-height:18px;color:#4d4d4d;border:none;background:none;padding:0}.wy-menu-vertical li.current>a,.wy-menu-vertical li.on a{color:#404040;font-weight:700;position:relative;background:#fcfcfc;border:none;padding:.4045em 1.618em}.wy-menu-vertical li.current>a:hover,.wy-menu-vertical li.on a:hover{background:#fcfcfc}.wy-menu-vertical li.current>a:hover button.toctree-expand,.wy-menu-vertical li.on a:hover button.toctree-expand{color:grey}.wy-menu-vertical li.current>a button.toctree-expand,.wy-menu-vertical li.on a button.toctree-expand{display:block;line-height:18px;color:#333}.wy-menu-vertical li.toctree-l1.current>a{border-bottom:1px solid #c9c9c9;border-top:1px solid #c9c9c9}.wy-menu-vertical .toctree-l1.current .toctree-l2>ul,.wy-menu-vertical .toctree-l2.current .toctree-l3>ul,.wy-menu-vertical .toctree-l3.current .toctree-l4>ul,.wy-menu-vertical .toctree-l4.current .toctree-l5>ul,.wy-menu-vertical .toctree-l5.current .toctree-l6>ul,.wy-menu-vertical .toctree-l6.current .toctree-l7>ul,.wy-menu-vertical .toctree-l7.current .toctree-l8>ul,.wy-menu-vertical .toctree-l8.current .toctree-l9>ul,.wy-menu-vertical .toctree-l9.current .toctree-l10>ul,.wy-menu-vertical .toctree-l10.current .toctree-l11>ul{display:none}.wy-menu-vertical .toctree-l1.current .current.toctree-l2>ul,.wy-menu-vertical .toctree-l2.current .current.toctree-l3>ul,.wy-menu-vertical .toctree-l3.current .current.toctree-l4>ul,.wy-menu-vertical .toctree-l4.current .current.toctree-l5>ul,.wy-menu-vertical .toctree-l5.current .current.toctree-l6>ul,.wy-menu-vertical .toctree-l6.current .current.toctree-l7>ul,.wy-menu-vertical .toctree-l7.current .current.toctree-l8>ul,.wy-menu-vertical .toctree-l8.current .current.toctree-l9>ul,.wy-menu-vertical .toctree-l9.current .current.toctree-l10>ul,.wy-menu-vertical .toctree-l10.current .current.toctree-l11>ul{display:block}.wy-menu-vertical li.toctree-l3,.wy-menu-vertical li.toctree-l4{font-size:.9em}.wy-menu-vertical li.toctree-l2 a,.wy-menu-vertical li.toctree-l3 a,.wy-menu-vertical li.toctree-l4 a,.wy-menu-vertical li.toctree-l5 a,.wy-menu-vertical li.toctree-l6 a,.wy-menu-vertical li.toctree-l7 a,.wy-menu-vertical li.toctree-l8 a,.wy-menu-vertical li.toctree-l9 a,.wy-menu-vertical li.toctree-l10 a{color:#404040}.wy-menu-vertical li.toctree-l2 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l3 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l4 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l5 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l6 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l7 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l8 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l9 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l10 a:hover button.toctree-expand{color:grey}.wy-menu-vertical li.toctree-l2.current li.toctree-l3>a,.wy-menu-vertical li.toctree-l3.current li.toctree-l4>a,.wy-menu-vertical li.toctree-l4.current li.toctree-l5>a,.wy-menu-vertical li.toctree-l5.current li.toctree-l6>a,.wy-menu-vertical li.toctree-l6.current li.toctree-l7>a,.wy-menu-vertical li.toctree-l7.current li.toctree-l8>a,.wy-menu-vertical li.toctree-l8.current li.toctree-l9>a,.wy-menu-vertical li.toctree-l9.current li.toctree-l10>a,.wy-menu-vertical li.toctree-l10.current li.toctree-l11>a{display:block}.wy-menu-vertical li.toctree-l2.current>a{padding:.4045em 2.427em}.wy-menu-vertical li.toctree-l2.current li.toctree-l3>a{padding:.4045em 1.618em .4045em 4.045em}.wy-menu-vertical li.toctree-l3.current>a{padding:.4045em 4.045em}.wy-menu-vertical li.toctree-l3.current li.toctree-l4>a{padding:.4045em 1.618em .4045em 5.663em}.wy-menu-vertical li.toctree-l4.current>a{padding:.4045em 5.663em}.wy-menu-vertical li.toctree-l4.current li.toctree-l5>a{padding:.4045em 1.618em .4045em 7.281em}.wy-menu-vertical li.toctree-l5.current>a{padding:.4045em 7.281em}.wy-menu-vertical li.toctree-l5.current li.toctree-l6>a{padding:.4045em 1.618em .4045em 8.899em}.wy-menu-vertical li.toctree-l6.current>a{padding:.4045em 8.899em}.wy-menu-vertical li.toctree-l6.current li.toctree-l7>a{padding:.4045em 1.618em .4045em 10.517em}.wy-menu-vertical li.toctree-l7.current>a{padding:.4045em 10.517em}.wy-menu-vertical li.toctree-l7.current li.toctree-l8>a{padding:.4045em 1.618em .4045em 12.135em}.wy-menu-vertical li.toctree-l8.current>a{padding:.4045em 12.135em}.wy-menu-vertical li.toctree-l8.current li.toctree-l9>a{padding:.4045em 1.618em .4045em 13.753em}.wy-menu-vertical li.toctree-l9.current>a{padding:.4045em 13.753em}.wy-menu-vertical li.toctree-l9.current li.toctree-l10>a{padding:.4045em 1.618em .4045em 15.371em}.wy-menu-vertical li.toctree-l10.current>a{padding:.4045em 15.371em}.wy-menu-vertical li.toctree-l10.current li.toctree-l11>a{padding:.4045em 1.618em .4045em 16.989em}.wy-menu-vertical li.toctree-l2.current>a,.wy-menu-vertical li.toctree-l2.current li.toctree-l3>a{background:#c9c9c9}.wy-menu-vertical li.toctree-l2 button.toctree-expand{color:#a3a3a3}.wy-menu-vertical li.toctree-l3.current>a,.wy-menu-vertical li.toctree-l3.current li.toctree-l4>a{background:#bdbdbd}.wy-menu-vertical li.toctree-l3 button.toctree-expand{color:#969696}.wy-menu-vertical li.current ul{display:block}.wy-menu-vertical li ul{margin-bottom:0;display:none}.wy-menu-vertical li ul li a{margin-bottom:0;color:#d9d9d9;font-weight:400}.wy-menu-vertical a{line-height:18px;padding:.4045em 1.618em;display:block;position:relative;font-size:90%;color:#d9d9d9}.wy-menu-vertical a:hover{background-color:#4e4a4a;cursor:pointer}.wy-menu-vertical a:hover button.toctree-expand{color:#d9d9d9}.wy-menu-vertical a:active{background-color:#2980b9;cursor:pointer;color:#fff}.wy-menu-vertical a:active button.toctree-expand{color:#fff}.wy-side-nav-search{display:block;width:300px;padding:.809em;margin-bottom:.809em;z-index:200;background-color:#2980b9;text-align:center;color:#fcfcfc}.wy-side-nav-search input[type=text]{width:100%;border-radius:50px;padding:6px 12px;border-color:#2472a4}.wy-side-nav-search img{display:block;margin:auto auto .809em;height:45px;width:45px;background-color:#2980b9;padding:5px;border-radius:100%}.wy-side-nav-search .wy-dropdown>a,.wy-side-nav-search>a{color:#fcfcfc;font-size:100%;font-weight:700;display:inline-block;padding:4px 6px;margin-bottom:.809em;max-width:100%}.wy-side-nav-search .wy-dropdown>a:hover,.wy-side-nav-search .wy-dropdown>aactive,.wy-side-nav-search .wy-dropdown>afocus,.wy-side-nav-search>a:hover,.wy-side-nav-search>aactive,.wy-side-nav-search>afocus{background:hsla(0,0%,100%,.1)}.wy-side-nav-search .wy-dropdown>a img.logo,.wy-side-nav-search>a img.logo{display:block;margin:0 auto;height:auto;width:auto;border-radius:0;max-width:100%;background:transparent}.wy-side-nav-search .wy-dropdown>a.icon,.wy-side-nav-search>a.icon{display:block}.wy-side-nav-search .wy-dropdown>a.icon img.logo,.wy-side-nav-search>a.icon img.logo{margin-top:.85em}.wy-side-nav-search>div.switch-menus{position:relative;display:block;margin-top:-.4045em;margin-bottom:.809em;font-weight:400;color:hsla(0,0%,100%,.3)}.wy-side-nav-search>div.switch-menus>div.language-switch,.wy-side-nav-search>div.switch-menus>div.version-switch{display:inline-block;padding:.2em}.wy-side-nav-search>div.switch-menus>div.language-switch select,.wy-side-nav-search>div.switch-menus>div.version-switch select{display:inline-block;margin-right:-2rem;padding-right:2rem;max-width:240px;text-align-last:center;background:none;border:none;border-radius:0;box-shadow:none;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;font-size:1em;font-weight:400;color:hsla(0,0%,100%,.3);cursor:pointer;appearance:none;-webkit-appearance:none;-moz-appearance:none}.wy-side-nav-search>div.switch-menus>div.language-switch select:active,.wy-side-nav-search>div.switch-menus>div.language-switch select:focus,.wy-side-nav-search>div.switch-menus>div.language-switch select:hover,.wy-side-nav-search>div.switch-menus>div.version-switch select:active,.wy-side-nav-search>div.switch-menus>div.version-switch select:focus,.wy-side-nav-search>div.switch-menus>div.version-switch select:hover{background:hsla(0,0%,100%,.1);color:hsla(0,0%,100%,.5)}.wy-side-nav-search>div.switch-menus>div.language-switch select option,.wy-side-nav-search>div.switch-menus>div.version-switch select option{color:#000}.wy-side-nav-search>div.switch-menus>div.language-switch:has(>select):after,.wy-side-nav-search>div.switch-menus>div.version-switch:has(>select):after{display:inline-block;width:1.5em;height:100%;padding:.1em;content:"\f0d7";font-size:1em;line-height:1.2em;font-family:FontAwesome;text-align:center;pointer-events:none;box-sizing:border-box}.wy-nav .wy-menu-vertical header{color:#2980b9}.wy-nav .wy-menu-vertical a{color:#b3b3b3}.wy-nav .wy-menu-vertical a:hover{background-color:#2980b9;color:#fff}[data-menu-wrap]{-webkit-transition:all .2s ease-in;-moz-transition:all .2s ease-in;transition:all .2s ease-in;position:absolute;opacity:1;width:100%;opacity:0}[data-menu-wrap].move-center{left:0;right:auto;opacity:1}[data-menu-wrap].move-left{right:auto;left:-100%;opacity:0}[data-menu-wrap].move-right{right:-100%;left:auto;opacity:0}.wy-body-for-nav{background:#fcfcfc}.wy-grid-for-nav{position:absolute;width:100%;height:100%}.wy-nav-side{position:fixed;top:0;bottom:0;left:0;padding-bottom:2em;width:300px;overflow-x:hidden;overflow-y:hidden;min-height:100%;color:#9b9b9b;background:#343131;z-index:200}.wy-side-scroll{width:320px;position:relative;overflow-x:hidden;overflow-y:scroll;height:100%}.wy-nav-top{display:none;background:#2980b9;color:#fff;padding:.4045em .809em;position:relative;line-height:50px;text-align:center;font-size:100%;*zoom:1}.wy-nav-top:after,.wy-nav-top:before{display:table;content:""}.wy-nav-top:after{clear:both}.wy-nav-top a{color:#fff;font-weight:700}.wy-nav-top img{margin-right:12px;height:45px;width:45px;background-color:#2980b9;padding:5px;border-radius:100%}.wy-nav-top i{font-size:30px;float:left;cursor:pointer;padding-top:inherit}.wy-nav-content-wrap{margin-left:300px;background:#fcfcfc;min-height:100%}.wy-nav-content{padding:1.618em 3.236em;height:100%;max-width:800px;margin:auto}.wy-body-mask{position:fixed;width:100%;height:100%;background:rgba(0,0,0,.2);display:none;z-index:499}.wy-body-mask.on{display:block}footer{color:grey}footer p{margin-bottom:12px}.rst-content footer span.commit tt,footer span.commit .rst-content tt,footer span.commit code{padding:0;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;font-size:1em;background:none;border:none;color:grey}.rst-footer-buttons{*zoom:1}.rst-footer-buttons:after,.rst-footer-buttons:before{width:100%;display:table;content:""}.rst-footer-buttons:after{clear:both}.rst-breadcrumbs-buttons{margin-top:12px;*zoom:1}.rst-breadcrumbs-buttons:after,.rst-breadcrumbs-buttons:before{display:table;content:""}.rst-breadcrumbs-buttons:after{clear:both}#search-results .search li{margin-bottom:24px;border-bottom:1px solid #e1e4e5;padding-bottom:24px}#search-results .search li:first-child{border-top:1px solid #e1e4e5;padding-top:24px}#search-results .search li a{font-size:120%;margin-bottom:12px;display:inline-block}#search-results .context{color:grey;font-size:90%}.genindextable li>ul{margin-left:24px}@media screen and (max-width:768px){.wy-body-for-nav{background:#fcfcfc}.wy-nav-top{display:block}.wy-nav-side{left:-300px}.wy-nav-side.shift{width:85%;left:0}.wy-menu.wy-menu-vertical,.wy-side-nav-search,.wy-side-scroll{width:auto}.wy-nav-content-wrap{margin-left:0}.wy-nav-content-wrap .wy-nav-content{padding:1.618em}.wy-nav-content-wrap.shift{position:fixed;min-width:100%;left:85%;top:0;height:100%;overflow:hidden}}@media screen and (min-width:1100px){.wy-nav-content-wrap{background:rgba(0,0,0,.05)}.wy-nav-content{margin:0;background:#fcfcfc}}@media print{.rst-versions,.wy-nav-side,footer{display:none}.wy-nav-content-wrap{margin-left:0}}.rst-versions{position:fixed;bottom:0;left:0;width:300px;color:#fcfcfc;background:#1f1d1d;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;z-index:400}.rst-versions a{color:#2980b9;text-decoration:none}.rst-versions .rst-badge-small{display:none}.rst-versions .rst-current-version{padding:12px;background-color:#272525;display:block;text-align:right;font-size:90%;cursor:pointer;color:#27ae60;*zoom:1}.rst-versions .rst-current-version:after,.rst-versions .rst-current-version:before{display:table;content:""}.rst-versions .rst-current-version:after{clear:both}.rst-content .code-block-caption .rst-versions .rst-current-version .headerlink,.rst-content .eqno .rst-versions .rst-current-version .headerlink,.rst-content .rst-versions .rst-current-version .admonition-title,.rst-content code.download .rst-versions .rst-current-version span:first-child,.rst-content dl dt .rst-versions .rst-current-version .headerlink,.rst-content h1 .rst-versions .rst-current-version .headerlink,.rst-content h2 .rst-versions .rst-current-version .headerlink,.rst-content h3 .rst-versions .rst-current-version .headerlink,.rst-content h4 .rst-versions .rst-current-version .headerlink,.rst-content h5 .rst-versions .rst-current-version .headerlink,.rst-content h6 .rst-versions .rst-current-version .headerlink,.rst-content p .rst-versions .rst-current-version .headerlink,.rst-content table>caption .rst-versions .rst-current-version .headerlink,.rst-content tt.download .rst-versions .rst-current-version span:first-child,.rst-versions .rst-current-version .fa,.rst-versions .rst-current-version .icon,.rst-versions .rst-current-version .rst-content .admonition-title,.rst-versions .rst-current-version .rst-content .code-block-caption .headerlink,.rst-versions .rst-current-version .rst-content .eqno .headerlink,.rst-versions .rst-current-version .rst-content code.download span:first-child,.rst-versions .rst-current-version .rst-content dl dt .headerlink,.rst-versions .rst-current-version .rst-content h1 .headerlink,.rst-versions .rst-current-version .rst-content h2 .headerlink,.rst-versions .rst-current-version .rst-content h3 .headerlink,.rst-versions .rst-current-version .rst-content h4 .headerlink,.rst-versions .rst-current-version .rst-content h5 .headerlink,.rst-versions .rst-current-version .rst-content h6 .headerlink,.rst-versions .rst-current-version .rst-content p .headerlink,.rst-versions .rst-current-version .rst-content table>caption .headerlink,.rst-versions .rst-current-version .rst-content tt.download span:first-child,.rst-versions .rst-current-version .wy-menu-vertical li button.toctree-expand,.wy-menu-vertical li .rst-versions .rst-current-version button.toctree-expand{color:#fcfcfc}.rst-versions .rst-current-version .fa-book,.rst-versions .rst-current-version .icon-book{float:left}.rst-versions .rst-current-version.rst-out-of-date{background-color:#e74c3c;color:#fff}.rst-versions .rst-current-version.rst-active-old-version{background-color:#f1c40f;color:#000}.rst-versions.shift-up{height:auto;max-height:100%;overflow-y:scroll}.rst-versions.shift-up .rst-other-versions{display:block}.rst-versions .rst-other-versions{font-size:90%;padding:12px;color:grey;display:none}.rst-versions .rst-other-versions hr{display:block;height:1px;border:0;margin:20px 0;padding:0;border-top:1px solid #413d3d}.rst-versions .rst-other-versions dd{display:inline-block;margin:0}.rst-versions .rst-other-versions dd a{display:inline-block;padding:6px;color:#fcfcfc}.rst-versions .rst-other-versions .rtd-current-item{font-weight:700}.rst-versions.rst-badge{width:auto;bottom:20px;right:20px;left:auto;border:none;max-width:300px;max-height:90%}.rst-versions.rst-badge .fa-book,.rst-versions.rst-badge .icon-book{float:none;line-height:30px}.rst-versions.rst-badge.shift-up .rst-current-version{text-align:right}.rst-versions.rst-badge.shift-up .rst-current-version .fa-book,.rst-versions.rst-badge.shift-up .rst-current-version .icon-book{float:left}.rst-versions.rst-badge>.rst-current-version{width:auto;height:30px;line-height:30px;padding:0 6px;display:block;text-align:center}@media screen and (max-width:768px){.rst-versions{width:85%;display:none}.rst-versions.shift{display:block}}#flyout-search-form{padding:6px}.rst-content .toctree-wrapper>p.caption,.rst-content h1,.rst-content h2,.rst-content h3,.rst-content h4,.rst-content h5,.rst-content h6{margin-bottom:24px}.rst-content img{max-width:100%;height:auto}.rst-content div.figure,.rst-content figure{margin-bottom:24px}.rst-content div.figure .caption-text,.rst-content figure .caption-text{font-style:italic}.rst-content div.figure p:last-child.caption,.rst-content figure p:last-child.caption{margin-bottom:0}.rst-content div.figure.align-center,.rst-content figure.align-center{text-align:center}.rst-content .section>a>img,.rst-content .section>img,.rst-content section>a>img,.rst-content section>img{margin-bottom:24px}.rst-content abbr[title]{text-decoration:none}.rst-content.style-external-links a.reference.external:after{font-family:FontAwesome;content:"\f08e";color:#b3b3b3;vertical-align:super;font-size:60%;margin:0 .2em}.rst-content blockquote{margin-left:24px;line-height:24px;margin-bottom:24px}.rst-content pre.literal-block{white-space:pre;margin:0;padding:12px;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;display:block;overflow:auto}.rst-content div[class^=highlight],.rst-content pre.literal-block{border:1px solid #e1e4e5;overflow-x:auto;margin:1px 0 24px}.rst-content div[class^=highlight] div[class^=highlight],.rst-content pre.literal-block div[class^=highlight]{padding:0;border:none;margin:0}.rst-content div[class^=highlight] td.code{width:100%}.rst-content .linenodiv pre{border-right:1px solid #e6e9ea;margin:0;padding:12px;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;user-select:none;pointer-events:none}.rst-content div[class^=highlight] pre{white-space:pre;margin:0;padding:12px;display:block;overflow:auto}.rst-content div[class^=highlight] pre .hll{display:block;margin:0 -12px;padding:0 12px}.rst-content .linenodiv pre,.rst-content div[class^=highlight] pre,.rst-content pre.literal-block{font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;font-size:12px;line-height:1.4}.rst-content div.highlight .gp,.rst-content div.highlight span.linenos{user-select:none;pointer-events:none}.rst-content div.highlight span.linenos{display:inline-block;padding-left:0;padding-right:12px;margin-right:12px;border-right:1px solid #e6e9ea}.rst-content .code-block-caption{font-style:italic;font-size:85%;line-height:1;padding:1em 0;text-align:center}@media print{.rst-content .codeblock,.rst-content div[class^=highlight],.rst-content div[class^=highlight] pre{white-space:pre-wrap}}.rst-content .admonition,.rst-content .admonition-todo,.rst-content .attention,.rst-content .caution,.rst-content .danger,.rst-content .error,.rst-content .hint,.rst-content .important,.rst-content .note,.rst-content .seealso,.rst-content .tip,.rst-content .warning{clear:both}.rst-content .admonition-todo .last,.rst-content .admonition-todo>:last-child,.rst-content .admonition .last,.rst-content .admonition>:last-child,.rst-content .attention .last,.rst-content .attention>:last-child,.rst-content .caution .last,.rst-content .caution>:last-child,.rst-content .danger .last,.rst-content .danger>:last-child,.rst-content .error .last,.rst-content .error>:last-child,.rst-content .hint .last,.rst-content .hint>:last-child,.rst-content .important .last,.rst-content .important>:last-child,.rst-content .note .last,.rst-content .note>:last-child,.rst-content .seealso .last,.rst-content .seealso>:last-child,.rst-content .tip .last,.rst-content .tip>:last-child,.rst-content .warning .last,.rst-content .warning>:last-child{margin-bottom:0}.rst-content .admonition-title:before{margin-right:4px}.rst-content .admonition table{border-color:rgba(0,0,0,.1)}.rst-content .admonition table td,.rst-content .admonition table th{background:transparent!important;border-color:rgba(0,0,0,.1)!important}.rst-content .section ol.loweralpha,.rst-content .section ol.loweralpha>li,.rst-content .toctree-wrapper ol.loweralpha,.rst-content .toctree-wrapper ol.loweralpha>li,.rst-content section ol.loweralpha,.rst-content section ol.loweralpha>li{list-style:lower-alpha}.rst-content .section ol.upperalpha,.rst-content .section ol.upperalpha>li,.rst-content .toctree-wrapper ol.upperalpha,.rst-content .toctree-wrapper ol.upperalpha>li,.rst-content section ol.upperalpha,.rst-content section ol.upperalpha>li{list-style:upper-alpha}.rst-content .section ol li>*,.rst-content .section ul li>*,.rst-content .toctree-wrapper ol li>*,.rst-content .toctree-wrapper ul li>*,.rst-content section ol li>*,.rst-content section ul li>*{margin-top:12px;margin-bottom:12px}.rst-content .section ol li>:first-child,.rst-content .section ul li>:first-child,.rst-content .toctree-wrapper ol li>:first-child,.rst-content .toctree-wrapper ul li>:first-child,.rst-content section ol li>:first-child,.rst-content section ul li>:first-child{margin-top:0}.rst-content .section ol li>p,.rst-content .section ol li>p:last-child,.rst-content .section ul li>p,.rst-content .section ul li>p:last-child,.rst-content .toctree-wrapper ol li>p,.rst-content .toctree-wrapper ol li>p:last-child,.rst-content .toctree-wrapper ul li>p,.rst-content .toctree-wrapper ul li>p:last-child,.rst-content section ol li>p,.rst-content section ol li>p:last-child,.rst-content section ul li>p,.rst-content section ul li>p:last-child{margin-bottom:12px}.rst-content .section ol li>p:only-child,.rst-content .section ol li>p:only-child:last-child,.rst-content .section ul li>p:only-child,.rst-content .section ul li>p:only-child:last-child,.rst-content .toctree-wrapper ol li>p:only-child,.rst-content .toctree-wrapper ol li>p:only-child:last-child,.rst-content .toctree-wrapper ul li>p:only-child,.rst-content .toctree-wrapper ul li>p:only-child:last-child,.rst-content section ol li>p:only-child,.rst-content section ol li>p:only-child:last-child,.rst-content section ul li>p:only-child,.rst-content section ul li>p:only-child:last-child{margin-bottom:0}.rst-content .section ol li>ol,.rst-content .section ol li>ul,.rst-content .section ul li>ol,.rst-content .section ul li>ul,.rst-content .toctree-wrapper ol li>ol,.rst-content .toctree-wrapper ol li>ul,.rst-content .toctree-wrapper ul li>ol,.rst-content .toctree-wrapper ul li>ul,.rst-content section ol li>ol,.rst-content section ol li>ul,.rst-content section ul li>ol,.rst-content section ul li>ul{margin-bottom:12px}.rst-content .section ol.simple li>*,.rst-content .section ol.simple li ol,.rst-content .section ol.simple li ul,.rst-content .section ul.simple li>*,.rst-content .section ul.simple li ol,.rst-content .section ul.simple li ul,.rst-content .toctree-wrapper ol.simple li>*,.rst-content .toctree-wrapper ol.simple li ol,.rst-content .toctree-wrapper ol.simple li ul,.rst-content .toctree-wrapper ul.simple li>*,.rst-content .toctree-wrapper ul.simple li ol,.rst-content .toctree-wrapper ul.simple li ul,.rst-content section ol.simple li>*,.rst-content section ol.simple li ol,.rst-content section ol.simple li ul,.rst-content section ul.simple li>*,.rst-content section ul.simple li ol,.rst-content section ul.simple li ul{margin-top:0;margin-bottom:0}.rst-content .line-block{margin-left:0;margin-bottom:24px;line-height:24px}.rst-content .line-block .line-block{margin-left:24px;margin-bottom:0}.rst-content .topic-title{font-weight:700;margin-bottom:12px}.rst-content .toc-backref{color:#404040}.rst-content .align-right{float:right;margin:0 0 24px 24px}.rst-content .align-left{float:left;margin:0 24px 24px 0}.rst-content .align-center{margin:auto}.rst-content .align-center:not(table){display:block}.rst-content .code-block-caption .headerlink,.rst-content .eqno .headerlink,.rst-content .toctree-wrapper>p.caption .headerlink,.rst-content dl dt .headerlink,.rst-content h1 .headerlink,.rst-content h2 .headerlink,.rst-content h3 .headerlink,.rst-content h4 .headerlink,.rst-content h5 .headerlink,.rst-content h6 .headerlink,.rst-content p.caption .headerlink,.rst-content p .headerlink,.rst-content table>caption .headerlink{opacity:0;font-size:14px;font-family:FontAwesome;margin-left:.5em}.rst-content .code-block-caption .headerlink:focus,.rst-content .code-block-caption:hover .headerlink,.rst-content .eqno .headerlink:focus,.rst-content .eqno:hover .headerlink,.rst-content .toctree-wrapper>p.caption .headerlink:focus,.rst-content .toctree-wrapper>p.caption:hover .headerlink,.rst-content dl dt .headerlink:focus,.rst-content dl dt:hover .headerlink,.rst-content h1 .headerlink:focus,.rst-content h1:hover .headerlink,.rst-content h2 .headerlink:focus,.rst-content h2:hover .headerlink,.rst-content h3 .headerlink:focus,.rst-content h3:hover .headerlink,.rst-content h4 .headerlink:focus,.rst-content h4:hover .headerlink,.rst-content h5 .headerlink:focus,.rst-content h5:hover .headerlink,.rst-content h6 .headerlink:focus,.rst-content h6:hover .headerlink,.rst-content p.caption .headerlink:focus,.rst-content p.caption:hover .headerlink,.rst-content p .headerlink:focus,.rst-content p:hover .headerlink,.rst-content table>caption .headerlink:focus,.rst-content table>caption:hover .headerlink{opacity:1}.rst-content p a{overflow-wrap:anywhere}.rst-content .wy-table td p,.rst-content .wy-table td ul,.rst-content .wy-table th p,.rst-content .wy-table th ul,.rst-content table.docutils td p,.rst-content table.docutils td ul,.rst-content table.docutils th p,.rst-content table.docutils th ul,.rst-content table.field-list td p,.rst-content table.field-list td ul,.rst-content table.field-list th p,.rst-content table.field-list th ul{font-size:inherit}.rst-content .btn:focus{outline:2px solid}.rst-content table>caption .headerlink:after{font-size:12px}.rst-content .centered{text-align:center}.rst-content .sidebar{float:right;width:40%;display:block;margin:0 0 24px 24px;padding:24px;background:#f3f6f6;border:1px solid #e1e4e5}.rst-content .sidebar dl,.rst-content .sidebar p,.rst-content .sidebar ul{font-size:90%}.rst-content .sidebar .last,.rst-content .sidebar>:last-child{margin-bottom:0}.rst-content .sidebar .sidebar-title{display:block;font-family:Roboto Slab,ff-tisa-web-pro,Georgia,Arial,sans-serif;font-weight:700;background:#e1e4e5;padding:6px 12px;margin:-24px -24px 24px;font-size:100%}.rst-content .highlighted{background:#f1c40f;box-shadow:0 0 0 2px #f1c40f;display:inline;font-weight:700}.rst-content .citation-reference,.rst-content .footnote-reference{vertical-align:baseline;position:relative;top:-.4em;line-height:0;font-size:90%}.rst-content .citation-reference>span.fn-bracket,.rst-content .footnote-reference>span.fn-bracket{display:none}.rst-content .hlist{width:100%}.rst-content dl dt span.classifier:before{content:" : "}.rst-content dl dt span.classifier-delimiter{display:none!important}html.writer-html4 .rst-content table.docutils.citation,html.writer-html4 .rst-content table.docutils.footnote{background:none;border:none}html.writer-html4 .rst-content table.docutils.citation td,html.writer-html4 .rst-content table.docutils.citation tr,html.writer-html4 .rst-content table.docutils.footnote td,html.writer-html4 .rst-content table.docutils.footnote tr{border:none;background-color:transparent!important;white-space:normal}html.writer-html4 .rst-content table.docutils.citation td.label,html.writer-html4 .rst-content table.docutils.footnote td.label{padding-left:0;padding-right:0;vertical-align:top}html.writer-html5 .rst-content dl.citation,html.writer-html5 .rst-content dl.field-list,html.writer-html5 .rst-content dl.footnote{display:grid;grid-template-columns:auto minmax(80%,95%)}html.writer-html5 .rst-content dl.citation>dt,html.writer-html5 .rst-content dl.field-list>dt,html.writer-html5 .rst-content dl.footnote>dt{display:inline-grid;grid-template-columns:max-content auto}html.writer-html5 .rst-content aside.citation,html.writer-html5 .rst-content aside.footnote,html.writer-html5 .rst-content div.citation{display:grid;grid-template-columns:auto auto minmax(.65rem,auto) minmax(40%,95%)}html.writer-html5 .rst-content aside.citation>span.label,html.writer-html5 .rst-content aside.footnote>span.label,html.writer-html5 .rst-content div.citation>span.label{grid-column-start:1;grid-column-end:2}html.writer-html5 .rst-content aside.citation>span.backrefs,html.writer-html5 .rst-content aside.footnote>span.backrefs,html.writer-html5 .rst-content div.citation>span.backrefs{grid-column-start:2;grid-column-end:3;grid-row-start:1;grid-row-end:3}html.writer-html5 .rst-content aside.citation>p,html.writer-html5 .rst-content aside.footnote>p,html.writer-html5 .rst-content div.citation>p{grid-column-start:4;grid-column-end:5}html.writer-html5 .rst-content dl.citation,html.writer-html5 .rst-content dl.field-list,html.writer-html5 .rst-content dl.footnote{margin-bottom:24px}html.writer-html5 .rst-content dl.citation>dt,html.writer-html5 .rst-content dl.field-list>dt,html.writer-html5 .rst-content dl.footnote>dt{padding-left:1rem}html.writer-html5 .rst-content dl.citation>dd,html.writer-html5 .rst-content dl.citation>dt,html.writer-html5 .rst-content dl.field-list>dd,html.writer-html5 .rst-content dl.field-list>dt,html.writer-html5 .rst-content dl.footnote>dd,html.writer-html5 .rst-content dl.footnote>dt{margin-bottom:0}html.writer-html5 .rst-content dl.citation,html.writer-html5 .rst-content dl.footnote{font-size:.9rem}html.writer-html5 .rst-content dl.citation>dt,html.writer-html5 .rst-content dl.footnote>dt{margin:0 .5rem .5rem 0;line-height:1.2rem;word-break:break-all;font-weight:400}html.writer-html5 .rst-content dl.citation>dt>span.brackets:before,html.writer-html5 .rst-content dl.footnote>dt>span.brackets:before{content:"["}html.writer-html5 .rst-content dl.citation>dt>span.brackets:after,html.writer-html5 .rst-content dl.footnote>dt>span.brackets:after{content:"]"}html.writer-html5 .rst-content dl.citation>dt>span.fn-backref,html.writer-html5 .rst-content dl.footnote>dt>span.fn-backref{text-align:left;font-style:italic;margin-left:.65rem;word-break:break-word;word-spacing:-.1rem;max-width:5rem}html.writer-html5 .rst-content dl.citation>dt>span.fn-backref>a,html.writer-html5 .rst-content dl.footnote>dt>span.fn-backref>a{word-break:keep-all}html.writer-html5 .rst-content dl.citation>dt>span.fn-backref>a:not(:first-child):before,html.writer-html5 .rst-content dl.footnote>dt>span.fn-backref>a:not(:first-child):before{content:" "}html.writer-html5 .rst-content dl.citation>dd,html.writer-html5 .rst-content dl.footnote>dd{margin:0 0 .5rem;line-height:1.2rem}html.writer-html5 .rst-content dl.citation>dd p,html.writer-html5 .rst-content dl.footnote>dd p{font-size:.9rem}html.writer-html5 .rst-content aside.citation,html.writer-html5 .rst-content aside.footnote,html.writer-html5 .rst-content div.citation{padding-left:1rem;padding-right:1rem;font-size:.9rem;line-height:1.2rem}html.writer-html5 .rst-content aside.citation p,html.writer-html5 .rst-content aside.footnote p,html.writer-html5 .rst-content div.citation p{font-size:.9rem;line-height:1.2rem;margin-bottom:12px}html.writer-html5 .rst-content aside.citation span.backrefs,html.writer-html5 .rst-content aside.footnote span.backrefs,html.writer-html5 .rst-content div.citation span.backrefs{text-align:left;font-style:italic;margin-left:.65rem;word-break:break-word;word-spacing:-.1rem;max-width:5rem}html.writer-html5 .rst-content aside.citation span.backrefs>a,html.writer-html5 .rst-content aside.footnote span.backrefs>a,html.writer-html5 .rst-content div.citation span.backrefs>a{word-break:keep-all}html.writer-html5 .rst-content aside.citation span.backrefs>a:not(:first-child):before,html.writer-html5 .rst-content aside.footnote span.backrefs>a:not(:first-child):before,html.writer-html5 .rst-content div.citation span.backrefs>a:not(:first-child):before{content:" "}html.writer-html5 .rst-content aside.citation span.label,html.writer-html5 .rst-content aside.footnote span.label,html.writer-html5 .rst-content div.citation span.label{line-height:1.2rem}html.writer-html5 .rst-content aside.citation-list,html.writer-html5 .rst-content aside.footnote-list,html.writer-html5 .rst-content div.citation-list{margin-bottom:24px}html.writer-html5 .rst-content dl.option-list kbd{font-size:.9rem}.rst-content table.docutils.footnote,html.writer-html4 .rst-content table.docutils.citation,html.writer-html5 .rst-content aside.footnote,html.writer-html5 .rst-content aside.footnote-list aside.footnote,html.writer-html5 .rst-content div.citation-list>div.citation,html.writer-html5 .rst-content dl.citation,html.writer-html5 .rst-content dl.footnote{color:grey}.rst-content table.docutils.footnote code,.rst-content table.docutils.footnote tt,html.writer-html4 .rst-content table.docutils.citation code,html.writer-html4 .rst-content table.docutils.citation tt,html.writer-html5 .rst-content aside.footnote-list aside.footnote code,html.writer-html5 .rst-content aside.footnote-list aside.footnote tt,html.writer-html5 .rst-content aside.footnote code,html.writer-html5 .rst-content aside.footnote tt,html.writer-html5 .rst-content div.citation-list>div.citation code,html.writer-html5 .rst-content div.citation-list>div.citation tt,html.writer-html5 .rst-content dl.citation code,html.writer-html5 .rst-content dl.citation tt,html.writer-html5 .rst-content dl.footnote code,html.writer-html5 .rst-content dl.footnote tt{color:#555}.rst-content .wy-table-responsive.citation,.rst-content .wy-table-responsive.footnote{margin-bottom:0}.rst-content .wy-table-responsive.citation+:not(.citation),.rst-content .wy-table-responsive.footnote+:not(.footnote){margin-top:24px}.rst-content .wy-table-responsive.citation:last-child,.rst-content .wy-table-responsive.footnote:last-child{margin-bottom:24px}.rst-content table.docutils th{border-color:#e1e4e5}html.writer-html5 .rst-content table.docutils th{border:1px solid #e1e4e5}html.writer-html5 .rst-content table.docutils td>p,html.writer-html5 .rst-content table.docutils th>p{line-height:1rem;margin-bottom:0;font-size:.9rem}.rst-content table.docutils td .last,.rst-content table.docutils td .last>:last-child{margin-bottom:0}.rst-content table.field-list,.rst-content table.field-list td{border:none}.rst-content table.field-list td p{line-height:inherit}.rst-content table.field-list td>strong{display:inline-block}.rst-content table.field-list .field-name{padding-right:10px;text-align:left;white-space:nowrap}.rst-content table.field-list .field-body{text-align:left}.rst-content code,.rst-content tt{color:#000;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;padding:2px 5px}.rst-content code big,.rst-content code em,.rst-content tt big,.rst-content tt em{font-size:100%!important;line-height:normal}.rst-content code.literal,.rst-content tt.literal{color:#e74c3c;white-space:normal}.rst-content code.xref,.rst-content tt.xref,a .rst-content code,a .rst-content tt{font-weight:700;color:#404040;overflow-wrap:normal}.rst-content kbd,.rst-content pre,.rst-content samp{font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace}.rst-content a code,.rst-content a tt{color:#2980b9}.rst-content dl{margin-bottom:24px}.rst-content dl dt{font-weight:700;margin-bottom:12px}.rst-content dl ol,.rst-content dl p,.rst-content dl table,.rst-content dl ul{margin-bottom:12px}.rst-content dl dd{margin:0 0 12px 24px;line-height:24px}.rst-content dl dd>ol:last-child,.rst-content dl dd>p:last-child,.rst-content dl dd>table:last-child,.rst-content dl dd>ul:last-child{margin-bottom:0}html.writer-html4 .rst-content dl:not(.docutils),html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple){margin-bottom:24px}html.writer-html4 .rst-content dl:not(.docutils)>dt,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple)>dt{display:table;margin:6px 0;font-size:90%;line-height:normal;background:#e7f2fa;color:#2980b9;border-top:3px solid #6ab0de;padding:6px;position:relative}html.writer-html4 .rst-content dl:not(.docutils)>dt:before,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple)>dt:before{color:#6ab0de}html.writer-html4 .rst-content dl:not(.docutils)>dt .headerlink,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple)>dt .headerlink{color:#404040;font-size:100%!important}html.writer-html4 .rst-content dl:not(.docutils) dl:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple)>dt,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) dl:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple)>dt{margin-bottom:6px;border:none;border-left:3px solid #ccc;background:#f0f0f0;color:#555}html.writer-html4 .rst-content dl:not(.docutils) dl:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple)>dt .headerlink,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) dl:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple)>dt .headerlink{color:#404040;font-size:100%!important}html.writer-html4 .rst-content dl:not(.docutils)>dt:first-child,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple)>dt:first-child{margin-top:0}html.writer-html4 .rst-content dl:not(.docutils) code.descclassname,html.writer-html4 .rst-content dl:not(.docutils) code.descname,html.writer-html4 .rst-content dl:not(.docutils) tt.descclassname,html.writer-html4 .rst-content dl:not(.docutils) tt.descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) code.descclassname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) code.descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) tt.descclassname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) tt.descname{background-color:transparent;border:none;padding:0;font-size:100%!important}html.writer-html4 .rst-content dl:not(.docutils) code.descname,html.writer-html4 .rst-content dl:not(.docutils) tt.descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) code.descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) tt.descname{font-weight:700}html.writer-html4 .rst-content dl:not(.docutils) .optional,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) .optional{display:inline-block;padding:0 4px;color:#000;font-weight:700}html.writer-html4 .rst-content dl:not(.docutils) .property,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) .property{display:inline-block;padding-right:8px;max-width:100%}html.writer-html4 .rst-content dl:not(.docutils) .k,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) .k{font-style:italic}html.writer-html4 .rst-content dl:not(.docutils) .descclassname,html.writer-html4 .rst-content dl:not(.docutils) .descname,html.writer-html4 .rst-content dl:not(.docutils) .sig-name,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) .descclassname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) .descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) .sig-name{font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;color:#000}.rst-content .viewcode-back,.rst-content .viewcode-link{display:inline-block;color:#27ae60;font-size:80%;padding-left:24px}.rst-content .viewcode-back{display:block;float:right}.rst-content p.rubric{margin-bottom:12px;font-weight:700}.rst-content code.download,.rst-content tt.download{background:inherit;padding:inherit;font-weight:400;font-family:inherit;font-size:inherit;color:inherit;border:inherit;white-space:inherit}.rst-content code.download span:first-child,.rst-content tt.download span:first-child{-webkit-font-smoothing:subpixel-antialiased}.rst-content code.download span:first-child:before,.rst-content tt.download span:first-child:before{margin-right:4px}.rst-content .guilabel,.rst-content .menuselection{font-size:80%;font-weight:700;border-radius:4px;padding:2.4px 6px;margin:auto 2px}.rst-content .guilabel,.rst-content .menuselection{border:1px solid #7fbbe3;background:#e7f2fa}.rst-content :not(dl.option-list)>:not(dt):not(kbd):not(.kbd)>.kbd,.rst-content :not(dl.option-list)>:not(dt):not(kbd):not(.kbd)>kbd{color:inherit;font-size:80%;background-color:#fff;border:1px solid #a6a6a6;border-radius:4px;box-shadow:0 2px grey;padding:2.4px 6px;margin:auto 0}.rst-content .versionmodified{font-style:italic}@media screen and (max-width:480px){.rst-content .sidebar{width:100%}}span[id*=MathJax-Span]{color:#404040}.math{text-align:center}@font-face{font-family:Lato;src:url(fonts/lato-normal.woff2?bd03a2cc277bbbc338d464e679fe9942) format("woff2"),url(fonts/lato-normal.woff?27bd77b9162d388cb8d4c4217c7c5e2a) format("woff");font-weight:400;font-style:normal;font-display:block}@font-face{font-family:Lato;src:url(fonts/lato-bold.woff2?cccb897485813c7c256901dbca54ecf2) format("woff2"),url(fonts/lato-bold.woff?d878b6c29b10beca227e9eef4246111b) format("woff");font-weight:700;font-style:normal;font-display:block}@font-face{font-family:Lato;src:url(fonts/lato-bold-italic.woff2?0b6bb6725576b072c5d0b02ecdd1900d) format("woff2"),url(fonts/lato-bold-italic.woff?9c7e4e9eb485b4a121c760e61bc3707c) format("woff");font-weight:700;font-style:italic;font-display:block}@font-face{font-family:Lato;src:url(fonts/lato-normal-italic.woff2?4eb103b4d12be57cb1d040ed5e162e9d) format("woff2"),url(fonts/lato-normal-italic.woff?f28f2d6482446544ef1ea1ccc6dd5892) format("woff");font-weight:400;font-style:italic;font-display:block}@font-face{font-family:Roboto Slab;font-style:normal;font-weight:400;src:url(fonts/Roboto-Slab-Regular.woff2?7abf5b8d04d26a2cafea937019bca958) format("woff2"),url(fonts/Roboto-Slab-Regular.woff?c1be9284088d487c5e3ff0a10a92e58c) format("woff");font-display:block}@font-face{font-family:Roboto Slab;font-style:normal;font-weight:700;src:url(fonts/Roboto-Slab-Bold.woff2?9984f4a9bda09be08e83f2506954adbe) format("woff2"),url(fonts/Roboto-Slab-Bold.woff?bed5564a116b05148e3b3bea6fb1162a) format("woff");font-display:block} \ No newline at end of file diff --git a/docs/UserGuide/_static/custom.css b/docs/UserGuide/_static/custom.css new file mode 100644 index 0000000..7ec1e6f --- /dev/null +++ b/docs/UserGuide/_static/custom.css @@ -0,0 +1,109 @@ +/* 让表格自动拉伸到满宽度 */ +table { + width: 100%; + margin-left: auto; + margin-right: auto; +} + +/* 让表格中的每个 和 也自动拉伸 */ +th, +td { + width: auto; +} + +ul { + width: 100%; + /* 列表宽度占满整个容器 */ + } + + +/* 修改 Sphinx Theme 项目标题的字体大小 Book和rtd 均OK */ +.wy-side-nav-search>a { + font-size: 16px; + /* 你可以根据需要调整这个值 */ +} + +/* 修改项目标题的字体大小 Book和rtd 均OK*/ +.wy-side-nav-search>div.version { + font-size: 16px; + /* 你可以根据需要调整这个值 */ +} + + +.sidebar-logo { + width: 500px; + /* 或者使用百分比 */ + height: auto; + max-width: 90%; + max-height: 90%; +} + + +.sidebar-content { + line-height: 1.0; + /* 行间距是字体大小的1.5倍 */ +} + +.sidebar { + padding: 20px; + /* 内边距 */ + margin-bottom: 20px; + /* 外边距 */ +} + +.sidebar-text { + font-size: 30px; +} +/* 修改侧边栏的背景颜色 */ +.wy-nav-side { + background-color: #cecece !important; +} + +/* 针对导航栏链接的选择器 */ +.wy-nav-side a { + color: #000000; + /* 修改为您需要的颜色 */ +} + +/* 如果需要，您可以添加 hover 和 active 状态的样式 */ +.wy-nav-side a:hover { + color: #fffcfc; +} + +.wy-nav-side .current>a { + color: #108bf0 !important; + font-weight: bold !important; + /* 设置为粗体 */ + /* 当前活动项的颜色 */ +} + +/* 提示：不同版本的 Sphinx 主题生成的 HTML 结构可能有所不同，请根据实际情况调整选择器 */ +h1.wy-banner-title { + color: #0267da !important; + /* 将此处的颜色替换为您希望的颜色 */ +} + +/* 如果也需要修改小标题 */ +h2.wy-banner-subtitle { + color: #7b7b7b !important; + /* 替换为希望的颜色 */ +} + +.wy-side-nav-search>a { + color: #ffffff !important; + /* 将 #your-color 替换为你想要颜色的十六进制代码 */ +} + + +/* 调整最大宽度 OK */ +.wy-nav-content { + max-width: 960px; + +} + + +/* 可选：调整侧边栏宽度 */ +/* .wy-side-scroll { + width: 300px; + +} */ \ No newline at end of file diff --git a/docs/UserGuide/_static/custom.js b/docs/UserGuide/_static/custom.js new file mode 100644 index 0000000..f405b0d --- /dev/null +++ b/docs/UserGuide/_static/custom.js @@ -0,0 +1,34 @@ +// custom.js 可以禁止自动折叠，但不能跳转 +// document.addEventListener('DOMContentLoaded', function () { +// // 展开所有侧边栏目录项 +// var toctreeItems = document.querySelectorAll('.toctree-l1'); +// toctreeItems.forEach(function (item) { +// item.classList.add('current'); +// }); + +// // 监听点击事件，确保点击标题时不会折叠其他标题，并且能够跳转到相应的文档部分 +// document.querySelectorAll('.toctree-l1 a').forEach(function (link) { +// link.addEventListener('click', function (event) { +// // 阻止默认的折叠行为 +// event.preventDefault(); +// // 展开点击的标题 +// var parentLi = this.closest('li'); +// parentLi.classList.add('current'); +// // 移除其他同级目录项的 'current' 类 +// parentLi.parentElement.children.forEach(function (sibling) { +// if (sibling !== parentLi) { +// sibling.classList.remove('current'); +// } +// }); +// // 跳转到相应的文档部分 +// var target = this.getAttribute('href'); +// if (target.startsWith('#')) { +// document.querySelector(target).scrollIntoView(); +// } else { +// // 如果链接不是锚点，则在新窗口或当前窗口打开链接 +// window.open(target, '_blank'); +// } +// }); +// }); +// }); + diff --git a/docs/UserGuide/_static/doctools.js b/docs/UserGuide/_static/doctools.js new file mode 100644 index 0000000..4d67807 --- /dev/null +++ b/docs/UserGuide/_static/doctools.js @@ -0,0 +1,156 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Base JavaScript utilities for all Sphinx HTML documentation. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ +"use strict"; + +const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([ + "TEXTAREA", + "INPUT", + "SELECT", + "BUTTON", +]); + +const _ready = (callback) => { + if (document.readyState !== "loading") { + callback(); + } else { + document.addEventListener("DOMContentLoaded", callback); + } +}; + +/** + * Small JavaScript module for the documentation. + */ +const Documentation = { + init: () => { + Documentation.initDomainIndexTable(); + Documentation.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS: {}, + PLURAL_EXPR: (n) => (n === 1 ? 0 : 1), + LOCALE: "unknown", + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext: (string) => { + const translated = Documentation.TRANSLATIONS[string]; + switch (typeof translated) { + case "undefined": + return string; // no translation + case "string": + return translated; // translation exists + default: + return translated[0]; // (singular, plural) translation tuple exists + } + }, + + ngettext: (singular, plural, n) => { + const translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated !== "undefined") + return translated[Documentation.PLURAL_EXPR(n)]; + return n === 1 ? singular : plural; + }, + + addTranslations: (catalog) => { + Object.assign(Documentation.TRANSLATIONS, catalog.messages); + Documentation.PLURAL_EXPR = new Function( + "n", + `return (${catalog.plural_expr})` + ); + Documentation.LOCALE = catalog.locale; + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar: () => { + document.querySelectorAll("input[name=q]")[0]?.focus(); + }, + + /** + * Initialise the domain index toggle buttons + */ + initDomainIndexTable: () => { + const toggler = (el) => { + const idNumber = el.id.substr(7); + const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`); + if (el.src.substr(-9) === "minus.png") { + el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`; + toggledRows.forEach((el) => (el.style.display = "none")); + } else { + el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`; + toggledRows.forEach((el) => (el.style.display = "")); + } + }; + + const togglerElements = document.querySelectorAll("img.toggler"); + togglerElements.forEach((el) => + el.addEventListener("click", (event) => toggler(event.currentTarget)) + ); + togglerElements.forEach((el) => (el.style.display = "")); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler); + }, + + initOnKeyListeners: () => { + // only install a listener if it is really needed + if ( + !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS + ) + return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.altKey || event.ctrlKey || event.metaKey) return; + + if (!event.shiftKey) { + switch (event.key) { + case "ArrowLeft": + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break; + + const prevLink = document.querySelector('link[rel="prev"]'); + if (prevLink && prevLink.href) { + window.location.href = prevLink.href; + event.preventDefault(); + } + break; + case "ArrowRight": + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break; + + const nextLink = document.querySelector('link[rel="next"]'); + if (nextLink && nextLink.href) { + window.location.href = nextLink.href; + event.preventDefault(); + } + break; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case "/": + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break; + Documentation.focusSearchBar(); + event.preventDefault(); + } + }); + }, +}; + +// quick alias for translations +const _ = Documentation.gettext; + +_ready(Documentation.init); diff --git a/docs/UserGuide/_static/documentation_options.js b/docs/UserGuide/_static/documentation_options.js new file mode 100644 index 0000000..7e4c114 --- /dev/null +++ b/docs/UserGuide/_static/documentation_options.js @@ -0,0 +1,13 @@ +const DOCUMENTATION_OPTIONS = { + VERSION: '', + LANGUAGE: 'en', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/docs/UserGuide/_static/file.png b/docs/UserGuide/_static/file.png new file mode 100644 index 0000000..a858a41 Binary files /dev/null and b/docs/UserGuide/_static/file.png differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-bold.eot b/docs/UserGuide/_static/fonts/Lato/lato-bold.eot new file mode 100644 index 0000000..3361183 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-bold.eot differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-bold.ttf b/docs/UserGuide/_static/fonts/Lato/lato-bold.ttf new file mode 100644 index 0000000..29f691d Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-bold.ttf differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-bold.woff b/docs/UserGuide/_static/fonts/Lato/lato-bold.woff new file mode 100644 index 0000000..c6dff51 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-bold.woff differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-bold.woff2 b/docs/UserGuide/_static/fonts/Lato/lato-bold.woff2 new file mode 100644 index 0000000..bb19504 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-bold.woff2 differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.eot b/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.eot new file mode 100644 index 0000000..3d41549 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.eot differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.ttf b/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.ttf new file mode 100644 index 0000000..f402040 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.ttf differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.woff b/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.woff new file mode 100644 index 0000000..88ad05b Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.woff differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.woff2 b/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.woff2 new file mode 100644 index 0000000..c4e3d80 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-bolditalic.woff2 differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-italic.eot b/docs/UserGuide/_static/fonts/Lato/lato-italic.eot new file mode 100644 index 0000000..3f82642 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-italic.eot differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-italic.ttf b/docs/UserGuide/_static/fonts/Lato/lato-italic.ttf new file mode 100644 index 0000000..b4bfc9b Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-italic.ttf differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-italic.woff b/docs/UserGuide/_static/fonts/Lato/lato-italic.woff new file mode 100644 index 0000000..76114bc Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-italic.woff differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-italic.woff2 b/docs/UserGuide/_static/fonts/Lato/lato-italic.woff2 new file mode 100644 index 0000000..3404f37 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-italic.woff2 differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-regular.eot b/docs/UserGuide/_static/fonts/Lato/lato-regular.eot new file mode 100644 index 0000000..11e3f2a Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-regular.eot differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-regular.ttf b/docs/UserGuide/_static/fonts/Lato/lato-regular.ttf new file mode 100644 index 0000000..74decd9 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-regular.ttf differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-regular.woff b/docs/UserGuide/_static/fonts/Lato/lato-regular.woff new file mode 100644 index 0000000..ae1307f Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-regular.woff differ diff --git a/docs/UserGuide/_static/fonts/Lato/lato-regular.woff2 b/docs/UserGuide/_static/fonts/Lato/lato-regular.woff2 new file mode 100644 index 0000000..3bf9843 Binary files /dev/null and b/docs/UserGuide/_static/fonts/Lato/lato-regular.woff2 differ diff --git a/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.eot b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.eot new file mode 100644 index 0000000..79dc8ef Binary files /dev/null and b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.eot differ diff --git a/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.ttf b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.ttf new file mode 100644 index 0000000..df5d1df Binary files /dev/null and b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.ttf differ diff --git a/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.woff b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.woff new file mode 100644 index 0000000..6cb6000 Binary files /dev/null and b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.woff differ diff --git a/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.woff2 b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.woff2 new file mode 100644 index 0000000..7059e23 Binary files /dev/null and b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-bold.woff2 differ diff --git a/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.eot b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.eot new file mode 100644 index 0000000..2f7ca78 Binary files /dev/null and b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.eot differ diff --git a/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.ttf b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.ttf new file mode 100644 index 0000000..eb52a79 Binary files /dev/null and b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.ttf differ diff --git a/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.woff b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.woff new file mode 100644 index 0000000..f815f63 Binary files /dev/null and b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.woff differ diff --git a/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.woff2 b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.woff2 new file mode 100644 index 0000000..f2c76e5 Binary files /dev/null and b/docs/UserGuide/_static/fonts/RobotoSlab/roboto-slab-v7-regular.woff2 differ diff --git a/docs/UserGuide/_static/jquery.js b/docs/UserGuide/_static/jquery.js new file mode 100644 index 0000000..c4c6022 --- /dev/null +++ b/docs/UserGuide/_static/jquery.js @@ -0,0 +1,2 @@ +/*! jQuery v3.6.0 | (c) OpenJS Foundation and other contributors | jquery.org/license */ +!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],r=Object.getPrototypeOf,s=t.slice,g=t.flat?function(e){return t.flat.call(e)}:function(e){return t.concat.apply([],e)},u=t.push,i=t.indexOf,n={},o=n.toString,v=n.hasOwnProperty,a=v.toString,l=a.call(Object),y={},m=function(e){return"function"==typeof e&&"number"!=typeof e.nodeType&&"function"!=typeof e.item},x=function(e){return null!=e&&e===e.window},E=C.document,c={type:!0,src:!0,nonce:!0,noModule:!0};function b(e,t,n){var r,i,o=(n=n||E).createElement("script");if(o.text=e,t)for(r in c)(i=t[r]||t.getAttribute&&t.getAttribute(r))&&o.setAttribute(r,i);n.head.appendChild(o).parentNode.removeChild(o)}function w(e){return null==e?e+"":"object"==typeof e||"function"==typeof e?n[o.call(e)]||"object":typeof e}var f="3.6.0",S=function(e,t){return new S.fn.init(e,t)};function p(e){var t=!!e&&"length"in e&&e.length,n=w(e);return!m(e)&&!x(e)&&("array"===n||0===t||"number"==typeof t&&0+~]|"+M+")"+M+"*"),U=new RegExp(M+"|>"),X=new RegExp(F),V=new RegExp("^"+I+"$"),G={ID:new RegExp("^#("+I+")"),CLASS:new RegExp("^\\.("+I+")"),TAG:new RegExp("^("+I+"|[*])"),ATTR:new RegExp("^"+W),PSEUDO:new RegExp("^"+F),CHILD:new RegExp("^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\("+M+"*(even|odd|(([+-]|)(\\d*)n|)"+M+"*(?:([+-]|)"+M+"*(\\d+)|))"+M+"*\\)|)","i"),bool:new RegExp("^(?:"+R+")$","i"),needsContext:new RegExp("^"+M+"*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\("+M+"*((?:-\\d)?\\d*)"+M+"*\\)|)(?=[^-]|$)","i")},Y=/HTML$/i,Q=/^(?:input|select|textarea|button)$/i,J=/^h\d$/i,K=/^[^{]+\{\s*\[native \w/,Z=/^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/,ee=/[+~]/,te=new RegExp("\\\\[\\da-fA-F]{1,6}"+M+"?|\\\\([^\\r\\n\\f])","g"),ne=function(e,t){var n="0x"+e.slice(1)-65536;return t||(n<0?String.fromCharCode(n+65536):String.fromCharCode(n>>10|55296,1023&n|56320))},re=/([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g,ie=function(e,t){return t?"\0"===e?"\ufffd":e.slice(0,-1)+"\\"+e.charCodeAt(e.length-1).toString(16)+" ":"\\"+e},oe=function(){T()},ae=be(function(e){return!0===e.disabled&&"fieldset"===e.nodeName.toLowerCase()},{dir:"parentNode",next:"legend"});try{H.apply(t=O.call(p.childNodes),p.childNodes),t[p.childNodes.length].nodeType}catch(e){H={apply:t.length?function(e,t){L.apply(e,O.call(t))}:function(e,t){var n=e.length,r=0;while(e[n++]=t[r++]);e.length=n-1}}}function se(t,e,n,r){var i,o,a,s,u,l,c,f=e&&e.ownerDocument,p=e?e.nodeType:9;if(n=n||[],"string"!=typeof t||!t||1!==p&&9!==p&&11!==p)return n;if(!r&&(T(e),e=e||C,E)){if(11!==p&&(u=Z.exec(t)))if(i=u[1]){if(9===p){if(!(a=e.getElementById(i)))return n;if(a.id===i)return n.push(a),n}else if(f&&(a=f.getElementById(i))&&y(e,a)&&a.id===i)return n.push(a),n}else{if(u[2])return H.apply(n,e.getElementsByTagName(t)),n;if((i=u[3])&&d.getElementsByClassName&&e.getElementsByClassName)return H.apply(n,e.getElementsByClassName(i)),n}if(d.qsa&&!N[t+" "]&&(!v||!v.test(t))&&(1!==p||"object"!==e.nodeName.toLowerCase())){if(c=t,f=e,1===p&&(U.test(t)||z.test(t))){(f=ee.test(t)&&ye(e.parentNode)||e)===e&&d.scope||((s=e.getAttribute("id"))?s=s.replace(re,ie):e.setAttribute("id",s=S)),o=(l=h(t)).length;while(o--)l[o]=(s?"#"+s:":scope")+" "+xe(l[o]);c=l.join(",")}try{return H.apply(n,f.querySelectorAll(c)),n}catch(e){N(t,!0)}finally{s===S&&e.removeAttribute("id")}}}return g(t.replace($,"$1"),e,n,r)}function ue(){var r=[];return function e(t,n){return r.push(t+" ")>b.cacheLength&&delete e[r.shift()],e[t+" "]=n}}function le(e){return e[S]=!0,e}function ce(e){var t=C.createElement("fieldset");try{return!!e(t)}catch(e){return!1}finally{t.parentNode&&t.parentNode.removeChild(t),t=null}}function fe(e,t){var n=e.split("|"),r=n.length;while(r--)b.attrHandle[n[r]]=t}function pe(e,t){var n=t&&e,r=n&&1===e.nodeType&&1===t.nodeType&&e.sourceIndex-t.sourceIndex;if(r)return r;if(n)while(n=n.nextSibling)if(n===t)return-1;return e?1:-1}function de(t){return function(e){return"input"===e.nodeName.toLowerCase()&&e.type===t}}function he(n){return function(e){var t=e.nodeName.toLowerCase();return("input"===t||"button"===t)&&e.type===n}}function ge(t){return function(e){return"form"in e?e.parentNode&&!1===e.disabled?"label"in e?"label"in e.parentNode?e.parentNode.disabled===t:e.disabled===t:e.isDisabled===t||e.isDisabled!==!t&&ae(e)===t:e.disabled===t:"label"in e&&e.disabled===t}}function ve(a){return le(function(o){return o=+o,le(function(e,t){var n,r=a([],e.length,o),i=r.length;while(i--)e[n=r[i]]&&(e[n]=!(t[n]=e[n]))})})}function ye(e){return e&&"undefined"!=typeof e.getElementsByTagName&&e}for(e in d=se.support={},i=se.isXML=function(e){var t=e&&e.namespaceURI,n=e&&(e.ownerDocument||e).documentElement;return!Y.test(t||n&&n.nodeName||"HTML")},T=se.setDocument=function(e){var t,n,r=e?e.ownerDocument||e:p;return r!=C&&9===r.nodeType&&r.documentElement&&(a=(C=r).documentElement,E=!i(C),p!=C&&(n=C.defaultView)&&n.top!==n&&(n.addEventListener?n.addEventListener("unload",oe,!1):n.attachEvent&&n.attachEvent("onunload",oe)),d.scope=ce(function(e){return a.appendChild(e).appendChild(C.createElement("div")),"undefined"!=typeof e.querySelectorAll&&!e.querySelectorAll(":scope fieldset div").length}),d.attributes=ce(function(e){return e.className="i",!e.getAttribute("className")}),d.getElementsByTagName=ce(function(e){return e.appendChild(C.createComment("")),!e.getElementsByTagName("*").length}),d.getElementsByClassName=K.test(C.getElementsByClassName),d.getById=ce(function(e){return a.appendChild(e).id=S,!C.getElementsByName||!C.getElementsByName(S).length}),d.getById?(b.filter.ID=function(e){var t=e.replace(te,ne);return function(e){return e.getAttribute("id")===t}},b.find.ID=function(e,t){if("undefined"!=typeof t.getElementById&&E){var n=t.getElementById(e);return n?[n]:[]}}):(b.filter.ID=function(e){var n=e.replace(te,ne);return function(e){var t="undefined"!=typeof e.getAttributeNode&&e.getAttributeNode("id");return t&&t.value===n}},b.find.ID=function(e,t){if("undefined"!=typeof t.getElementById&&E){var n,r,i,o=t.getElementById(e);if(o){if((n=o.getAttributeNode("id"))&&n.value===e)return[o];i=t.getElementsByName(e),r=0;while(o=i[r++])if((n=o.getAttributeNode("id"))&&n.value===e)return[o]}return[]}}),b.find.TAG=d.getElementsByTagName?function(e,t){return"undefined"!=typeof t.getElementsByTagName?t.getElementsByTagName(e):d.qsa?t.querySelectorAll(e):void 0}:function(e,t){var n,r=[],i=0,o=t.getElementsByTagName(e);if("*"===e){while(n=o[i++])1===n.nodeType&&r.push(n);return r}return o},b.find.CLASS=d.getElementsByClassName&&function(e,t){if("undefined"!=typeof t.getElementsByClassName&&E)return t.getElementsByClassName(e)},s=[],v=[],(d.qsa=K.test(C.querySelectorAll))&&(ce(function(e){var t;a.appendChild(e).innerHTML="",e.querySelectorAll("[msallowcapture^='']").length&&v.push("[*^$]="+M+"*(?:''|\"\")"),e.querySelectorAll("[selected]").length||v.push("\\["+M+"*(?:value|"+R+")"),e.querySelectorAll("[id~="+S+"-]").length||v.push("~="),(t=C.createElement("input")).setAttribute("name",""),e.appendChild(t),e.querySelectorAll("[name='']").length||v.push("\\["+M+"*name"+M+"*="+M+"*(?:''|\"\")"),e.querySelectorAll(":checked").length||v.push(":checked"),e.querySelectorAll("a#"+S+"+*").length||v.push(".#.+[+~]"),e.querySelectorAll("\\\f"),v.push("[\\r\\n\\f]")}),ce(function(e){e.innerHTML="";var t=C.createElement("input");t.setAttribute("type","hidden"),e.appendChild(t).setAttribute("name","D"),e.querySelectorAll("[name=d]").length&&v.push("name"+M+"*[*^$|!~]?="),2!==e.querySelectorAll(":enabled").length&&v.push(":enabled",":disabled"),a.appendChild(e).disabled=!0,2!==e.querySelectorAll(":disabled").length&&v.push(":enabled",":disabled"),e.querySelectorAll("*,:x"),v.push(",.*:")})),(d.matchesSelector=K.test(c=a.matches||a.webkitMatchesSelector||a.mozMatchesSelector||a.oMatchesSelector||a.msMatchesSelector))&&ce(function(e){d.disconnectedMatch=c.call(e,"*"),c.call(e,"[s!='']:x"),s.push("!=",F)}),v=v.length&&new RegExp(v.join("|")),s=s.length&&new RegExp(s.join("|")),t=K.test(a.compareDocumentPosition),y=t||K.test(a.contains)?function(e,t){var n=9===e.nodeType?e.documentElement:e,r=t&&t.parentNode;return e===r||!(!r||1!==r.nodeType||!(n.contains?n.contains(r):e.compareDocumentPosition&&16&e.compareDocumentPosition(r)))}:function(e,t){if(t)while(t=t.parentNode)if(t===e)return!0;return!1},j=t?function(e,t){if(e===t)return l=!0,0;var n=!e.compareDocumentPosition-!t.compareDocumentPosition;return n||(1&(n=(e.ownerDocument||e)==(t.ownerDocument||t)?e.compareDocumentPosition(t):1)||!d.sortDetached&&t.compareDocumentPosition(e)===n?e==C||e.ownerDocument==p&&y(p,e)?-1:t==C||t.ownerDocument==p&&y(p,t)?1:u?P(u,e)-P(u,t):0:4&n?-1:1)}:function(e,t){if(e===t)return l=!0,0;var n,r=0,i=e.parentNode,o=t.parentNode,a=[e],s=[t];if(!i||!o)return e==C?-1:t==C?1:i?-1:o?1:u?P(u,e)-P(u,t):0;if(i===o)return pe(e,t);n=e;while(n=n.parentNode)a.unshift(n);n=t;while(n=n.parentNode)s.unshift(n);while(a[r]===s[r])r++;return r?pe(a[r],s[r]):a[r]==p?-1:s[r]==p?1:0}),C},se.matches=function(e,t){return se(e,null,null,t)},se.matchesSelector=function(e,t){if(T(e),d.matchesSelector&&E&&!N[t+" "]&&(!s||!s.test(t))&&(!v||!v.test(t)))try{var n=c.call(e,t);if(n||d.disconnectedMatch||e.document&&11!==e.document.nodeType)return n}catch(e){N(t,!0)}return 0":{dir:"parentNode",first:!0}," ":{dir:"parentNode"},"+":{dir:"previousSibling",first:!0},"~":{dir:"previousSibling"}},preFilter:{ATTR:function(e){return e[1]=e[1].replace(te,ne),e[3]=(e[3]||e[4]||e[5]||"").replace(te,ne),"~="===e[2]&&(e[3]=" "+e[3]+" "),e.slice(0,4)},CHILD:function(e){return e[1]=e[1].toLowerCase(),"nth"===e[1].slice(0,3)?(e[3]||se.error(e[0]),e[4]=+(e[4]?e[5]+(e[6]||1):2*("even"===e[3]||"odd"===e[3])),e[5]=+(e[7]+e[8]||"odd"===e[3])):e[3]&&se.error(e[0]),e},PSEUDO:function(e){var t,n=!e[6]&&e[2];return G.CHILD.test(e[0])?null:(e[3]?e[2]=e[4]||e[5]||"":n&&X.test(n)&&(t=h(n,!0))&&(t=n.indexOf(")",n.length-t)-n.length)&&(e[0]=e[0].slice(0,t),e[2]=n.slice(0,t)),e.slice(0,3))}},filter:{TAG:function(e){var t=e.replace(te,ne).toLowerCase();return"*"===e?function(){return!0}:function(e){return e.nodeName&&e.nodeName.toLowerCase()===t}},CLASS:function(e){var t=m[e+" "];return t||(t=new RegExp("(^|"+M+")"+e+"("+M+"|$)"))&&m(e,function(e){return t.test("string"==typeof e.className&&e.className||"undefined"!=typeof e.getAttribute&&e.getAttribute("class")||"")})},ATTR:function(n,r,i){return function(e){var t=se.attr(e,n);return null==t?"!="===r:!r||(t+="","="===r?t===i:"!="===r?t!==i:"^="===r?i&&0===t.indexOf(i):"*="===r?i&&-1:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i;function j(e,n,r){return m(n)?S.grep(e,function(e,t){return!!n.call(e,t,e)!==r}):n.nodeType?S.grep(e,function(e){return e===n!==r}):"string"!=typeof n?S.grep(e,function(e){return-1)[^>]*|#([\w-]+))$/;(S.fn.init=function(e,t,n){var r,i;if(!e)return this;if(n=n||D,"string"==typeof e){if(!(r="<"===e[0]&&">"===e[e.length-1]&&3<=e.length?[null,e,null]:q.exec(e))||!r[1]&&t)return!t||t.jquery?(t||n).find(e):this.constructor(t).find(e);if(r[1]){if(t=t instanceof S?t[0]:t,S.merge(this,S.parseHTML(r[1],t&&t.nodeType?t.ownerDocument||t:E,!0)),N.test(r[1])&&S.isPlainObject(t))for(r in t)m(this[r])?this[r](t[r]):this.attr(r,t[r]);return this}return(i=E.getElementById(r[2]))&&(this[0]=i,this.length=1),this}return e.nodeType?(this[0]=e,this.length=1,this):m(e)?void 0!==n.ready?n.ready(e):e(S):S.makeArray(e,this)}).prototype=S.fn,D=S(E);var L=/^(?:parents|prev(?:Until|All))/,H={children:!0,contents:!0,next:!0,prev:!0};function O(e,t){while((e=e[t])&&1!==e.nodeType);return e}S.fn.extend({has:function(e){var t=S(e,this),n=t.length;return this.filter(function(){for(var e=0;e\x20\t\r\n\f]*)/i,he=/^$|^module$|\/(?:java|ecma)script/i;ce=E.createDocumentFragment().appendChild(E.createElement("div")),(fe=E.createElement("input")).setAttribute("type","radio"),fe.setAttribute("checked","checked"),fe.setAttribute("name","t"),ce.appendChild(fe),y.checkClone=ce.cloneNode(!0).cloneNode(!0).lastChild.checked,ce.innerHTML="",y.noCloneChecked=!!ce.cloneNode(!0).lastChild.defaultValue,ce.innerHTML="",y.option=!!ce.lastChild;var ge={thead:[1,"","
"],col:[2,"","
"],tr:[2,"","
"],td:[3,"","
"],_default:[0,"",""]};function ve(e,t){var n;return n="undefined"!=typeof e.getElementsByTagName?e.getElementsByTagName(t||"*"):"undefined"!=typeof e.querySelectorAll?e.querySelectorAll(t||"*"):[],void 0===t||t&&A(e,t)?S.merge([e],n):n}function ye(e,t){for(var n=0,r=e.length;n",""]);var me=/<|&#?\w+;/;function xe(e,t,n,r,i){for(var o,a,s,u,l,c,f=t.createDocumentFragment(),p=[],d=0,h=e.length;d\s*$/g;function je(e,t){return A(e,"table")&&A(11!==t.nodeType?t:t.firstChild,"tr")&&S(e).children("tbody")[0]||e}function De(e){return e.type=(null!==e.getAttribute("type"))+"/"+e.type,e}function qe(e){return"true/"===(e.type||"").slice(0,5)?e.type=e.type.slice(5):e.removeAttribute("type"),e}function Le(e,t){var n,r,i,o,a,s;if(1===t.nodeType){if(Y.hasData(e)&&(s=Y.get(e).events))for(i in Y.remove(t,"handle events"),s)for(n=0,r=s[i].length;n").attr(n.scriptAttrs||{}).prop({charset:n.scriptCharset,src:n.url}).on("load error",i=function(e){r.remove(),i=null,e&&t("error"===e.type?404:200,e.type)}),E.head.appendChild(r[0])},abort:function(){i&&i()}}});var _t,zt=[],Ut=/(=)\?(?=&|$)|\?\?/;S.ajaxSetup({jsonp:"callback",jsonpCallback:function(){var e=zt.pop()||S.expando+"_"+wt.guid++;return this[e]=!0,e}}),S.ajaxPrefilter("json jsonp",function(e,t,n){var r,i,o,a=!1!==e.jsonp&&(Ut.test(e.url)?"url":"string"==typeof e.data&&0===(e.contentType||"").indexOf("application/x-www-form-urlencoded")&&Ut.test(e.data)&&"data");if(a||"jsonp"===e.dataTypes[0])return r=e.jsonpCallback=m(e.jsonpCallback)?e.jsonpCallback():e.jsonpCallback,a?e[a]=e[a].replace(Ut,"$1"+r):!1!==e.jsonp&&(e.url+=(Tt.test(e.url)?"&":"?")+e.jsonp+"="+r),e.converters["script json"]=function(){return o||S.error(r+" was not called"),o[0]},e.dataTypes[0]="json",i=C[r],C[r]=function(){o=arguments},n.always(function(){void 0===i?S(C).removeProp(r):C[r]=i,e[r]&&(e.jsonpCallback=t.jsonpCallback,zt.push(r)),o&&m(i)&&i(o[0]),o=i=void 0}),"script"}),y.createHTMLDocument=((_t=E.implementation.createHTMLDocument("").body).innerHTML="
",2===_t.childNodes.length),S.parseHTML=function(e,t,n){return"string"!=typeof e?[]:("boolean"==typeof t&&(n=t,t=!1),t||(y.createHTMLDocument?((r=(t=E.implementation.createHTMLDocument("")).createElement("base")).href=E.location.href,t.head.appendChild(r)):t=E),o=!n&&[],(i=N.exec(e))?[t.createElement(i[1])]:(i=xe([e],t,o),o&&o.length&&S(o).remove(),S.merge([],i.childNodes)));var r,i,o},S.fn.load=function(e,t,n){var r,i,o,a=this,s=e.indexOf(" ");return-1").append(S.parseHTML(e)).find(r):e)}).always(n&&function(e,t){a.each(function(){n.apply(this,o||[e.responseText,t,e])})}),this},S.expr.pseudos.animated=function(t){return S.grep(S.timers,function(e){return t===e.elem}).length},S.offset={setOffset:function(e,t,n){var r,i,o,a,s,u,l=S.css(e,"position"),c=S(e),f={};"static"===l&&(e.style.position="relative"),s=c.offset(),o=S.css(e,"top"),u=S.css(e,"left"),("absolute"===l||"fixed"===l)&&-1<(o+u).indexOf("auto")?(a=(r=c.position()).top,i=r.left):(a=parseFloat(o)||0,i=parseFloat(u)||0),m(t)&&(t=t.call(e,n,S.extend({},s))),null!=t.top&&(f.top=t.top-s.top+a),null!=t.left&&(f.left=t.left-s.left+i),"using"in t?t.using.call(e,f):c.css(f)}},S.fn.extend({offset:function(t){if(arguments.length)return void 0===t?this:this.each(function(e){S.offset.setOffset(this,t,e)});var e,n,r=this[0];return r?r.getClientRects().length?(e=r.getBoundingClientRect(),n=r.ownerDocument.defaultView,{top:e.top+n.pageYOffset,left:e.left+n.pageXOffset}):{top:0,left:0}:void 0},position:function(){if(this[0]){var e,t,n,r=this[0],i={top:0,left:0};if("fixed"===S.css(r,"position"))t=r.getBoundingClientRect();else{t=this.offset(),n=r.ownerDocument,e=r.offsetParent||n.documentElement;while(e&&(e===n.body||e===n.documentElement)&&"static"===S.css(e,"position"))e=e.parentNode;e&&e!==r&&1===e.nodeType&&((i=S(e).offset()).top+=S.css(e,"borderTopWidth",!0),i.left+=S.css(e,"borderLeftWidth",!0))}return{top:t.top-i.top-S.css(r,"marginTop",!0),left:t.left-i.left-S.css(r,"marginLeft",!0)}}},offsetParent:function(){return this.map(function(){var e=this.offsetParent;while(e&&"static"===S.css(e,"position"))e=e.offsetParent;return e||re})}}),S.each({scrollLeft:"pageXOffset",scrollTop:"pageYOffset"},function(t,i){var o="pageYOffset"===i;S.fn[t]=function(e){return $(this,function(e,t,n){var r;if(x(e)?r=e:9===e.nodeType&&(r=e.defaultView),void 0===n)return r?r[i]:e[t];r?r.scrollTo(o?r.pageXOffset:n,o?n:r.pageYOffset):e[t]=n},t,e,arguments.length)}}),S.each(["top","left"],function(e,n){S.cssHooks[n]=Fe(y.pixelPosition,function(e,t){if(t)return t=We(e,n),Pe.test(t)?S(e).position()[n]+"px":t})}),S.each({Height:"height",Width:"width"},function(a,s){S.each({padding:"inner"+a,content:s,"":"outer"+a},function(r,o){S.fn[o]=function(e,t){var n=arguments.length&&(r||"boolean"!=typeof e),i=r||(!0===e||!0===t?"margin":"border");return $(this,function(e,t,n){var r;return x(e)?0===o.indexOf("outer")?e["inner"+a]:e.document.documentElement["client"+a]:9===e.nodeType?(r=e.documentElement,Math.max(e.body["scroll"+a],r["scroll"+a],e.body["offset"+a],r["offset"+a],r["client"+a])):void 0===n?S.css(e,t,i):S.style(e,t,n,i)},s,n?e:void 0,n)}})}),S.each(["ajaxStart","ajaxStop","ajaxComplete","ajaxError","ajaxSuccess","ajaxSend"],function(e,t){S.fn[t]=function(e){return this.on(t,e)}}),S.fn.extend({bind:function(e,t,n){return this.on(e,null,t,n)},unbind:function(e,t){return this.off(e,null,t)},delegate:function(e,t,n,r){return this.on(t,e,n,r)},undelegate:function(e,t,n){return 1===arguments.length?this.off(e,"**"):this.off(t,e||"**",n)},hover:function(e,t){return this.mouseenter(e).mouseleave(t||e)}}),S.each("blur focus focusin focusout resize scroll click dblclick mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave change select submit keydown keypress keyup contextmenu".split(" "),function(e,n){S.fn[n]=function(e,t){return 0"),n("table.docutils.footnote").wrap("
"),n("table.docutils.citation").wrap("
"),n(".wy-menu-vertical ul").not(".simple").siblings("a").each((function(){var t=n(this);expand=n(''),expand.on("click",(function(n){return e.toggleCurrent(t),n.stopPropagation(),!1})),t.prepend(expand)}))},reset:function(){var n=encodeURI(window.location.hash)||"#";try{var e=$(".wy-menu-vertical"),t=e.find('[href="'+n+'"]');if(0===t.length){var i=$('.document [id="'+n.substring(1)+'"]').closest("div.section");0===(t=e.find('[href="#'+i.attr("id")+'"]')).length&&(t=e.find('[href="#"]'))}if(t.length>0){$(".wy-menu-vertical .current").removeClass("current").attr("aria-expanded","false"),t.addClass("current").attr("aria-expanded","true"),t.closest("li.toctree-l1").parent().addClass("current").attr("aria-expanded","true");for(let n=1;n<=10;n++)t.closest("li.toctree-l"+n).addClass("current").attr("aria-expanded","true");t[0].scrollIntoView()}}catch(n){console.log("Error expanding nav for anchor",n)}},onScroll:function(){this.winScroll=!1;var n=this.win.scrollTop(),e=n+this.winHeight,t=this.navBar.scrollTop()+(n-this.winPosition);n<0||e>this.docHeight||(this.navBar.scrollTop(t),this.winPosition=n)},onResize:function(){this.winResize=!1,this.winHeight=this.win.height(),this.docHeight=$(document).height()},hashChange:function(){this.linkScroll=!0,this.win.one("hashchange",(function(){this.linkScroll=!1}))},toggleCurrent:function(n){var e=n.closest("li");e.siblings("li.current").removeClass("current").attr("aria-expanded","false"),e.siblings().find("li.current").removeClass("current").attr("aria-expanded","false");var t=e.find("> ul li");t.length&&(t.removeClass("current").attr("aria-expanded","false"),e.toggleClass("current").attr("aria-expanded",(function(n,e){return"true"==e?"false":"true"})))}},"undefined"!=typeof window&&(window.SphinxRtdTheme={Navigation:n.exports.ThemeNav,StickyNav:n.exports.ThemeNav}),function(){for(var n=0,e=["ms","moz","webkit","o"],t=0;t +
Languages
+ ${config.projects.translations + .map( + (translation) => ` +
+ ${translation.language.code} +
+ `, + ) + .join("\n")} + + `; + return languagesHTML; + } + + function renderVersions(config) { + if (!config.versions.active.length) { + return ""; + } + const versionsHTML = ` +
+
Versions
+ ${config.versions.active + .map( + (version) => ` +
+ ${version.slug} +
+ `, + ) + .join("\n")} +
+ `; + return versionsHTML; + } + + function renderDownloads(config) { + if (!Object.keys(config.versions.current.downloads).length) { + return ""; + } + const downloadsNameDisplay = { + pdf: "PDF", + epub: "Epub", + htmlzip: "HTML", + }; + + const downloadsHTML = ` +
+
Downloads
+ ${Object.entries(config.versions.current.downloads) + .map( + ([name, url]) => ` +
+ ${downloadsNameDisplay[name]} +
+ `, + ) + .join("\n")} +
+ `; + return downloadsHTML; + } + + document.addEventListener("readthedocs-addons-data-ready", function (event) { + const config = event.detail.data(); + + const flyout = ` +
+ + Read the Docs + v: ${config.versions.current.slug} + + +
+
+ ${renderLanguages(config)} + ${renderVersions(config)} + ${renderDownloads(config)} +
+
On Read the Docs
+
+ Project Home +
+
+ Builds +
+
+ Downloads +
+
+
+
Search
+
+
+ +
+
+
+
+ + Hosted by Read the Docs + +
+
+ `; + + // Inject the generated flyout into the body HTML element. + document.body.insertAdjacentHTML("beforeend", flyout); + + // Trigger the Read the Docs Addons Search modal when clicking on the "Search docs" input from inside the flyout. + document + .querySelector("#flyout-search-form") + .addEventListener("focusin", () => { + const event = new CustomEvent("readthedocs-search-show"); + document.dispatchEvent(event); + }); + }) +} + +if (themeLanguageSelector || themeVersionSelector) { + function onSelectorSwitch(event) { + const option = event.target.selectedIndex; + const item = event.target.options[option]; + window.location.href = item.dataset.url; + } + + document.addEventListener("readthedocs-addons-data-ready", function (event) { + const config = event.detail.data(); + + const versionSwitch = document.querySelector( + "div.switch-menus > div.version-switch", + ); + if (themeVersionSelector) { + let versions = config.versions.active; + if (config.versions.current.hidden || config.versions.current.type === "external") { + versions.unshift(config.versions.current); + } + const versionSelect = ` + + `; + + versionSwitch.innerHTML = versionSelect; + versionSwitch.firstElementChild.addEventListener("change", onSelectorSwitch); + } + + const languageSwitch = document.querySelector( + "div.switch-menus > div.language-switch", + ); + + if (themeLanguageSelector) { + if (config.projects.translations.length) { + // Add the current language to the options on the selector + let languages = config.projects.translations.concat( + config.projects.current, + ); + languages = languages.sort((a, b) => + a.language.name.localeCompare(b.language.name), + ); + + const languageSelect = ` + + `; + + languageSwitch.innerHTML = languageSelect; + languageSwitch.firstElementChild.addEventListener("change", onSelectorSwitch); + } + else { + languageSwitch.remove(); + } + } + }); +} + +document.addEventListener("readthedocs-addons-data-ready", function (event) { + // Trigger the Read the Docs Addons Search modal when clicking on "Search docs" input from the topnav. + document + .querySelector("[role='search'] input") + .addEventListener("focusin", () => { + const event = new CustomEvent("readthedocs-search-show"); + document.dispatchEvent(event); + }); +}); \ No newline at end of file diff --git a/docs/UserGuide/_static/language_data.js b/docs/UserGuide/_static/language_data.js new file mode 100644 index 0000000..367b8ed --- /dev/null +++ b/docs/UserGuide/_static/language_data.js @@ -0,0 +1,199 @@ +/* + * language_data.js + * ~~~~~~~~~~~~~~~~ + * + * This script contains the language-specific data used by searchtools.js, + * namely the list of stopwords, stemmer, scorer and splitter. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"]; + + +/* Non-minified version is copied as a separate JS file, if available */ + +/** + * Porter Stemmer + */ +var Stemmer = function() { + + var step2list = { + ational: 'ate', + tional: 'tion', + enci: 'ence', + anci: 'ance', + izer: 'ize', + bli: 'ble', + alli: 'al', + entli: 'ent', + eli: 'e', + ousli: 'ous', + ization: 'ize', + ation: 'ate', + ator: 'ate', + alism: 'al', + iveness: 'ive', + fulness: 'ful', + ousness: 'ous', + aliti: 'al', + iviti: 'ive', + biliti: 'ble', + logi: 'log' + }; + + var step3list = { + icate: 'ic', + ative: '', + alize: 'al', + iciti: 'ic', + ical: 'ic', + ful: '', + ness: '' + }; + + var c = "[^aeiou]"; // consonant + var v = "[aeiouy]"; // vowel + var C = c + "[^aeiouy]*"; // consonant sequence + var V = v + "[aeiou]*"; // vowel sequence + + var mgr0 = "^(" + C + ")?" + V + C; // [C]VC... is m>0 + var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$"; // [C]VC[V] is m=1 + var mgr1 = "^(" + C + ")?" + V + C + V + C; // [C]VCVC... is m>1 + var s_v = "^(" + C + ")?" + v; // vowel in stem + + this.stemWord = function (w) { + var stem; + var suffix; + var firstch; + var origword = w; + + if (w.length < 3) + return w; + + var re; + var re2; + var re3; + var re4; + + firstch = w.substr(0,1); + if (firstch == "y") + w = firstch.toUpperCase() + w.substr(1); + + // Step 1a + re = /^(.+?)(ss|i)es$/; + re2 = /^(.+?)([^s])s$/; + + if (re.test(w)) + w = w.replace(re,"$1$2"); + else if (re2.test(w)) + w = w.replace(re2,"$1$2"); + + // Step 1b + re = /^(.+?)eed$/; + re2 = /^(.+?)(ed|ing)$/; + if (re.test(w)) { + var fp = re.exec(w); + re = new RegExp(mgr0); + if (re.test(fp[1])) { + re = /.$/; + w = w.replace(re,""); + } + } + else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1]; + re2 = new RegExp(s_v); + if (re2.test(stem)) { + w = stem; + re2 = /(at|bl|iz)$/; + re3 = new RegExp("([^aeiouylsz])\\1$"); + re4 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + if (re2.test(w)) + w = w + "e"; + else if (re3.test(w)) { + re = /.$/; + w = w.replace(re,""); + } + else if (re4.test(w)) + w = w + "e"; + } + } + + // Step 1c + re = /^(.+?)y$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(s_v); + if (re.test(stem)) + w = stem + "i"; + } + + // Step 2 + re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = new RegExp(mgr0); + if (re.test(stem)) + w = stem + step2list[suffix]; + } + + // Step 3 + re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = new RegExp(mgr0); + if (re.test(stem)) + w = stem + step3list[suffix]; + } + + // Step 4 + re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/; + re2 = /^(.+?)(s|t)(ion)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(mgr1); + if (re.test(stem)) + w = stem; + } + else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1] + fp[2]; + re2 = new RegExp(mgr1); + if (re2.test(stem)) + w = stem; + } + + // Step 5 + re = /^(.+?)e$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(mgr1); + re2 = new RegExp(meq1); + re3 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) + w = stem; + } + re = /ll$/; + re2 = new RegExp(mgr1); + if (re.test(w) && re2.test(w)) { + re = /.$/; + w = w.replace(re,""); + } + + // and turn initial Y back to y + if (firstch == "y") + w = firstch.toLowerCase() + w.substr(1); + return w; + } +} + diff --git a/docs/UserGuide/_static/minus.png b/docs/UserGuide/_static/minus.png new file mode 100644 index 0000000..d96755f Binary files /dev/null and b/docs/UserGuide/_static/minus.png differ diff --git a/docs/UserGuide/_static/orbbec-light_no_colour.svg b/docs/UserGuide/_static/orbbec-light_no_colour.svg new file mode 100644 index 0000000..a3b6a75 --- /dev/null +++ b/docs/UserGuide/_static/orbbec-light_no_colour.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/docs/UserGuide/_static/orbbec_footerlogo_3d_world.svg b/docs/UserGuide/_static/orbbec_footerlogo_3d_world.svg new file mode 100644 index 0000000..7f702a6 --- /dev/null +++ b/docs/UserGuide/_static/orbbec_footerlogo_3d_world.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/docs/UserGuide/_static/orbbec_logo.png b/docs/UserGuide/_static/orbbec_logo.png new file mode 100644 index 0000000..7a60b4c Binary files /dev/null and b/docs/UserGuide/_static/orbbec_logo.png differ diff --git a/docs/UserGuide/_static/orbbec_logo2.png b/docs/UserGuide/_static/orbbec_logo2.png new file mode 100644 index 0000000..3cd8101 Binary files /dev/null and b/docs/UserGuide/_static/orbbec_logo2.png differ diff --git a/docs/UserGuide/_static/orbbec_logo4.png b/docs/UserGuide/_static/orbbec_logo4.png new file mode 100644 index 0000000..92f681c Binary files /dev/null and b/docs/UserGuide/_static/orbbec_logo4.png differ diff --git a/docs/UserGuide/_static/orbbec_only_english_logo.svg b/docs/UserGuide/_static/orbbec_only_english_logo.svg new file mode 100644 index 0000000..775cbc0 --- /dev/null +++ b/docs/UserGuide/_static/orbbec_only_english_logo.svg @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/UserGuide/_static/plus.png b/docs/UserGuide/_static/plus.png new file mode 100644 index 0000000..7107cec Binary files /dev/null and b/docs/UserGuide/_static/plus.png differ diff --git a/docs/UserGuide/_static/pygments.css b/docs/UserGuide/_static/pygments.css new file mode 100644 index 0000000..84ab303 --- /dev/null +++ b/docs/UserGuide/_static/pygments.css @@ -0,0 +1,75 @@ +pre { line-height: 125%; } +td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; } +span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; } +td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; } +span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; } +.highlight .hll { background-color: #ffffcc } +.highlight { background: #f8f8f8; } +.highlight .c { color: #3D7B7B; font-style: italic } /* Comment */ +.highlight .err { border: 1px solid #FF0000 } /* Error */ +.highlight .k { color: #008000; font-weight: bold } /* Keyword */ +.highlight .o { color: #666666 } /* Operator */ +.highlight .ch { color: #3D7B7B; font-style: italic } /* Comment.Hashbang */ +.highlight .cm { color: #3D7B7B; font-style: italic } /* Comment.Multiline */ +.highlight .cp { color: #9C6500 } /* Comment.Preproc */ +.highlight .cpf { color: #3D7B7B; font-style: italic } /* Comment.PreprocFile */ +.highlight .c1 { color: #3D7B7B; font-style: italic } /* Comment.Single */ +.highlight .cs { color: #3D7B7B; font-style: italic } /* Comment.Special */ +.highlight .gd { color: #A00000 } /* Generic.Deleted */ +.highlight .ge { font-style: italic } /* Generic.Emph */ +.highlight .ges { font-weight: bold; font-style: italic } /* Generic.EmphStrong */ +.highlight .gr { color: #E40000 } /* Generic.Error */ +.highlight .gh { color: #000080; font-weight: bold } /* Generic.Heading */ +.highlight .gi { color: #008400 } /* Generic.Inserted */ +.highlight .go { color: #717171 } /* Generic.Output */ +.highlight .gp { color: #000080; font-weight: bold } /* Generic.Prompt */ +.highlight .gs { font-weight: bold } /* Generic.Strong */ +.highlight .gu { color: #800080; font-weight: bold } /* Generic.Subheading */ +.highlight .gt { color: #0044DD } /* Generic.Traceback */ +.highlight .kc { color: #008000; font-weight: bold } /* Keyword.Constant */ +.highlight .kd { color: #008000; font-weight: bold } /* Keyword.Declaration */ +.highlight .kn { color: #008000; font-weight: bold } /* Keyword.Namespace */ +.highlight .kp { color: #008000 } /* Keyword.Pseudo */ +.highlight .kr { color: #008000; font-weight: bold } /* Keyword.Reserved */ +.highlight .kt { color: #B00040 } /* Keyword.Type */ +.highlight .m { color: #666666 } /* Literal.Number */ +.highlight .s { color: #BA2121 } /* Literal.String */ +.highlight .na { color: #687822 } /* Name.Attribute */ +.highlight .nb { color: #008000 } /* Name.Builtin */ +.highlight .nc { color: #0000FF; font-weight: bold } /* Name.Class */ +.highlight .no { color: #880000 } /* Name.Constant */ +.highlight .nd { color: #AA22FF } /* Name.Decorator */ +.highlight .ni { color: #717171; font-weight: bold } /* Name.Entity */ +.highlight .ne { color: #CB3F38; font-weight: bold } /* Name.Exception */ +.highlight .nf { color: #0000FF } /* Name.Function */ +.highlight .nl { color: #767600 } /* Name.Label */ +.highlight .nn { color: #0000FF; font-weight: bold } /* Name.Namespace */ +.highlight .nt { color: #008000; font-weight: bold } /* Name.Tag */ +.highlight .nv { color: #19177C } /* Name.Variable */ +.highlight .ow { color: #AA22FF; font-weight: bold } /* Operator.Word */ +.highlight .w { color: #bbbbbb } /* Text.Whitespace */ +.highlight .mb { color: #666666 } /* Literal.Number.Bin */ +.highlight .mf { color: #666666 } /* Literal.Number.Float */ +.highlight .mh { color: #666666 } /* Literal.Number.Hex */ +.highlight .mi { color: #666666 } /* Literal.Number.Integer */ +.highlight .mo { color: #666666 } /* Literal.Number.Oct */ +.highlight .sa { color: #BA2121 } /* Literal.String.Affix */ +.highlight .sb { color: #BA2121 } /* Literal.String.Backtick */ +.highlight .sc { color: #BA2121 } /* Literal.String.Char */ +.highlight .dl { color: #BA2121 } /* Literal.String.Delimiter */ +.highlight .sd { color: #BA2121; font-style: italic } /* Literal.String.Doc */ +.highlight .s2 { color: #BA2121 } /* Literal.String.Double */ +.highlight .se { color: #AA5D1F; font-weight: bold } /* Literal.String.Escape */ +.highlight .sh { color: #BA2121 } /* Literal.String.Heredoc */ +.highlight .si { color: #A45A77; font-weight: bold } /* Literal.String.Interpol */ +.highlight .sx { color: #008000 } /* Literal.String.Other */ +.highlight .sr { color: #A45A77 } /* Literal.String.Regex */ +.highlight .s1 { color: #BA2121 } /* Literal.String.Single */ +.highlight .ss { color: #19177C } /* Literal.String.Symbol */ +.highlight .bp { color: #008000 } /* Name.Builtin.Pseudo */ +.highlight .fm { color: #0000FF } /* Name.Function.Magic */ +.highlight .vc { color: #19177C } /* Name.Variable.Class */ +.highlight .vg { color: #19177C } /* Name.Variable.Global */ +.highlight .vi { color: #19177C } /* Name.Variable.Instance */ +.highlight .vm { color: #19177C } /* Name.Variable.Magic */ +.highlight .il { color: #666666 } /* Literal.Number.Integer.Long */ \ No newline at end of file diff --git a/docs/UserGuide/_static/searchtools.js b/docs/UserGuide/_static/searchtools.js new file mode 100644 index 0000000..b08d58c --- /dev/null +++ b/docs/UserGuide/_static/searchtools.js @@ -0,0 +1,620 @@ +/* + * searchtools.js + * ~~~~~~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for the full-text search. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ +"use strict"; + +/** + * Simple result scoring code. + */ +if (typeof Scorer === "undefined") { + var Scorer = { + // Implement the following function to further tweak the score for each result + // The function takes a result array [docname, title, anchor, descr, score, filename] + // and returns the new score. + /* + score: result => { + const [docname, title, anchor, descr, score, filename] = result + return score + }, + */ + + // query matches the full name of an object + objNameMatch: 11, + // or matches in the last dotted part of the object name + objPartialMatch: 6, + // Additive scores depending on the priority of the object + objPrio: { + 0: 15, // used to be importantResults + 1: 5, // used to be objectResults + 2: -5, // used to be unimportantResults + }, + // Used when the priority is not in the mapping. + objPrioDefault: 0, + + // query found in title + title: 15, + partialTitle: 7, + // query found in terms + term: 5, + partialTerm: 2, + }; +} + +const _removeChildren = (element) => { + while (element && element.lastChild) element.removeChild(element.lastChild); +}; + +/** + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping + */ +const _escapeRegExp = (string) => + string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string + +const _displayItem = (item, searchTerms, highlightTerms) => { + const docBuilder = DOCUMENTATION_OPTIONS.BUILDER; + const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX; + const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX; + const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY; + const contentRoot = document.documentElement.dataset.content_root; + + const [docName, title, anchor, descr, score, _filename] = item; + + let listItem = document.createElement("li"); + let requestUrl; + let linkUrl; + if (docBuilder === "dirhtml") { + // dirhtml builder + let dirname = docName + "/"; + if (dirname.match(/\/index\/$/)) + dirname = dirname.substring(0, dirname.length - 6); + else if (dirname === "index/") dirname = ""; + requestUrl = contentRoot + dirname; + linkUrl = requestUrl; + } else { + // normal html builders + requestUrl = contentRoot + docName + docFileSuffix; + linkUrl = docName + docLinkSuffix; + } + let linkEl = listItem.appendChild(document.createElement("a")); + linkEl.href = linkUrl + anchor; + linkEl.dataset.score = score; + linkEl.innerHTML = title; + if (descr) { + listItem.appendChild(document.createElement("span")).innerHTML = + " (" + descr + ")"; + // highlight search terms in the description + if (SPHINX_HIGHLIGHT_ENABLED) // set in sphinx_highlight.js + highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted")); + } + else if (showSearchSummary) + fetch(requestUrl) + .then((responseData) => responseData.text()) + .then((data) => { + if (data) + listItem.appendChild( + Search.makeSearchSummary(data, searchTerms, anchor) + ); + // highlight search terms in the summary + if (SPHINX_HIGHLIGHT_ENABLED) // set in sphinx_highlight.js + highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted")); + }); + Search.output.appendChild(listItem); +}; +const _finishSearch = (resultCount) => { + Search.stopPulse(); + Search.title.innerText = _("Search Results"); + if (!resultCount) + Search.status.innerText = Documentation.gettext( + "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories." + ); + else + Search.status.innerText = _( + "Search finished, found ${resultCount} page(s) matching the search query." + ).replace('${resultCount}', resultCount); +}; +const _displayNextItem = ( + results, + resultCount, + searchTerms, + highlightTerms, +) => { + // results left, load the summary and display it + // this is intended to be dynamic (don't sub resultsCount) + if (results.length) { + _displayItem(results.pop(), searchTerms, highlightTerms); + setTimeout( + () => _displayNextItem(results, resultCount, searchTerms, highlightTerms), + 5 + ); + } + // search finished, update title and status message + else _finishSearch(resultCount); +}; +// Helper function used by query() to order search results. +// Each input is an array of [docname, title, anchor, descr, score, filename]. +// Order the results by score (in opposite order of appearance, since the +// `_displayNextItem` function uses pop() to retrieve items) and then alphabetically. +const _orderResultsByScoreThenName = (a, b) => { + const leftScore = a[4]; + const rightScore = b[4]; + if (leftScore === rightScore) { + // same score: sort alphabetically + const leftTitle = a[1].toLowerCase(); + const rightTitle = b[1].toLowerCase(); + if (leftTitle === rightTitle) return 0; + return leftTitle > rightTitle ? -1 : 1; // inverted is intentional + } + return leftScore > rightScore ? 1 : -1; +}; + +/** + * Default splitQuery function. Can be overridden in ``sphinx.search`` with a + * custom function per language. + * + * The regular expression works by splitting the string on consecutive characters + * that are not Unicode letters, numbers, underscores, or emoji characters. + * This is the same as ``\W+`` in Python, preserving the surrogate pair area. + */ +if (typeof splitQuery === "undefined") { + var splitQuery = (query) => query + .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu) + .filter(term => term) // remove remaining empty strings +} + +/** + * Search Module + */ +const Search = { + _index: null, + _queued_query: null, + _pulse_status: -1, + + htmlToText: (htmlString, anchor) => { + const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html'); + for (const removalQuery of [".headerlink", "script", "style"]) { + htmlElement.querySelectorAll(removalQuery).forEach((el) => { el.remove() }); + } + if (anchor) { + const anchorContent = htmlElement.querySelector(`[role="main"] ${anchor}`); + if (anchorContent) return anchorContent.textContent; + + console.warn( + `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.` + ); + } + + // if anchor not specified or not found, fall back to main content + const docContent = htmlElement.querySelector('[role="main"]'); + if (docContent) return docContent.textContent; + + console.warn( + "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template." + ); + return ""; + }, + + init: () => { + const query = new URLSearchParams(window.location.search).get("q"); + document + .querySelectorAll('input[name="q"]') + .forEach((el) => (el.value = query)); + if (query) Search.performSearch(query); + }, + + loadIndex: (url) => + (document.body.appendChild(document.createElement("script")).src = url), + + setIndex: (index) => { + Search._index = index; + if (Search._queued_query !== null) { + const query = Search._queued_query; + Search._queued_query = null; + Search.query(query); + } + }, + + hasIndex: () => Search._index !== null, + + deferQuery: (query) => (Search._queued_query = query), + + stopPulse: () => (Search._pulse_status = -1), + + startPulse: () => { + if (Search._pulse_status >= 0) return; + + const pulse = () => { + Search._pulse_status = (Search._pulse_status + 1) % 4; + Search.dots.innerText = ".".repeat(Search._pulse_status); + if (Search._pulse_status >= 0) window.setTimeout(pulse, 500); + }; + pulse(); + }, + + /** + * perform a search for something (or wait until index is loaded) + */ + performSearch: (query) => { + // create the required interface elements + const searchText = document.createElement("h2"); + searchText.textContent = _("Searching"); + const searchSummary = document.createElement("p"); + searchSummary.classList.add("search-summary"); + searchSummary.innerText = ""; + const searchList = document.createElement("ul"); + searchList.classList.add("search"); + + const out = document.getElementById("search-results"); + Search.title = out.appendChild(searchText); + Search.dots = Search.title.appendChild(document.createElement("span")); + Search.status = out.appendChild(searchSummary); + Search.output = out.appendChild(searchList); + + const searchProgress = document.getElementById("search-progress"); + // Some themes don't use the search progress node + if (searchProgress) { + searchProgress.innerText = _("Preparing search..."); + } + Search.startPulse(); + + // index already loaded, the browser was quick! + if (Search.hasIndex()) Search.query(query); + else Search.deferQuery(query); + }, + + _parseQuery: (query) => { + // stem the search terms and add them to the correct list + const stemmer = new Stemmer(); + const searchTerms = new Set(); + const excludedTerms = new Set(); + const highlightTerms = new Set(); + const objectTerms = new Set(splitQuery(query.toLowerCase().trim())); + splitQuery(query.trim()).forEach((queryTerm) => { + const queryTermLower = queryTerm.toLowerCase(); + + // maybe skip this "word" + // stopwords array is from language_data.js + if ( + stopwords.indexOf(queryTermLower) !== -1 || + queryTerm.match(/^\d+$/) + ) + return; + + // stem the word + let word = stemmer.stemWord(queryTermLower); + // select the correct list + if (word[0] === "-") excludedTerms.add(word.substr(1)); + else { + searchTerms.add(word); + highlightTerms.add(queryTermLower); + } + }); + + if (SPHINX_HIGHLIGHT_ENABLED) { // set in sphinx_highlight.js + localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" ")) + } + + // console.debug("SEARCH: searching for:"); + // console.info("required: ", [...searchTerms]); + // console.info("excluded: ", [...excludedTerms]); + + return [query, searchTerms, excludedTerms, highlightTerms, objectTerms]; + }, + + /** + * execute search (requires search index to be loaded) + */ + _performSearch: (query, searchTerms, excludedTerms, highlightTerms, objectTerms) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; + const allTitles = Search._index.alltitles; + const indexEntries = Search._index.indexentries; + + // Collect multiple result groups to be sorted separately and then ordered. + // Each is an array of [docname, title, anchor, descr, score, filename]. + const normalResults = []; + const nonMainIndexResults = []; + + _removeChildren(document.getElementById("search-progress")); + + const queryLower = query.toLowerCase().trim(); + for (const [title, foundTitles] of Object.entries(allTitles)) { + if (title.toLowerCase().trim().includes(queryLower) && (queryLower.length >= title.length/2)) { + for (const [file, id] of foundTitles) { + const score = Math.round(Scorer.title * queryLower.length / title.length); + const boost = titles[file] === title ? 1 : 0; // add a boost for document titles + normalResults.push([ + docNames[file], + titles[file] !== title ? `${titles[file]} > ${title}` : title, + id !== null ? "#" + id : "", + null, + score + boost, + filenames[file], + ]); + } + } + } + + // search for explicit entries in index directives + for (const [entry, foundEntries] of Object.entries(indexEntries)) { + if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) { + for (const [file, id, isMain] of foundEntries) { + const score = Math.round(100 * queryLower.length / entry.length); + const result = [ + docNames[file], + titles[file], + id ? "#" + id : "", + null, + score, + filenames[file], + ]; + if (isMain) { + normalResults.push(result); + } else { + nonMainIndexResults.push(result); + } + } + } + } + + // lookup as object + objectTerms.forEach((term) => + normalResults.push(...Search.performObjectSearch(term, objectTerms)) + ); + + // lookup as search terms in fulltext + normalResults.push(...Search.performTermsSearch(searchTerms, excludedTerms)); + + // let the scorer override scores with a custom scoring function + if (Scorer.score) { + normalResults.forEach((item) => (item[4] = Scorer.score(item))); + nonMainIndexResults.forEach((item) => (item[4] = Scorer.score(item))); + } + + // Sort each group of results by score and then alphabetically by name. + normalResults.sort(_orderResultsByScoreThenName); + nonMainIndexResults.sort(_orderResultsByScoreThenName); + + // Combine the result groups in (reverse) order. + // Non-main index entries are typically arbitrary cross-references, + // so display them after other results. + let results = [...nonMainIndexResults, ...normalResults]; + + // remove duplicate search results + // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept + let seen = new Set(); + results = results.reverse().reduce((acc, result) => { + let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(','); + if (!seen.has(resultStr)) { + acc.push(result); + seen.add(resultStr); + } + return acc; + }, []); + + return results.reverse(); + }, + + query: (query) => { + const [searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms] = Search._parseQuery(query); + const results = Search._performSearch(searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms); + + // for debugging + //Search.lastresults = results.slice(); // a copy + // console.info("search results:", Search.lastresults); + + // print the results + _displayNextItem(results, results.length, searchTerms, highlightTerms); + }, + + /** + * search for object names + */ + performObjectSearch: (object, objectTerms) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const objects = Search._index.objects; + const objNames = Search._index.objnames; + const titles = Search._index.titles; + + const results = []; + + const objectSearchCallback = (prefix, match) => { + const name = match[4] + const fullname = (prefix ? prefix + "." : "") + name; + const fullnameLower = fullname.toLowerCase(); + if (fullnameLower.indexOf(object) < 0) return; + + let score = 0; + const parts = fullnameLower.split("."); + + // check for different match types: exact matches of full name or + // "last name" (i.e. last dotted part) + if (fullnameLower === object || parts.slice(-1)[0] === object) + score += Scorer.objNameMatch; + else if (parts.slice(-1)[0].indexOf(object) > -1) + score += Scorer.objPartialMatch; // matches in last name + + const objName = objNames[match[1]][2]; + const title = titles[match[0]]; + + // If more than one term searched for, we require other words to be + // found in the name/title/description + const otherTerms = new Set(objectTerms); + otherTerms.delete(object); + if (otherTerms.size > 0) { + const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase(); + if ( + [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0) + ) + return; + } + + let anchor = match[3]; + if (anchor === "") anchor = fullname; + else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname; + + const descr = objName + _(", in ") + title; + + // add custom score for some objects according to scorer + if (Scorer.objPrio.hasOwnProperty(match[2])) + score += Scorer.objPrio[match[2]]; + else score += Scorer.objPrioDefault; + + results.push([ + docNames[match[0]], + fullname, + "#" + anchor, + descr, + score, + filenames[match[0]], + ]); + }; + Object.keys(objects).forEach((prefix) => + objects[prefix].forEach((array) => + objectSearchCallback(prefix, array) + ) + ); + return results; + }, + + /** + * search for full-text terms in the index + */ + performTermsSearch: (searchTerms, excludedTerms) => { + // prepare search + const terms = Search._index.terms; + const titleTerms = Search._index.titleterms; + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; + + const scoreMap = new Map(); + const fileMap = new Map(); + + // perform the search on the required terms + searchTerms.forEach((word) => { + const files = []; + const arr = [ + { files: terms[word], score: Scorer.term }, + { files: titleTerms[word], score: Scorer.title }, + ]; + // add support for partial matches + if (word.length > 2) { + const escapedWord = _escapeRegExp(word); + if (!terms.hasOwnProperty(word)) { + Object.keys(terms).forEach((term) => { + if (term.match(escapedWord)) + arr.push({ files: terms[term], score: Scorer.partialTerm }); + }); + } + if (!titleTerms.hasOwnProperty(word)) { + Object.keys(titleTerms).forEach((term) => { + if (term.match(escapedWord)) + arr.push({ files: titleTerms[term], score: Scorer.partialTitle }); + }); + } + } + + // no match but word was a required one + if (arr.every((record) => record.files === undefined)) return; + + // found search word in contents + arr.forEach((record) => { + if (record.files === undefined) return; + + let recordFiles = record.files; + if (recordFiles.length === undefined) recordFiles = [recordFiles]; + files.push(...recordFiles); + + // set score for the word in each file + recordFiles.forEach((file) => { + if (!scoreMap.has(file)) scoreMap.set(file, {}); + scoreMap.get(file)[word] = record.score; + }); + }); + + // create the mapping + files.forEach((file) => { + if (!fileMap.has(file)) fileMap.set(file, [word]); + else if (fileMap.get(file).indexOf(word) === -1) fileMap.get(file).push(word); + }); + }); + + // now check if the files don't contain excluded terms + const results = []; + for (const [file, wordList] of fileMap) { + // check if all requirements are matched + + // as search terms with length < 3 are discarded + const filteredTermCount = [...searchTerms].filter( + (term) => term.length > 2 + ).length; + if ( + wordList.length !== searchTerms.size && + wordList.length !== filteredTermCount + ) + continue; + + // ensure that none of the excluded terms is in the search result + if ( + [...excludedTerms].some( + (term) => + terms[term] === file || + titleTerms[term] === file || + (terms[term] || []).includes(file) || + (titleTerms[term] || []).includes(file) + ) + ) + break; + + // select one (max) score for the file. + const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w])); + // add result to the result list + results.push([ + docNames[file], + titles[file], + "", + null, + score, + filenames[file], + ]); + } + return results; + }, + + /** + * helper function to return a node containing the + * search summary for a given text. keywords is a list + * of stemmed words. + */ + makeSearchSummary: (htmlText, keywords, anchor) => { + const text = Search.htmlToText(htmlText, anchor); + if (text === "") return null; + + const textLower = text.toLowerCase(); + const actualStartPosition = [...keywords] + .map((k) => textLower.indexOf(k.toLowerCase())) + .filter((i) => i > -1) + .slice(-1)[0]; + const startWithContext = Math.max(actualStartPosition - 120, 0); + + const top = startWithContext === 0 ? "" : "..."; + const tail = startWithContext + 240 < text.length ? "..." : ""; + + let summary = document.createElement("p"); + summary.classList.add("context"); + summary.textContent = top + text.substr(startWithContext, 240).trim() + tail; + + return summary; + }, +}; + +_ready(Search.init); diff --git a/docs/UserGuide/_static/sphinx_highlight.js b/docs/UserGuide/_static/sphinx_highlight.js new file mode 100644 index 0000000..8a96c69 --- /dev/null +++ b/docs/UserGuide/_static/sphinx_highlight.js @@ -0,0 +1,154 @@ +/* Highlighting utilities for Sphinx HTML documentation. */ +"use strict"; + +const SPHINX_HIGHLIGHT_ENABLED = true + +/** + * highlight a given string on a node by wrapping it in + * span elements with the given class name. + */ +const _highlight = (node, addItems, text, className) => { + if (node.nodeType === Node.TEXT_NODE) { + const val = node.nodeValue; + const parent = node.parentNode; + const pos = val.toLowerCase().indexOf(text); + if ( + pos >= 0 && + !parent.classList.contains(className) && + !parent.classList.contains("nohighlight") + ) { + let span; + + const closestNode = parent.closest("body, svg, foreignObject"); + const isInSVG = closestNode && closestNode.matches("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.classList.add(className); + } + + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + const rest = document.createTextNode(val.substr(pos + text.length)); + parent.insertBefore( + span, + parent.insertBefore( + rest, + node.nextSibling + ) + ); + node.nodeValue = val.substr(0, pos); + /* There may be more occurrences of search term in this node. So call this + * function recursively on the remaining fragment. + */ + _highlight(rest, addItems, text, className); + + if (isInSVG) { + const rect = document.createElementNS( + "http://www.w3.org/2000/svg", + "rect" + ); + const bbox = parent.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute("class", className); + addItems.push({ parent: parent, target: rect }); + } + } + } else if (node.matches && !node.matches("button, select, textarea")) { + node.childNodes.forEach((el) => _highlight(el, addItems, text, className)); + } +}; +const _highlightText = (thisNode, text, className) => { + let addItems = []; + _highlight(thisNode, addItems, text, className); + addItems.forEach((obj) => + obj.parent.insertAdjacentElement("beforebegin", obj.target) + ); +}; + +/** + * Small JavaScript module for the documentation. + */ +const SphinxHighlight = { + + /** + * highlight the search words provided in localstorage in the text + */ + highlightSearchWords: () => { + if (!SPHINX_HIGHLIGHT_ENABLED) return; // bail if no highlight + + // get and clear terms from localstorage + const url = new URL(window.location); + const highlight = + localStorage.getItem("sphinx_highlight_terms") + || url.searchParams.get("highlight") + || ""; + localStorage.removeItem("sphinx_highlight_terms") + url.searchParams.delete("highlight"); + window.history.replaceState({}, "", url); + + // get individual terms from highlight string + const terms = highlight.toLowerCase().split(/\s+/).filter(x => x); + if (terms.length === 0) return; // nothing to do + + // There should never be more than one element matching "div.body" + const divBody = document.querySelectorAll("div.body"); + const body = divBody.length ? divBody[0] : document.querySelector("body"); + window.setTimeout(() => { + terms.forEach((term) => _highlightText(body, term, "highlighted")); + }, 10); + + const searchBox = document.getElementById("searchbox"); + if (searchBox === null) return; + searchBox.appendChild( + document + .createRange() + .createContextualFragment( + '

' + + '' + + _("Hide Search Matches") + + "

" + ) + ); + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords: () => { + document + .querySelectorAll("#searchbox .highlight-link") + .forEach((el) => el.remove()); + document + .querySelectorAll("span.highlighted") + .forEach((el) => el.classList.remove("highlighted")); + localStorage.removeItem("sphinx_highlight_terms") + }, + + initEscapeListener: () => { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return; + if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) { + SphinxHighlight.hideSearchWords(); + event.preventDefault(); + } + }); + }, +}; + +_ready(() => { + /* Do not call highlightSearchWords() when we are on the search page. + * It will highlight words from the *previous* search query. + */ + if (typeof Search === "undefined") SphinxHighlight.highlightSearchWords(); + SphinxHighlight.initEscapeListener(); +}); diff --git a/docs/UserGuide/_static/theme.js b/docs/UserGuide/_static/theme.js new file mode 100644 index 0000000..6c919e4 --- /dev/null +++ b/docs/UserGuide/_static/theme.js @@ -0,0 +1,212 @@ +// 创建一个自执行的函数，用于封装模块定义和执行逻辑 +!function (n) { + // 定义模块存储对象和模块导出相关函数 + var e = {}; + function t(i) { + // 模块缓存逻辑，避免重复执行 + if (e[i]) return e[i].exports; + var o = e[i] = { i: i, l: !1, exports: {} }; + // 执行模块定义函数并缓存结果 + return n[i].call(o.exports, o, o.exports, t), + o.l = !0, + o.exports + } + // 初始化模块系统，定义模块数组、缓存对象、导出函数等 + t.m = n, + t.c = e, + t.d = function (n, e, i) { + t.o(n, e) || Object.defineProperty(n, e, { enumerable: !0, get: i }) + }, + t.r = function (n) { + "undefined" != typeof Symbol && Symbol.toStringTag && Object.defineProperty(n, Symbol.toStringTag, { value: "Module" }), + Object.defineProperty(n, "__esModule", { value: !0 }) + }, + t.t = function (n, e) { + if (1 & e && (n = t(n)), 8 & e) return n; + if (4 & e && "object" == typeof n && n && n.__esModule) return n; + var i = Object.create(null); + if (t.r(i), Object.defineProperty(i, "default", { enumerable: !0, value: n }), + 2 & e && "string" != typeof n) for (var o in n) + t.d(i, o, function (e) { return n[e] }.bind(null, o)); + return i + }, + t.n = function (n) { + var e = n && n.__esModule ? function () { return n.default } : function () { return n }; + return t.d(e, "a", e), e + }, + t.o = function (n, e) { return Object.prototype.hasOwnProperty.call(n, e) }, + t.p = "", + // 执行入口模块 + t(t.s = 0) +}([ + // 定义模块数组，每个模块是一个函数 + function (n, e, t) { + // 执行依赖模块并导出结果 + t(1), + n.exports = t(3) + }, + function (n, e, t) { + // 根据环境获取jQuery对象 + (function () { + var e = "undefined" != typeof window ? window.jQuery : t(2); + // 定义并导出ThemeNav对象 + n.exports.ThemeNav = { + navBar: null, + win: null, + winScroll: !1, + winResize: !1, + linkScroll: !1, + winPosition: 0, + winHeight: null, + docHeight: null, + isRunning: !1, + // 启用导航栏功能 + enable: function (n) { + var t = this; + void 0 === n && (n = !0), + t.isRunning || (t.isRunning = !0, + e((function (e) { + t.init(e), + t.reset(), + t.win.on("hashchange", t.reset), + n && t.win.on("scroll", (function () { + t.linkScroll || t.winScroll || (t.winScroll = !0, + requestAnimationFrame((function () { + t.onScroll() + }))) + })), + t.win.on("resize", (function () { + t.winResize || (t.winResize = !0, + requestAnimationFrame((function () { + t.onResize() + }))) + })), + t.onResize() + }))) + }, + // 启用粘性导航栏 + enableSticky: function () { + this.enable(!0) + }, + // 初始化导航栏 + init: function (n) { + n(document); + var e = this; + this.navBar = n("div.wy-side-scroll:first"), + this.win = n(window), + n(document).on("click", "[data-toggle='wy-nav-top']", (function () { + n("[data-toggle='wy-nav-shift']").toggleClass("shift"), + n("[data-toggle='rst-versions']").toggleClass("shift") + })).on("click", ".wy-menu-vertical .current ul li a", (function () { + var t = n(this); + n("[data-toggle='wy-nav-shift']").removeClass("shift"), + n("[data-toggle='rst-versions']").toggleClass("shift"), + e.toggleCurrent(t), + e.hashChange() + })).on("click", "[data-toggle='rst-current-version']", (function () { + n("[data-toggle='rst-versions']").toggleClass("shift-up") + })), + n("table.docutils:not(.field-list,.footnote,.citation)").wrap("
"), + n("table.docutils.footnote").wrap("
"), + n("table.docutils.citation").wrap("
"), + n(".wy-menu-vertical ul").not(".simple").siblings("a").each((function () { + var t = n(this); + expand = n(''), + expand.on("click", (function (n) { + return e.toggleCurrent(t), + n.stopPropagation(), + !1 + })), + t.prepend(expand) + })) + }, + // 重置导航栏状态 + reset: function () { + var n = encodeURI(window.location.hash) || "#"; + try { + var e = $(".wy-menu-vertical"), + t = e.find('[href="' + n + '"]'); + if (0 === t.length) { + var i = $('.document [id="' + n.substring(1) + '"]').closest("div.section"); + 0 === (t = e.find('[href="#' + i.attr("id") + '"]')).length && (t = e.find('[href="#"]')) + } + if (t.length > 0) { + $(".wy-menu-vertical .current").removeClass("current").attr("aria-expanded", "false"), + t.addClass("current").attr("aria-expanded", "true"), + t.closest("li.toctree-l1").parent().addClass("current").attr("aria-expanded", "true"); + for (let n = 1; n <= 10; n++) + t.closest("li.toctree-l" + n).addClass("current").attr("aria-expanded", "true"); + t[0].scrollIntoView() + } + } catch (n) { + console.log("Error expanding nav for anchor", n) + } + }, + // 滚动事件处理 + onScroll: function () { + this.winScroll = !1; + var n = this.win.scrollTop(), + e = n + this.winHeight, + t = this.navBar.scrollTop() + (n - this.winPosition); + n < 0 || e > this.docHeight || (this.navBar.scrollTop(t), + this.winPosition = n) + }, + // 窗口大小变化事件处理 + onResize: function () { + this.winResize = !1, + this.winHeight = this.win.height(), + this.docHeight = $(document).height() + }, + // hash变化事件处理 + hashChange: function () { + this.linkScroll = !0, + this.win.one("hashchange", (function () { + this.linkScroll = !1 + })) + }, + // 切换当前导航项 + toggleCurrent: function (n) { + var e = n.closest("li"); + // 20201030 a + e.siblings("li.current").removeClass("current").attr("aria-expanded", "false"), + e.siblings().find("li.current").removeClass("current").attr("aria-expanded", "false"); + var t = e.find("> ul li"); + t.length && (t.removeClass("current").attr("aria-expanded", "false"), + e.toggleClass("current").attr("aria-expanded", (function (n, e) { + return "true" == e ? "false" : "true" + }))) + } + }, + "undefined" != typeof window && (window.SphinxRtdTheme = { + Navigation: n.exports.ThemeNav, + StickyNav: n.exports.ThemeNav + }), + // 实现跨浏览器的requestAnimationFrame和cancelAnimationFrame方法 + function () { + for (var n = 0, e = ["ms", "moz", "webkit", "o"], t = 0; t < e.length && !window.requestAnimationFrame; ++t) + window.requestAnimationFrame = window[e[t] + "RequestAnimationFrame"], + window.cancelAnimationFrame = window[e[t] + "CancelAnimationFrame"] || window[e[t] + "CancelRequestAnimationFrame"]; + window.requestAnimationFrame || (window.requestAnimationFrame = function (e, t) { + var i = (new Date).getTime(), + o = Math.max(0, 16 - (i - n)), + r = window.setTimeout((function () { + e(i + o) + }), o); + return n = i + o, + r + }), + window.cancelAnimationFrame || (window.cancelAnimationFrame = function (n) { + clearTimeout(n) + }) + }() + }).call(window) + }, + function (n, e) { + // 导出jQuery对象 + n.exports = jQuery + }, + function (n, e, t) { + // 未定义的模块体 + } +]); + diff --git a/docs/UserGuide/genindex.html b/docs/UserGuide/genindex.html new file mode 100644 index 0000000..ca40b78 --- /dev/null +++ b/docs/UserGuide/genindex.html @@ -0,0 +1,206 @@ + + + + + + + + Index — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

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

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/index.html b/docs/UserGuide/index.html new file mode 100644 index 0000000..fc55836 --- /dev/null +++ b/docs/UserGuide/index.html @@ -0,0 +1,275 @@ + + + + + + + + + Orbbec SDK V2 Python Wrapper — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Orbbec SDK V2 Python Wrapper

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

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/objects.inv b/docs/UserGuide/objects.inv new file mode 100644 index 0000000..0c3e704 Binary files /dev/null and b/docs/UserGuide/objects.inv differ diff --git a/docs/UserGuide/search.html b/docs/UserGuide/search.html new file mode 100644 index 0000000..4a59247 --- /dev/null +++ b/docs/UserGuide/search.html @@ -0,0 +1,221 @@ + + + + + + + + Search — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Search
    • +
  • +
    • +
+
+
+
+
+ + + + +
+ +
+ +
+
+
+ +
+ +
+

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + + + + + + \ No newline at end of file diff --git a/docs/UserGuide/searchindex.js b/docs/UserGuide/searchindex.js new file mode 100644 index 0000000..09029b1 --- /dev/null +++ b/docs/UserGuide/searchindex.js @@ -0,0 +1 @@ +Search.setIndex({"alltitles": {"Application Guide": [[10, null]], "Build the Project": [[6, "build-the-project"]], "Build your First Camera Application": [[8, "build-your-first-camera-application"]], "Camera Configuration(Device Parameter Settings)": [[11, null]], "Color Parameter Settings": [[11, "color-parameter-settings"]], "Compilation Platform Requirements": [[5, "compilation-platform-requirements"]], "Compile the Python SDK": [[6, "compile-the-python-sdk"]], "Configure Visual Studio Project": [[6, "configure-visual-studio-project"]], "Custom Python Path (Optional)": [[6, "custom-python-path-optional"]], "D2D (Disparity to depth)": [[11, "d2d-disparity-to-depth"]], "Depth Point Cloud": [[12, "depth-point-cloud"]], "Depth Settings": [[11, "depth-settings"]], "Depth Working Mode": [[11, "depth-working-mode"]], "Device Parameter Settings:": [[11, "device-parameter-settings"]], "Device Reboot": [[11, "device-reboot"]], "Device Time Synchronization": [[11, "device-time-synchronization"]], "Docs\u5e94\u7528\u6587\u6863": [[0, null]], "Docs\u5e94\u7528\u6587\u6863\u8be6\u7ec6\u8bf4\u660e": [[0, "id1"]], "Download the Python SDK Source Code": [[6, "download-the-python-sdk-source-code"]], "Environment": [[5, null]], "FAQ": [[15, null]], "Generate Python Stubs": [[6, "generate-python-stubs"]], "Hardware D2D": [[11, "hardware-d2d"]], "IR Parameter Settings": [[11, "ir-parameter-settings"]], "Install Dependencies": [[6, "install-dependencies"]], "Install Dependencies (Ubuntu)": [[6, "install-dependencies-ubuntu"]], "Installation": [[7, null]], "Introduction": [[2, null], [8, null]], "LDP Switch": [[11, "ldp-switch"]], "Laser Switch": [[11, "laser-switch"]], "License": [[16, null]], "Linux Python SDK Compilation": [[6, null]], "Making a Python Wheel": [[6, "making-a-python-wheel"]], "Multi-Camera Synchronization": [[13, null]], "Multi-Camera Synchronization Software Configuration": [[13, "multi-camera-synchronization-software-configuration"]], "Multi-Camera Synchronous Hardware Connection": [[13, "multi-camera-synchronous-hardware-connection"]], "Obtain Data Stream": [[12, null]], "Obtain IMU Data": [[12, "obtain-imu-data"]], "Obtain LDP Protection Measurements": [[11, "obtain-ldp-protection-measurements"]], "Obtain LDP Protection Status": [[11, "obtain-ldp-protection-status"]], "Obtain Video Stream": [[12, "obtain-video-stream"]], "Obtain the Camera Intrinsic and Extrinsic Parameters": [[11, "obtain-the-camera-intrinsic-and-extrinsic-parameters"]], "Obtain the Serial Number": [[11, "obtain-the-serial-number"]], "Open Device": [[11, "open-device"]], "Orbbec SDK V2 Python Wrapper": [[1, null]], "Overview": [[4, null]], "Point Cloud": [[12, "point-cloud"]], "Post-Processing Filter": [[14, null]], "Preset Configuration": [[11, "preset-configuration"]], "Python Version": [[5, "python-version"]], "QuickStarts": [[9, null]], "RGBD Point Cloud": [[12, "rgbd-point-cloud"]], "Run the Examples": [[6, "run-the-examples"]], "Sample Features": [[8, "sample-features"]], "Set Color AE": [[11, "set-color-ae"]], "Set Color Auto White Balance": [[11, "set-color-auto-white-balance"]], "Set Color Exposure": [[11, "set-color-exposure"]], "Set Color Gain": [[11, "set-color-gain"]], "Set Color Power Line Frequency": [[11, "set-color-power-line-frequency"]], "Set Color White Balance Parameters": [[11, "set-color-white-balance-parameters"]], "Set Depth AE": [[11, "set-depth-ae"]], "Set Depth Exposure/Gain": [[11, "set-depth-exposure-gain"]], "Set IR AE": [[11, "set-ir-ae"]], "Set IR Exposure/Gain": [[11, "set-ir-exposure-gain"]], "Set Min and Max Depth": [[11, "set-min-and-max-depth"]], "Set the Unit of Depth": [[11, "set-the-unit-of-depth"]], "Software D2D": [[11, "software-d2d"]], "Stream Profile": [[12, "stream-profile"]], "Support Hardware Products": [[3, "support-hardware-products"]], "Support Platforms": [[3, null]], "Test Examples": [[6, "test-examples"]], "This Section Covers:": [[4, null], [7, null], [9, null], [10, null]], "Windows Python SDK Compilation": [[6, "windows-python-sdk-compilation"]], "github \uff08\u5f85\u4e0a\u7ebf\uff09": [[0, "github"]], "gitlab\uff1a": [[0, "gitlab"]], "\u5b9a\u5236\u5316\u90e8\u5206": [[0, "id6"]], "\u63d0\u4ea4": [[0, "id5"]], "\u6587\u6863\u7f16\u5199\u89c4\u8303": [[0, "id2"]], "\u7f16\u8bd1": [[0, "id4"]], "\u7f16\u8bd1\u73af\u5883": [[0, "id3"]]}, "docnames": ["README", "index", "source/1_overview/Introduction", "source/1_overview/Support_platform", "source/1_overview/overview", "source/2_installation/Environment", "source/2_installation/build_the_package", "source/2_installation/installation", "source/3_QuickStarts/QuickStart", "source/3_QuickStarts/QuickStarts", "source/4_Application_Guide/Application_Guide", "source/4_Application_Guide/Camera_configuration", "source/4_Application_Guide/Data_Stream_acquisition", "source/4_Application_Guide/Multi_camera_synchronization", "source/4_Application_Guide/Post-processing_Filter", "source/5_FAQ/FAQ", "source/license"], "envversion": {"sphinx": 62, "sphinx.domains.c": 3, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2}, "filenames": ["README.md", "index.rst", "source/1_overview/Introduction.md", "source/1_overview/Support_platform.md", "source/1_overview/overview.rst", "source/2_installation/Environment.md", "source/2_installation/build_the_package.md", "source/2_installation/installation.rst", "source/3_QuickStarts/QuickStart.md", "source/3_QuickStarts/QuickStarts.rst", "source/4_Application_Guide/Application_Guide.rst", "source/4_Application_Guide/Camera_configuration.md", "source/4_Application_Guide/Data_Stream_acquisition.md", "source/4_Application_Guide/Multi_camera_synchronization.md", "source/4_Application_Guide/Post-processing_Filter.md", "source/5_FAQ/FAQ.md", "source/license.md"], "indexentries": {}, "objects": {}, "objnames": {}, "objtypes": {}, "terms": {"": [2, 3], "0": [3, 5, 11, 12, 13, 15, 16], "002": 15, "007": 15, "04": [3, 15], "05": 3, "0666": 15, "07": 15, "09": 15, "1": [0, 3, 6, 8, 11, 12, 13, 15], "10": [3, 5], "100": [8, 11, 12], "1000": 11, "10000": 11, "1000mm": 11, "1007": 3, "109": 15, "117523": 15, "15": 5, "17": 15, "18": 3, "19": [3, 15], "1f3c29744": 11, "1mm": 11, "2": [0, 3, 5, 6, 8, 11, 12, 13, 15, 16], "20": [3, 15], "2017": 5, "2023": 15, "2024": [2, 16], "21": 3, "22": 3, "2436": 3, "2460": 3, "2606": 3, "2bc5": 15, "2l": [8, 11], "2mm": 11, "3": [0, 3, 5, 6, 8, 11, 12, 13], "30": 12, "32": 3, "330": [8, 11, 12, 14], "335": 3, "335l": 3, "336": 3, "336l": 3, "34": 15, "342": 15, "3460": 3, "3606": 3, "391989": 15, "392032": 15, "392057": 15, "392072": 15, "3d": 11, "4": [3, 5, 8, 11, 12, 13, 15], "40": 15, "403747": 15, "4mm": 11, "5": [3, 5, 8], "5000": 11, "50hz": 11, "54": 3, "6": [3, 5, 6, 8, 15], "60": 3, "60000": [11, 13], "60hz": 11, "64": 11, "640": 12, "7": [3, 8], "73": 15, "76": 3, "8": [3, 6], "81": 15, "891859": 15, "8mm": 11, "9": [3, 5], "99": 15, "A": [12, 15], "AS": 16, "By": 11, "For": [11, 12, 14, 15], "If": [3, 6, 11, 15], "In": [6, 8, 11], "It": [3, 11], "OF": 16, "ONE": 11, "OR": 16, "The": [2, 6, 8, 10, 11, 12, 14, 15], "Then": [6, 15], "To": 6, "With": 2, "_": [0, 8, 11, 12, 13, 14, 15], "abov": 5, "accel": 12, "accel_fram": 12, "access": 15, "accord": 11, "accuraci": 11, "acquisit": 12, "activ": 6, "actual": 15, "add": [0, 15], "adjust": 11, "ae": 10, "agre": 16, "align": [8, 12], "align_filt": 12, "align_to_stream": 12, "alignfilt": 12, "all": [0, 2, 6, 11], "also": 8, "altern": 8, "among": 11, "an": [7, 11, 16], "anaconda": 6, "anaconda3": 6, "ani": 16, "answer": 15, "apach": 16, "appli": 12, "applic": [1, 9, 11, 16], "apt": 6, "ar": [11, 12, 13], "arbitrari": 11, "arm64": 3, "armv8": 15, "around": 15, "arrai": 12, "as_accel_fram": 12, "as_depth_fram": 11, "as_gyro_fram": 12, "as_video_fram": 12, "assist": 7, "assum": 6, "astra": [3, 8, 11, 15], "astra2": 8, "attr": 15, "attribut": 11, "auto": 10, "autobuild": 0, "balanc": 10, "base": 3, "bash": 6, "bashrc": 15, "basi": 16, "bdist_wheel": 6, "befor": [6, 11, 15], "being": 12, "below": 6, "best": 11, "better": 6, "between": 8, "bin": [6, 11], "binari": 6, "bind": [2, 10], "bolt": [3, 11], "book": 0, "both": 12, "branch": [2, 3], "brand": 16, "bu": 15, "build": [1, 7, 9], "built": [3, 11], "button": 6, "c": 13, "c2d": 8, "calcul": 12, "call": [10, 11, 14, 15], "callback": 8, "camera": [1, 9, 10], "can": [3, 6, 8, 11, 12], "captur": [8, 12], "cd": [0, 6], "charact": 12, "check": [2, 15], "checkout": 6, "choos": 6, "claim": 16, "click": 6, "clone": 6, "close": 11, "cloud": [1, 8, 10], "cmake": [5, 6], "cmakedir": 6, "cmakelist": 6, "cn": 0, "code": [0, 1, 3, 7, 8, 11], "color": [1, 8, 10, 12, 13], "color_delay_u": 13, "color_distort": 11, "color_fram": [8, 12, 13], "color_intrins": 11, "color_profil": [11, 12], "color_profile_list": 12, "color_sensor": [11, 12], "color_stream": 12, "colorview": 6, "com": [0, 6], "command": 11, "commit": 0, "commonli": 11, "compat": 2, "compil": [1, 7, 8], "compli": 2, "complianc": 16, "compon": 6, "comprehens": 6, "condit": 16, "conf": 0, "config": [6, 12, 13, 14], "configur": [1, 7, 8, 10, 12], "connect": [1, 2, 10, 11], "content": [6, 12], "context": [11, 15], "control": [6, 11, 15], "convers": 11, "convert": [2, 11], "coordin": 8, "coordinate_transform": 8, "copi": [6, 8, 16], "copyright": 16, "core": 15, "coretyp": 15, "correctli": 6, "correspond": 6, "countri": 11, "cover": 6, "cp3l44p00054": 13, "cp3s34d00051": 13, "cp8e54d0000j": 11, "cpp": 15, "creat": [6, 8, 11, 12, 15], "createusbdevic": 15, "ctx": 13, "current": 15, "custom": [1, 7, 8], "cv2": 15, "d": 15, "d2c": 8, "d2d": [1, 10], "dabai": 3, "data": [1, 8, 10, 11, 13], "dcw": 3, "default": [11, 12], "demonstr": 8, "depend": [1, 7, 8], "deploy": 7, "depth": [1, 8, 10, 13], "depth_delay_u": 13, "depth_distort": 11, "depth_fram": [8, 11, 12, 13, 14], "depth_intrins": 11, "depth_profil": [11, 12], "depth_profile_list": 12, "depth_sensor": [11, 12, 14], "depth_view": [6, 15], "depth_work_mod": 8, "describ": [9, 12], "descript": 8, "design": 7, "destroi": 15, "detect": 8, "determin": [11, 13], "dev": 6, "develop": [2, 6, 7], "devic": [1, 2, 3, 6, 8, 10, 13, 15], "device_firmware_upd": 8, "device_info": 11, "device_list": [11, 15], "devicelibusb": 15, "diagram": 8, "differ": [8, 11], "directli": 6, "directori": [6, 8], "disk": 8, "dispar": [1, 10], "displai": 8, "dist": 6, "distanc": 11, "distort": 11, "distribut": [6, 16], "do": 15, "doc": 0, "document": [3, 13], "doe": 15, "download": [1, 7], "dpybind11_dir": 6, "dump": 15, "dw": 3, "e": 3, "each": 13, "easi": 6, "edit": 15, "effect": [10, 13], "eight": 11, "either": 16, "enabl": [2, 10, 12, 14], "enable_accel_stream": 12, "enable_frame_sync": 12, "enable_gyro_stream": 12, "enable_multi_device_sync": [11, 13], "enable_stream": 12, "encount": 15, "encourag": 2, "end": 15, "ensur": 2, "enumer": [8, 11], "enumeratorlibusb": 15, "env": 6, "environ": [1, 6, 7, 9], "equal": 11, "error": 15, "essenti": 10, "etc": 15, "event": 8, "exampl": [1, 7, 8, 11, 15], "except": [11, 15, 16], "execut": [6, 15], "explor": 6, "export": [6, 15], "exposur": 10, "express": 16, "extens": 2, "extern": 11, "extrins": 10, "f": 13, "fail": 15, "failur": 15, "fals": 11, "faq": 1, "featur": [1, 9, 10, 11], "femto": [3, 8, 11], "ffmpeg": 6, "figur": 6, "file": [6, 8, 13, 15], "filter": [1, 8, 10, 11, 12], "filter_list": 14, "find_packag": 6, "finish": 6, "firmwar": [3, 8], "first": [1, 9, 13], "flexibl": 2, "flicker": 11, "float": 11, "flow": 8, "folder": 6, "follow": [2, 3, 6, 8, 11, 15], "format": [11, 12], "four": 11, "frame": [8, 11, 12, 13], "frames_per_trigg": 13, "frequenc": 10, "frequency_50hz": 11, "from": [8, 11, 12, 13, 14], "full_frame_requir": 12, "function": [8, 10], "gain": 10, "gcc": 5, "gemini": [3, 8, 11, 12, 14], "gemini2": 8, "gemini2l": 8, "gener": [1, 7], "get": [6, 8, 11, 12, 14, 15], "get_bool_properti": 11, "get_color_fram": [8, 12], "get_default_video_stream_profil": [11, 12], "get_depth_fram": [8, 11, 12], "get_devic": 11, "get_device_by_index": [11, 15], "get_device_by_serial_numb": 11, "get_device_by_uid": 11, "get_device_info": 11, "get_distort": 11, "get_extrinsic_to": 11, "get_fram": 12, "get_int_properti": 11, "get_intrins": 11, "get_ir_fram": 12, "get_recommended_filt": 14, "get_serial_numb": 11, "get_stream_profil": 12, "get_stream_profile_list": [11, 12], "get_system_timestamp_u": 13, "get_timestamp_u": 13, "get_video_stream_profil": 12, "git": [0, 6], "github": 6, "govern": 16, "greater": 11, "grep": 15, "group": 15, "guid": [1, 6, 7], "gyro": 12, "gyro_fram": 12, "h": 11, "ha": 15, "hardwar": [1, 4, 8, 10, 15], "have": [6, 11, 15], "hdr": 8, "height": 12, "help": 10, "here": 6, "home": 6, "hopefulli": 15, "host": 11, "hot": 8, "hot_plug": 8, "how": [8, 10, 12, 15], "howev": 2, "hpp": 15, "html": 0, "html\u6253\u5f00": 0, "html\u67e5\u770b\u6548\u679c": 0, "html\u76ee\u5f55": 0, "http": [0, 6, 16], "hw_d2c_align": 8, "i": [2, 3, 6, 7, 8, 11, 12, 13, 14, 15, 16], "id": [6, 11, 15], "idproduct": 15, "idvendor": 15, "illeg": 15, "imag": [8, 11], "implement": [2, 11], "impli": 16, "import": [8, 11, 12, 14, 15], "imu": [1, 8, 10], "inc": 16, "includ": [3, 7, 8], "index": [0, 11, 15], "indic": 12, "inern": 11, "info": 15, "inform": [8, 11, 14, 15], "infrar": 8, "initi": 10, "instal": [0, 1, 15], "install_udev_rul": 6, "instanc": 11, "instead": 3, "instruct": [10, 11, 15], "int": 11, "intellisens": 6, "interfac": [2, 8, 11], "intern": 11, "internala": 11, "interpret": 6, "interv": 11, "intrins": 10, "introduct": [1, 4, 9], "ir": [1, 8, 10, 12], "ir_fram": 12, "ir_profil": 12, "ir_sensor": 12, "issu": 15, "j4": 6, "jetson": 15, "join": 12, "json": 13, "kind": 16, "l": [3, 11], "languag": 16, "laser": 10, "last": 15, "latest": 6, "launch": 15, "law": 16, "ldp": 10, "ldp_statu": 11, "left": 12, "left_ir_sensor": 12, "less": 11, "level": 8, "lib": 6, "librari": 8, "libusb": 15, "licens": 1, "like": [10, 11, 15], "limit": 16, "line": [6, 10, 15], "linux": [1, 3, 5, 7], "list": [3, 11, 14], "lite": 3, "load": 11, "load_preset": 11, "log": 8, "logger": 8, "longer": 2, "look": 15, "lsusb": 15, "m": 6, "mai": 16, "main": [2, 3, 15], "major": 2, "make": [1, 2, 7, 15], "markdown": 0, "max": 10, "measur": 10, "mega": [3, 8, 11], "merg": 8, "mermaid": 0, "method": [6, 11, 12], "millisecond": 11, "min": 10, "mini": 3, "minim": 8, "mkdir": 6, "mm": 11, "mode": [8, 10, 13, 15], "model": 8, "modifi": [11, 13], "modul": 15, "more": [2, 13, 14, 15], "most": 15, "msg": 15, "multi": [1, 8, 10], "multi_devic": 8, "multipl": [8, 11], "multipli": 11, "must": 11, "myst": 0, "name": [15, 16], "nano": 15, "necessari": [6, 11], "need": 13, "net_devic": [6, 8], "network": [6, 8], "new": 2, "new_depth_fram": [11, 14], "none": [12, 13], "note": [8, 11], "np": 12, "number": [10, 13], "o": 12, "ob": 11, "ob_prop_color_auto_white_balance_bool": 11, "ob_prop_color_exposure_int": 11, "ob_prop_color_gain_int": 11, "ob_prop_color_power_line_frequency_int": 11, "ob_prop_color_white_balance_int": 11, "ob_prop_depth_auto_exposure_bool": 11, "ob_prop_depth_exposure_int": 11, "ob_prop_depth_gain_int": 11, "ob_prop_depth_precision_level_int": 11, "ob_prop_depth_unit_flexible_adjustment_float": 11, "ob_prop_disparity_to_depth_bool": 11, "ob_prop_ir_auto_exposure_bool": 11, "ob_prop_ir_exposure_int": 11, "ob_prop_ir_gain_int": 11, "ob_prop_laser_bool": 11, "ob_prop_ldp_bool": 11, "ob_prop_ldp_measure_distance_int": 11, "ob_prop_ldp_status_bool": 11, "ob_prop_max_depth_int": 11, "ob_prop_min_depth_int": 11, "ob_prop_sdk_disparity_to_depth_bool": 11, "ob_usb_status_access": 15, "obdepthprecisionlevel": 11, "oberror": 15, "obexcept": 15, "obformat": 12, "obframeaggregateoutputmod": 12, "obframetyp": 12, "object": [11, 12], "obox": 3, "obpowerlinefreqmod": 11, "obpropertyid": 11, "obsensor": 15, "obsensortyp": [11, 12], "obstreamtyp": 12, "obtain": [1, 8, 10, 16], "occur": 15, "octob": 2, "off": 11, "offici": 6, "onc": 11, "one": 12, "one_mm": 11, "onli": 11, "open": [2, 6, 10, 15], "openbla": 15, "openblas_coretyp": 15, "opencv": [6, 8, 15], "openni": 2, "oper": 10, "option": [1, 7], "orbbec": [0, 2, 3, 6, 7, 8, 11, 16], "orbbecsdk": 0, "orbbecsdk_v2": 6, "orbbecsdkconfig_v1": 12, "org": 16, "origin": 8, "other": [8, 11, 13, 16], "output": [8, 11, 12, 15], "outsid": 11, "overview": [1, 7], "owner": 15, "p": 12, "packag": 6, "param": 13, "paramet": [1, 10, 13], "parser": 0, "path": [1, 7, 8, 12], "perform": [8, 11], "perman": 15, "permiss": [15, 16], "pid": 15, "pip": [0, 6], "pip3": [0, 6], "pipelin": [8, 11, 12, 13, 14], "pipilin": 11, "pixel": 11, "platform": [1, 4, 6, 7], "pleas": [12, 13], "plug": 8, "ply": 12, "point": [1, 8, 10, 11], "point_cloud": [8, 12], "point_cloud_filt": 12, "point_cloud_fram": 12, "pointcloudfilt": 12, "points_arrai": 12, "post": [1, 8, 10, 11, 15], "post_filt": 14, "post_process": 8, "power": 10, "precis": 11, "predefin": 11, "prepar": 7, "prerequisit": 8, "preset": [8, 10], "prevent": 11, "primari": 13, "primarili": 8, "principl": 2, "print": [11, 13], "pro": 3, "process": [1, 7, 8, 10, 11, 12], "product": [1, 2, 4], "profil": [1, 10], "profile_list": [11, 12], "project": [1, 7, 16], "prop": 11, "properti": [11, 16], "protect": 10, "protocol": 2, "provid": [6, 7, 10], "purpos": 11, "push\u63d0\u4ea4\u4ee3\u7801": 0, "pwd": 6, "py": [0, 6, 8, 12, 13, 14, 15], "py3": 6, "pybind11": [2, 5, 6], "pybind11_dir": 6, "pyd": 8, "pyorbbecsdk": [0, 6, 8, 11, 12, 14, 15], "python": [2, 3, 7, 8, 9, 10, 15], "python3": [6, 15], "python3_root_dir": 6, "pythonpath": 6, "query_devic": 11, "quick": 8, "quick_start": 8, "quickstart": 1, "r": 6, "rang": 11, "rate": 12, "read": [8, 13], "reader": 12, "reboot": 10, "recent": 15, "recommend": [3, 13, 14], "recommonmark": 0, "refer": [6, 11, 12, 13, 15], "region": 11, "relat": 8, "reload": [6, 15], "remark": 11, "render": 8, "repeat": 11, "replac": 6, "repositori": 6, "requir": [1, 6, 7, 16], "resolut": 12, "resolv": 15, "respect": 12, "restart": 15, "result": 13, "retriev": 12, "return": 11, "rgb": 12, "rgb_point": 12, "rgbd": [8, 10], "right": [6, 12], "right_ir_sensor": 12, "root": 15, "rtd": 0, "rule": [6, 15], "run": [0, 1, 7, 13, 15], "same": [11, 15], "sampl": [1, 9, 12, 13], "save": [8, 12], "save_points_dir": 12, "save_points_to_pli": 12, "scenario": 11, "script": 6, "sdk": [2, 3, 7, 8, 10, 11], "secondari": 13, "section": [6, 11, 12], "see": [14, 16], "select": [6, 11], "sensor": [8, 12], "seri": [8, 11, 12, 14], "serial": [10, 13], "serial_numb": [11, 13], "servic": 15, "set": [1, 6, 7, 8, 10, 12, 13], "set_bool_properti": 11, "set_create_point_format": 12, "set_depth_work_mod": 11, "set_float_properti": 11, "set_frame_aggregate_output_mod": 12, "set_int_properti": 11, "set_multi_device_sync_config": 13, "set_value_rang": 11, "setup": [6, 7, 10], "sh": [0, 6], "share": 6, "should": 15, "show": 8, "shown": 6, "similar": [11, 12], "similarli": 11, "simultan": 12, "singl": 11, "site": 6, "sn": 11, "softwar": [1, 8, 10, 16], "sourc": [1, 2, 7], "spars": 11, "specif": [11, 16], "specifi": 11, "sphinx": 0, "sphinx_copybutton": 0, "sphinx_rtd_them": 0, "sphinxcontrib": 0, "st13runtime_error": 15, "standard": 2, "start": [6, 8, 11, 12, 13], "start_stream": 13, "statu": 10, "std": 15, "step": [6, 10], "stop": 8, "stream": [1, 8, 10, 11, 13], "streamlin": 7, "stub": [1, 7], "stubgen": 6, "studio": [1, 5, 7], "subsystem": 15, "sudo": [6, 15], "suppli": 11, "support": [1, 2, 4, 6, 8, 11, 12, 14], "switch": 10, "symlink": 15, "sync": 13, "sync_align": 8, "sync_config": 13, "synchron": [1, 8, 10, 12], "system": [8, 13], "tabl": 0, "techniqu": 11, "termin": 15, "test": [1, 7], "than": [11, 13], "thei": 13, "them": 11, "theme": 0, "thi": [2, 3, 6, 8, 11, 12, 15, 16], "threshold": 11, "threshold_filt": 11, "thresholdfilt": 11, "through": [11, 12], "time": [10, 13], "timer_sync_with_host": 11, "timestamp": 13, "tof": 11, "toggl": 8, "tool": 11, "traceback": 15, "tradit": 2, "transform": 8, "trigger": [6, 11, 15], "trigger_out_delay_u": 13, "trigger_out_en": 13, "trigger_to_image_delay_u": 13, "true": [11, 13], "turn": [11, 14], "two": [6, 8, 11, 13], "two_devices_sync": 8, "txt": 6, "type": [12, 15], "u": 13, "ubuntu": [1, 7], "ubuntu18": 3, "udev": 15, "udevadm": [6, 15], "uid": 11, "under": 16, "unit": 10, "unless": 16, "up": [6, 7], "updat": [2, 6, 8], "upgrad": 8, "url": 15, "us": [2, 3, 6, 8, 10, 11, 12, 13, 16], "usb": [2, 15], "usbenumer": 15, "user": [8, 10, 11], "util": 10, "uvc": 2, "v1": 3, "v2": [2, 3, 7], "valu": [8, 11], "varieti": 11, "variou": 8, "venv": 6, "version": [1, 2, 3, 6, 7, 16], "video": [1, 8, 10, 15], "viewer": 11, "virtual": 6, "visio\u5de5\u5177\u7ed8\u56fe": 0, "visual": [1, 5, 7, 10], "vl": 3, "w": 3, "wai": 6, "wait": [8, 12], "wait_for_fram": [8, 11, 12], "want": 15, "warn": 15, "warranti": 16, "we": [2, 3, 13], "websit": 6, "whatev": 15, "wheel": [1, 7], "when": 15, "where": 15, "whether": 2, "which": [2, 3], "white": 10, "whl": 6, "whose": 11, "why": 15, "width": 12, "wildcard": 12, "window": [1, 3, 5, 7], "within": 11, "without": 16, "work": [8, 10], "would": 15, "wrapper": [2, 3, 7, 8], "write": 16, "www": 16, "x": 6, "x64": 3, "xl": [3, 8], "xml": 12, "xyz": 12, "y16": 12, "you": [2, 3, 6, 7, 13, 15, 16], "you_device_name_her": 15, "your": [1, 2, 3, 6, 9, 15], "your_pid_her": 15, "zero": 11, "\u4e2d\u8bbe\u7f6e": 0, "\u4e3a\u4f8b\u5b50": 0, "\u4e5f\u652f\u6301sphinx\u539f\u751f\u7f16\u8bd1\u6307\u4ee4mak": 0, "\u4e5f\u9700\u8981\u5b89\u88c5\u4e00\u4e9b\u652f\u6301\u5e93": 0, "\u5176\u4ed6\u4e3b\u9898\u53ef\u81ea\u884c\u767e\u5ea6": 0, "\u52a1\u5fc5\u8981\u4e0a\u7ebf\u7f51\u9875\u6253\u5f00\u68c0\u67e5\u4e00\u4e0b": 0, "\u53ef\u4ee5\u4f7f\u7528vscode": 0, "\u53ef\u4f7f\u7528vscode\u7684editor\u63d2\u4ef6\u7f16\u8f91": 0, "\u5b89\u88c5": 0, "\u5b89\u88c5markdown\u8bed\u6cd5\u652f\u6301\u63d2\u4ef6": 0, "\u5b89\u88c5\u4ee3\u7801\u5757\u4e00\u952e\u590d\u5236\u6309\u94ae\u63d2\u4ef6": 0, "\u5b89\u88c5\u652f\u6301mermaid\u6e32\u67d3\u63d2\u4ef6": 0, "\u5b9a\u5236\u5316\u7684\u914d\u7f6e\u90fd\u5728": 0, "\u6211\u8fd9\u91cc\u4ee5": 0, "\u6216": 0, "\u624b\u52a8\u70b9\u51fbindex": 0, "\u6253\u5f00doc": 0, "\u6253\u5f00\u6587\u6863": 0, "\u6258\u7ba1": 0, "\u6267\u884c\u7f16\u8bd1\u811a\u672c": 0, "\u63a8\u8350": 0, "\u63a8\u8350\u5b89\u88c5markdown\u9884\u89c8\u7f16\u8f91\u63d2\u4ef6": 0, "\u63d0\u4ea4\u5b8c\u540e": 0, "\u6587\u6863\u683c\u5f0f": 0, "\u6587\u6863\u8f6c\u6362\u5de5\u5177": 0, "\u66f4\u6539\u6837\u5f0f\u4e3b\u9898": 0, "\u672c\u5e94\u7528\u6587\u6863\u9605\u8bfb\u94fe\u63a5": 0, "\u672c\u9879\u76ee\u6e90\u7801\u5730\u5740": 0, "\u6846\u56fe": 0, "\u68c0\u67e5\u7f51\u9875\u6548\u679c\u65e0\u8bef": 0, "\u6dfb\u52a0\u6ce8\u91ca": 0, "\u7279\u6b8a\u56fe\u9664\u5916": 0, "\u76ee\u7684\u662f\u4e3a\u4e86\u4fdd\u6301\u98ce\u683c\u7edf\u4e00": 0, "\u7f16\u8f91markdown\u6587\u4ef6\u6587\u6863": 0, "\u8be5\u811a\u672c\u7f16\u8bd1\u540e\u4f1a\u6253\u5305docs\u6587\u6863\u53ca\u6e32\u67d3\u8bbe\u7f6e": 0, "\u8bf4\u660e": 0, "\u8f6f\u4ef6\u6846\u67b6\u5efa\u8bae\u539f\u5219\u4e0a\u91c7\u7528processon": 0, "\u8fdb\u5165": 0, "\u91c7\u7528\u65b9\u5f0f": 0, "\u91c7\u7528\u6807\u51c6markdown\u683c\u5f0f": 0}, "titles": ["Docs\u5e94\u7528\u6587\u6863", "Orbbec SDK V2 Python Wrapper", "1.1. Introduction", "1.2. Support Platforms", "1. Overview", "2.1. Environment", "2.2. Linux Python SDK Compilation", "2. Installation", "3.1. Introduction", "3. QuickStarts", "4. Application Guide", "4.2. Camera Configuration(Device Parameter Settings)", "4.1. Obtain Data Stream", "4.3. Multi-Camera Synchronization", "4.4. Post-Processing Filter", "5. FAQ", "6. License"], "titleterms": {"ae": 11, "applic": [8, 10], "auto": 11, "balanc": 11, "build": [6, 8], "camera": [8, 11, 13], "cloud": 12, "code": 6, "color": 11, "compil": [5, 6], "configur": [6, 11, 13], "connect": 13, "cover": [4, 7, 9, 10], "custom": 6, "d2d": 11, "data": 12, "depend": 6, "depth": [11, 12], "devic": 11, "dispar": 11, "docs\u5e94\u7528\u6587\u6863": 0, "docs\u5e94\u7528\u6587\u6863\u8be6\u7ec6\u8bf4\u660e": 0, "download": 6, "environ": 5, "exampl": 6, "exposur": 11, "extrins": 11, "faq": 15, "featur": 8, "filter": 14, "first": 8, "frequenc": 11, "gain": 11, "gener": 6, "github": 0, "gitlab": 0, "guid": 10, "hardwar": [3, 11, 13], "imu": 12, "instal": [6, 7], "intrins": 11, "introduct": [2, 8], "ir": 11, "laser": 11, "ldp": 11, "licens": 16, "line": 11, "linux": 6, "make": 6, "max": 11, "measur": 11, "min": 11, "mode": 11, "multi": 13, "number": 11, "obtain": [11, 12], "open": 11, "option": 6, "orbbec": 1, "overview": 4, "paramet": 11, "path": 6, "platform": [3, 5], "point": 12, "post": 14, "power": 11, "preset": 11, "process": 14, "product": 3, "profil": 12, "project": 6, "protect": 11, "python": [1, 5, 6], "quickstart": 9, "reboot": 11, "requir": 5, "rgbd": 12, "run": 6, "sampl": 8, "sdk": [1, 6], "section": [4, 7, 9, 10], "serial": 11, "set": 11, "softwar": [11, 13], "sourc": 6, "statu": 11, "stream": 12, "stub": 6, "studio": 6, "support": 3, "switch": 11, "synchron": [11, 13], "test": 6, "thi": [4, 7, 9, 10], "time": 11, "ubuntu": 6, "unit": 11, "v2": 1, "version": 5, "video": 12, "visual": 6, "wheel": 6, "white": 11, "window": 6, "work": 11, "wrapper": 1, "your": 8, "\u5b9a\u5236\u5316\u90e8\u5206": 0, "\u5f85\u4e0a\u7ebf": 0, "\u63d0\u4ea4": 0, "\u6587\u6863\u7f16\u5199\u89c4\u8303": 0, "\u7f16\u8bd1": 0, "\u7f16\u8bd1\u73af\u5883": 0}}) \ No newline at end of file diff --git a/docs/UserGuide/source/1_overview/Introduction.html b/docs/UserGuide/source/1_overview/Introduction.html new file mode 100644 index 0000000..3e99117 --- /dev/null +++ b/docs/UserGuide/source/1_overview/Introduction.html @@ -0,0 +1,219 @@ + + + + + + + + + 1.1. Introduction — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

1.1. Introduction

+

Python Wrapper bindings for the Orbbec SDK，enabling developers to interface with Orbbec devices using Python. +With the major update of the new branch v2-main in October 2024, python Wrapper is connected to the open source version of Orbbec SDK v2, which will make python Wrapper more flexible and extensible.

+

This update in v2-main ensures compatibility with all new Orbbec USB products that comply with the UVC standard. However, python Wrapper v2 no longer supports Orbbec’s traditional OpenNI protocol devices. We encourage you to check whether your device is supported by python Wrapper v2 and use the new version if supported.

+

The Python Wrapper uses pybind11 to convert the interfaces of the Orbbec SDK into Python interfaces.

+
    +

  • The implementation principle of the Python Wrapper is as follows:

    • +
+

python_principle

+
+ + +
+
+
+ +
+ +
+

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/1_overview/Support_platform.html b/docs/UserGuide/source/1_overview/Support_platform.html new file mode 100644 index 0000000..167f387 --- /dev/null +++ b/docs/UserGuide/source/1_overview/Support_platform.html @@ -0,0 +1,360 @@ + + + + + + + + + 1.2. Support Platforms — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

1.2. Support Platforms

+
    +

  • Windows: Windows 10 (x64)

    • +

  • Linux: 18.04/20.04/22.04 (x64)

    • +

  • Arm64: Ubuntu18.04/20.04/22.04

    • +
+
+
+

1.3. Support Hardware Products

+

This document is based on the v2-main branch code, which is a Python wrapper built on Orbbec SDK v2. It supports the following devices. +If your device is included in this supported list, we recommend using the v2-main branch. If not, you can use the main branch instead.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Products listFirmware Version
Gemini 3351.2.20
Gemini 335L1.2.20
Gemini 3361.2.20
Gemini 336L1.2.20
Femto Bolt1.0.6/1.0.9
Femto Mega1.1.7/1.2.7
Astra 22.8.20
Gemini 2 L1.4.32
Gemini 21.4.60 /1.4.76

the main branch supports the following devices:

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Products listFirmware Version
Gemini 3351.2.20
Gemini 335L1.2.20
Gemini 3361.2.20
Gemini 336L1.2.20
Femto Bolt1.0.6/1.0.9
Femto Mega1.1.7/1.2.7
Gemini 2 XLObox: V1.2.5 VL:1.4.54
Astra 22.8.20
Gemini 2 L1.4.32
Gemini 21.4.60 /1.4.76
Astra+1.0.22/1.0.21/1.0.20/1.0.19
Femto1.6.7
Femto W1.1.8
DaBai2436
DaBai DCW2460
DaBai DW2606
Astra Mini Pro1007
Gemini E3460
Gemini E Lite3606
Gemini3.0.18
Astra Mini S Pro1.0.05
+ + +
+
+
+ +
+ +
+

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/1_overview/overview.html b/docs/UserGuide/source/1_overview/overview.html new file mode 100644 index 0000000..91ed034 --- /dev/null +++ b/docs/UserGuide/source/1_overview/overview.html @@ -0,0 +1,220 @@ + + + + + + + + + 1. Overview — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

1. Overview

+
+
+

This Section Covers:

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

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/2_installation/Environment.html b/docs/UserGuide/source/2_installation/Environment.html new file mode 100644 index 0000000..160bfc9 --- /dev/null +++ b/docs/UserGuide/source/2_installation/Environment.html @@ -0,0 +1,226 @@ + + + + + + + + + 2.1. Environment — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

2.1. Environment

+
+

2.1.1. Compilation Platform Requirements

+
    +

  • Windows: Visual Studio 2017 and above

    • +

  • Linux: gcc 5.4.0 and above

    • +

  • cmake: 3.15.0 and above

    • +

  • pybind11 2.10.3 and above

    • +
+
+
+

2.1.2. Python Version

+
    +

  • Python 3.6.9 and above

    • +
+
+
+ + +
+
+
+ +
+ +
+

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/2_installation/build_the_package.html b/docs/UserGuide/source/2_installation/build_the_package.html new file mode 100644 index 0000000..6d8415f --- /dev/null +++ b/docs/UserGuide/source/2_installation/build_the_package.html @@ -0,0 +1,356 @@ + + + + + + + + + 2.2. Linux Python SDK Compilation — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

2.2. Linux Python SDK Compilation

+

This section provides a comprehensive guide to installing, compiling, and running the Orbbec SDK for Python, covering all necessary steps for setup.

+
    +

  • Contents:

    +
      +

    • Install Dependencies (Ubuntu)

      • +

    • Custom Python Path (Optional)

      • +

    • Build the Project

      • +

    • Run the Examples

      • +

    • Generate Python Stubs

      • +

    • Making a Python Wheel

      • +
    +
    • +
+

Clone the repository to get the latest version:

+
git clone   https://github.com/orbbec/pyorbbecsdk.git
+git checkout OrbbecSDK_V2.x
+
+
+
+

2.2.1. Install Dependencies (Ubuntu)

+

Install the necessary Python development packages

+
sudo apt-get install python3-dev python3-venv python3-pip python3-opencv
+
+
+
+
+

2.2.2. Custom Python Path (Optional)

+

If you use Anaconda, update the Python path in pyorbbecsdk/CMakeLists.txt before the find_package(Python3 REQUIRED COMPONENTS Interpreter Development) line:

+
set(Python3_ROOT_DIR "/home/anaconda3/envs/py3.6.8") # Replace with your Python path
+set(pybind11_DIR "${Python3_ROOT_DIR}/lib/python3.6/site-packages/pybind11/share/cmake/pybind11") # Replace with your Pybind11 path
+
+
+
+
+

2.2.3. Build the Project

+

Create a virtual environment and build the project:

+
cd pyorbbecsdk
+python3 -m venv ./venv
+source venv/bin/activate
+pip3 install -r requirements.txt
+mkdir build
+cd build
+cmake -Dpybind11_DIR=`pybind11-config --cmakedir` ..
+make -j4
+make install
+
+
+
+
+

2.2.4. Run the Examples

+

Set up the environment and run the examples:

+
cd pyorbbecsdk
+export PYTHONPATH=$PYTHONPATH:$(pwd)/install/lib/
+sudo bash ./scripts/install_udev_rules.sh
+sudo udevadm control --reload-rules && sudo udevadm trigger
+python3 examples/depth_viewer.py
+python3 examples/net_device.py # Requires ffmpeg installation for network devices
+
+
+
+
+

2.2.5. Generate Python Stubs

+

Generate stubs for better IntelliSense support in your IDE

+
source env.sh
+pip3 install pybind11-stubgen
+pybind11-stubgen pyorbbecsdk
+
+
+
+
+

2.2.6. Making a Python Wheel

+

To generate a wheel package for easy distribution

+
cd pyorbbecsdk
+python3 -m venv ./venv
+source venv/bin/activate
+pip3 install -r requirements.txt
+mkdir build
+cd build
+cmake -Dpybind11_DIR=`pybind11-config --cmakedir` ..
+make -j4
+make install
+cd ..
+pip3 install wheel
+python3 setup.py bdist_wheel
+pip3 install dist/*.whl
+
+
+
+
+
+

2.3. Windows Python SDK Compilation

+
+

2.3.1. Download the Python SDK Source Code

+
git clone https://github.com/orbbec/pyorbbecsdk.git
+
+
+
+
+

2.3.2. Install Dependencies

+
pip3 install -r requirements.txt
+
+
+

Here, it is assumed that you have installed Python 3 correctly. If you have not installed Python 3, you can refer to +the Python official website and choose your Python 3 version for installation.

+
+
+

2.3.3. Configure Visual Studio Project

+
    +

  • Open Cmake, set the source code path, and set the “build” folder as the path for generating binary files, as shown in +the following figure. +Multi_camera1

    • +

  • Click “Configure” and select the corresponding Visual Studio version and platform version. Then click “Finish”, as +shown below: +Multi_camera1

    • +

  • Here, it is assumed that you have installed Cmake correctly. If you have not installed Cmake, you can refer to the Cmake official website for installation.

    +

    Click “Generate”, as shown below: +Multi_camera1

    +
    • +
+
+
+

2.3.4. Compile the Python SDK

+
You can open the Python SDK project in two ways:
+
+
+

Method 1: Use Cmake, click the “Open Project” button, and open the Visual Studio project.

+

Multi_camera1

+

Method 2: Use the file explorer to directly start the Visual Studio project in the build directory, as shown in the following figure:

+

Multi_camera1

+

Open the Python SDK project, as shown below:

+

Multi_camera1

+

Open the Python SDK project, as shown below:

+

Multi_camera1

+

Right-click “INSTALL”, as shown below:

+

Multi_camera1

+

The compiled files will be copied to the install/lib directory, as shown below: +Multi_camera1

+

Copy the files in the install/lib directory to the examples directory, as shown below: +Multi_camera1

+
+
+

2.3.5. Test Examples

+

In the examples directory, execute test examples such as python ColorViewer.py, as shown below: +Multi_camera1

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

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/2_installation/installation.html b/docs/UserGuide/source/2_installation/installation.html new file mode 100644 index 0000000..2016dc6 --- /dev/null +++ b/docs/UserGuide/source/2_installation/installation.html @@ -0,0 +1,239 @@ + + + + + + + + + 2. Installation — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

2. Installation

+

This section provides an overview of setting up the Orbbec SDK V2 Python Wrapper, including environment preparation, dependency installation, and python compile. This guide is designed to assist you in streamlining the setup process for development and deployment

+
+
+

This Section Covers:

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

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/3_QuickStarts/QuickStart.html b/docs/UserGuide/source/3_QuickStarts/QuickStart.html new file mode 100644 index 0000000..fd3ddf9 --- /dev/null +++ b/docs/UserGuide/source/3_QuickStarts/QuickStart.html @@ -0,0 +1,400 @@ + + + + + + + + + 3.1. Introduction — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

3.1. Introduction

+

The Python Wrapper primarily includes the following features:

+
    +

  • Obtain Depth, IR, and Color data streams.

    • +

  • Obtain IMU data streams.

    • +

  • Hardware D2C, Software D2C, and Software C2D.

    • +

  • Obtain Depth point cloud and RGBD point cloud.

    • +

  • Obtain multiple devices data and multi-device synchronization.

    • +

  • Coordinate transformations between different coordinate systems.

    • +

  • Post-processing filters and HDR merge functionality (supported by the Gemini 330 series).

    • +

  • Depth work modes (supported by Gemini 2/2L, Astra 2).

    • +

  • Presets (supported by Gemini 330 series).

    • +

  • Update Firmware .

    • +

  • Network functionality (supported by the Femto Mega).

    • +
+
+
+

3.2. Build your First Camera Application

+

quick_start.py show how to use the SDK to capture video streams with minimal code.

+
    +

  • The data flow diagram for quick start sample is as follows:

    • +
+

quick_start

+
    +

  • quick start sample introduction

    • +
+
#  1. Prerequisites
+# compile pyorbbecsdk and  copy the compiled .pyd library and other dependent Orbbec SDK libraries to the examples directory.
+
+from pyorbbecsdk import *
+#2. create pipeline 
+pipeline = Pipeline()
+
+#3. start pipeline
+pipeline.start()
+
+#4. wait for frames
+frames = pipeline.wait_for_frames(100)
+
+#5. get frames
+color_frame = frames.get_color_frame()
+depth_frame = frames.get_depth_frame()
+
+#6. Render frames using OpenCV
+
+
+#7. stop pipeline
+pipeline.stop()
+
+
+
+
+

3.3. Sample Features

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ExampleDescriptionNotesLevel
enumerate.pyUse the SDK interface to obtain camera-related information, including model, various sensors, and sensor-related configurations .⭐
hot_plug.pyDemonstrates how to detect hot plug events.⭐
logger.pyUse the SDK interface to set the log output level and customize the output path.⭐
quick_start.pyDemonstrates how to use the SDK.⭐
callback.pyDisplays the video stream from the camera using a callback.⭐⭐
color.pyDisplays the color stream from the camera.⭐⭐
depth.pyDisplays the depth stream from the camera.⭐⭐
imu.pyDemonstrates how to read IMU data.⭐⭐
infrared.pyDisplays the infrared stream from the camera.⭐⭐
multi_device.pyDemonstrates how to use multiple devices.⭐⭐
net_device.pyDemonstrates how to use network functions.Supported by Femto Mega and Gemini 2 XL.⭐⭐
coordinate_transform.pyUse the SDK interface to transform different coordinate systems.⭐⭐⭐
device_firmware_update.pyThis sample demonstrates how to read a firmware file to perform firmware upgrades on the device.⭐⭐⭐
depth_work_mode.pyDemonstrates how to set the depth work mode.Supported by Gemini2、Gemini2L、Astra2、Gemini 2 XL⭐⭐⭐
hdr.pyIn this sample, user can get the HDR merge image. Also supports user to toggle HDR merge and toggle alternate show origin frame.Supported by the Gemini 330 series.⭐⭐⭐
hw_d2c_align.pyDemonstrates how to use hardware D2C.⭐⭐⭐
point_cloud.pyDemonstrates how to save the point cloud to disk using a point cloud filter.⭐⭐⭐
post_processing.pyDemonstrates how to use post-processing filters.Supported by the Gemini 330 series.⭐⭐⭐
preset.pyUse the SDK interface to set and get the preset value.Supported by the Gemini 330 series.⭐⭐⭐
sync_align.pyDemonstrates how to use the align filter.⭐⭐⭐
two_devices_sync.pyDemonstrates how to synchronize two devices.⭐⭐⭐
+ + +
+
+
+ +
+ +
+

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/3_QuickStarts/QuickStarts.html b/docs/UserGuide/source/3_QuickStarts/QuickStarts.html new file mode 100644 index 0000000..802602b --- /dev/null +++ b/docs/UserGuide/source/3_QuickStarts/QuickStarts.html @@ -0,0 +1,222 @@ + + + + + + + + + 3. QuickStarts — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

3. QuickStarts

+
+

This section describes QuickStarts in a python environment.

+
+
+
+

This Section Covers:

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

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/4_Application_Guide/Application_Guide.html b/docs/UserGuide/source/4_Application_Guide/Application_Guide.html new file mode 100644 index 0000000..76c32e8 --- /dev/null +++ b/docs/UserGuide/source/4_Application_Guide/Application_Guide.html @@ -0,0 +1,277 @@ + + + + + + + + + 4. Application Guide — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

4. Application Guide

+

This guide provides instructions on how to utilize the Python Bind SDK to initialize and operate the camera, enabling features like colored point cloud visualization. The guide covers essential setup, function calls, and configuration steps to help users effectively work with camera data using Python.

+
+
+

This Section Covers:

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

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/4_Application_Guide/Camera_configuration.html b/docs/UserGuide/source/4_Application_Guide/Camera_configuration.html new file mode 100644 index 0000000..bba0581 --- /dev/null +++ b/docs/UserGuide/source/4_Application_Guide/Camera_configuration.html @@ -0,0 +1,592 @@ + + + + + + + + + 4.2. Camera Configuration(Device Parameter Settings) — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

4.2. Camera Configuration(Device Parameter Settings)

+
+

4.2.1. Device Parameter Settings:

+

The parameter settings are all set by device. In this section, only the commonly used parameter setting methods are listed. Other parameter settings are similar. For the command code of the attribute ID, refer to Property.h.

+
+

4.2.1.1. Obtain the Serial Number

+
from pyorbbecsdk import *
+context = Context()
+device_list = context.query_devices()
+device = device_list.get_device_by_index(0)
+device_info = device.get_device_info()
+# get device serial number
+serial_number = device_info.get_serial_number()
+
+
+
+
+

4.2.1.2. Obtain the Camera Intrinsic and Extrinsic Parameters

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
+#Get color_profile
+color_profile = profile_list.get_default_video_stream_profile()
+profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
+#Get depth_profile
+depth_profile = profile_list.get_default_video_stream_profile()
+#Get external parameters
+extrinsic = depth_profile.get_extrinsic_to(color_profile)
+print("extrinsic  {}".format(extrinsic))
+#Get depth inernal parameters
+depth_intrinsics = depth_profile.get_intrinsic()
+print("depth_intrinsics  {}".format(depth_intrinsics))
+#Get depth distortion parameter
+depth_distortion = depth_profile.get_distortion()
+print("depth_distortion  {}".format(depth_distortion))
+#Get color internala parameters
+color_intrinsics = color_profile.get_intrinsic()
+print("color_intrinsics  {}".format(color_intrinsics))
+#Get color distortion parameter
+color_distortion = color_profile.get_distortion()
+print("color_distortion  {}".format(color_distortion))
+
+
+
+
+

4.2.1.3. Open Device

+

Method 1: Obtain the specified device by specifying the index number of the enumerated device list.

+
from pyorbbecsdk import *
+context = Context()
+device_list = context.query_devices()
+device = device_list.get_device_by_index(0)
+
+
+

Method 2: Obtain the specified device by specifying the SN of the enumerated device list.

+
from pyorbbecsdk import *
+context = Context()
+device_list = context.query_devices()
+# For example, obtain the device whose SN number is "CP8E54D0000J".
+device =device_list.get_device_by_serial_number("CP8E54D0000J")
+
+
+

Method 3: Obtain the specified device by specifying the UID of the enumerated device list.

+
from pyorbbecsdk import *
+context = Context()
+device_list = context.query_devices()
+#for example, the device with uid 1f3c29744.
+device =device_list.get_device_by_uid("1f3c29744")
+
+
+

Method 4: Get device through pipiline

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+
+
+
+
+

4.2.1.4. Device Reboot

+
from pyorbbecsdk import *
+context = Context()
+device_list = context.query_devices()
+#get device
+device = device_list.get_device_by_index(0)
+#reboot device
+device.reboot()
+
+
+
+
+

4.2.1.5. Laser Switch

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#True：turn on laser，False：turn off laser
+device.set_bool_property(OBPropertyID.OB_PROP_LASER_BOOL, laser)
+
+
+
    +

  • Notes: The instruction for switching lasers of the Gemini 330 series is: OBPropertyID. Ob_prop_laser_control_int.

    • +
+
+
+

4.2.1.6. LDP Switch

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#True：turn on LDP，False：turn off LDP
+device.set_bool_property(OBPropertyID.OB_PROP_LDP_BOOL, True)
+
+
+
+
+

4.2.1.7. Obtain LDP Protection Measurements

+

OB_PROP_LDP_MEASURE_DISTANCE_INT = 100,

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+distance = device.get_int_property(OBPropertyID.OB_PROP_LDP_MEASURE_DISTANCE_INT)
+print("distance: ",distance)
+
+
+
+
+

4.2.1.8. Obtain LDP Protection Status

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#Return value true:Trigger LDP protection
+ldp_status = device.get_bool_property(OBPropertyID.OB_PROP_LDP_STATUS_BOOL)
+
+
+
+
+

4.2.1.9. Device Time Synchronization

+

Device Timing: sets the host time to the device.

+

Gemini 2/2L, Gemini 330 series, Femto Mega、Femto Bolt support device timing.

+
    +

  1. If only a single device is connected, the following interface can be called:

    2. +
+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+device.timer_sync_with_host()
+
+
+
    +

  1. If multiple devices are connected at the same time, the following interfaces can be called:

    2. +
+
from pyorbbecsdk import *
+context = Context()
+# Parameter: The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
+context.enable_multi_device_sync(60000)
+
+
+
+
+
+

4.2.2. Depth Settings

+
+

4.2.2.1. Depth Working Mode

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+device.set_depth_work_mode("Binned Sparse Default")
+
+
+

Note: Setting the Depth mode must be set before start the stream.

+
+
+

4.2.2.2. Preset Configuration

+

Gemini 330 series 3D cameras have built-in a variety of predefined Presets. For the specific application scenarios of 3D cameras, users can use the Orbbec Viewer tool to select the best Presets.

+

The method of loading the preset is as follows:

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+device.load_preset("Default")
+
+
+
+
+

4.2.2.3. Set Depth AE

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#True open depth AE， False: close depth AE
+device.set_bool_property(OBPropertyID.OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL, True)
+
+
+
+
+

4.2.2.4. Set Depth Exposure/Gain

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#close depth AE，
+device.set_bool_property(OBPropertyID.OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL, False)
+#set depth exposure
+device.set_int_property(OBPropertyID.OB_PROP_DEPTH_EXPOSURE_INT, 100)
+#set depth gain
+device.set_int_property(OBPropertyID.OB_PROP_DEPTH_GAIN_INT, 64)
+
+
+
+
+

4.2.2.5. Set Min and Max Depth

+

Set the min and max values of Depth, and all Depth outside this range will be set to 0.

+
    +

  • For devices other than the Gemini 330 series, the method to set the max and min depth values is as follows:

    • +
+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+# Set the min Depth value, and the Depth less than the modified value will be set to 0,Unit: mm
+device.set_int_property(OBPropertyID.OB_PROP_MIN_DEPTH_INT , 100)
+# Set the max Depth value, the Depth greater than the modified value will be set to 0, unit mm
+device.set_int_property(OBPropertyID.OB_PROP_MAX_DEPTH_INT , 1000)
+
+
+
    +

  • Notes: For the Gemini 330 series, max and min depth values are set through post-processing with the ThresholdFilter, as follows:

    • +
+
from pyorbbecsdk import *
+#create threshold filter
+threshold_filter = ThresholdFilter()
+#set min and max depth,unit: mm
+threshold_filter.set_value_range(100,1000)
+#get depth frame
+frames = pipeline.wait_for_frames(100)
+depth_frame = frames.get_depth_frame()
+#call threshold filter
+new_depth_frame = threshold_filter.process(depth_frame)
+depth_frame = new_depth_frame.as_depth_frame()
+
+
+
+
+
+

4.2.3. D2D (Disparity to depth)

+

Disparity to depth is an image processing technique used to convert disparity information into depth information.

+
+

4.2.3.1. Hardware D2D

+

Hardware D2D refers to disparity-to-depth conversion implemented internally within the device. Devices such as the Gemini 330 series, Gemini 2, Gemini 2 L, Astra 2 support this feature.

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#Parameters: True to turn on hardware D2D, False to turn off hardware D2D
+device.set_bool_property(OBPropertyID.OB_PROP_DISPARITY_TO_DEPTH_BOOL,True)
+
+
+
+
+

4.2.3.2. Software D2D

+

Software D2D refers to disparity-to-depth conversion implemented within the SDK. All devices support Software D2D except for TOF devices like Femto Mega and Femto Bolt.

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#Parameters: True to turn on Software D2D, False to turn off Software D2D
+device.set_bool_property(OBPropertyID.OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL,True)
+
+
+
+
+

4.2.3.3. Set the Unit of Depth

+

The precision of depth measurements is determined by the unit of pixel values in the depth data frame. By adjusting the depth unit, the accuracy of depth measurements can be modified. For instance, if the unit is set to 0.2mm, an object at a distance of 1000mm will have a pixel value of 5000 in the output depth data frame (as 5000 multiplied by 0.2mm equals 1000mm). Similarly, if the unit is set to 0.1mm, the pixel value will be 10000.

+

Gemini 2/2L, Astra 2,Gemini 330 series support the setting of Depth units. Gemini 2/2L sets the Depth unit as follows:

+

Among them:

+

OBDepthPrecisionLevel.ONE_MM： 1mm

+

OBDepthPrecisionLevel.ZERO_POINT_EIGHT_MM：0.8mm

+

OBDepthPrecisionLevel.ZERO_POINT_FOUR_MM: 0.4mm

+

OBDepthPrecisionLevel.ZERO_POINT_TWO_MM: 0.2mm

+

OBDepthPrecisionLevel.ZERO_POINT_ONE_MM: 0.1mm

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+device.set_int_property(OBPropertyID.OB_PROP_DEPTH_PRECISION_LEVEL_INT, OBDepthPrecisionLevel.ONE_MM)
+
+
+

The Gemini 330 series supports setting the Depth unit as follows:

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+device.set_float_property(OBPropertyID.OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT, 0.1)
+
+
+
    +

  • Notes: The Gemini 330 series Depth unit supports setting arbitrary units, with the parameter as a float.

    • +
+
+
+
+

4.2.4. IR Parameter Settings

+
+

4.2.4.1. Set IR AE

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#True open IR AE， False: close IR AE
+device.set_bool_property(OBPropertyID.OB_PROP_IR_AUTO_EXPOSURE_BOOL, True)
+
+
+
+
+

4.2.4.2. Set IR Exposure/Gain

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#Close IR AE
+device.set_bool_property(OBPropertyID.OB_PROP_IR_AUTO_EXPOSURE_BOOL, False)
+#set IR exposure
+device.set_int_property(OBPropertyID.OB_PROP_IR_EXPOSURE_INT, 100)
+#set IR gain
+device.set_int_property(OBPropertyID.OB_PROP_IR_GAIN_INT, 64)
+
+
+
+
+
+

4.2.5. Color Parameter Settings

+
+

4.2.5.1. Set Color AE

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#True open color AE， False: close color AE
+device.set_bool_property(OBPropertyID.OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL, True)
+
+
+
+
+

4.2.5.2. Set Color Exposure

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#True open color AE， False: close color AE
+device.set_bool_property(OBPropertyID.OB_PROP_COLOR_EXPOSURE_INT, True)
+
+
+
+
+

4.2.5.3. Set Color Gain

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#True open color AE， False: close color AE
+device.set_bool_property(OBPropertyID.OB_PROP_COLOR_GAIN_INT, True)
+
+
+
+
+

4.2.5.4. Set Color Auto White Balance

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+#True: Turn on Auto White Balance，False: Turn off Auto White Balance
+device.set_bool_property(OBPropertyID.OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL, True)
+
+
+
+
+

4.2.5.5. Set Color White Balance Parameters

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+device.set_int_property(OBPropertyID.OB_PROP_COLOR_WHITE_BALANCE_INT, 5000)
+
+
+
+
+

4.2.5.6. Set Color Power Line Frequency

+

It is necessary to set 50Hz or 60Hz according to the power line frequency of different countries and regions. The purpose of setting the power supply frequency is to prevent Color images from flickering.

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+device = pipeline.get_device()
+device.set_int_property(OBPropertyID.OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OBPowerLineFreqMode.FREQUENCY_50HZ)
+
+
+

Remarks:

+

OBPowerLineFreqMode.FREQUENCY_50HZ ：50HZ

+

OBPowerLineFreqMode.FREQUENCY_60HZ ：60HZ

+

OBPowerLineFreqMode.FREQUENCY_CLOSE ：Close

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

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/4_Application_Guide/Data_Stream_acquisition.html b/docs/UserGuide/source/4_Application_Guide/Data_Stream_acquisition.html new file mode 100644 index 0000000..505ebd7 --- /dev/null +++ b/docs/UserGuide/source/4_Application_Guide/Data_Stream_acquisition.html @@ -0,0 +1,367 @@ + + + + + + + + + 4.1. Obtain Data Stream — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

4.1. Obtain Data Stream

+
    +

  • Contents:

    +
      +

    • 3.1.1 Stream profile

      • +

    • 3.1.2 Video Stream acquisition

      • +

    • 3.1.3 Imu data acquisition

      • +

    • 3.1.4 Point Cloud：

      +
        +

      • Depth Point Cloud

        • +

      • RGBD Point Cloud

        • +
      +
      • +
    +
    • +
+
+

4.1.1. Stream Profile

+

Method 1: obtain stream profile by resolution, frame format, and frame rate

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+# Obtain color profile through resolution, frame format and frame rate. A resolution width and height of 0 indicates wildcard characters
+color_profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
+color_profile= color_profile_list.get_video_stream_profile(640, 0, OBFormat.RGB, 30)
+
+# Get depth profile through resolution, frame format and frame rate, resolution width and height are 0 to indicate wildcard characters
+depth_profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
+depth_profile = depth_profile_list.get_video_stream_profile(640, 0, OBFormat.Y16, 30)
+
+
+

Method 2: Obtain the default stream profile

+
  from pyorbbecsdk import *
+  pipeline = Pipeline()
+  depth_profile_list = 
+  pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
+  # Obtain the default depth profile. The default resolution can be configured by using the OrbbecSDKConfig_v1.0.xml
+  depth_profile = depth_profile_list.get_default_video_stream_profile()
+
+
+

Method 3: Obtain stream profile through video frames

+
  from pyorbbecsdk import *
+  pipeline = Pipeline()
+  pipeline.start(config)
+  frames = pipeline.wait_for_frames(100)
+  depth_frame = frames.get_depth_frame()
+  depth_frame = depth_frame.as_video_frame()
+  #Get depth profile
+  depth_profile = depth_frame.get_stream_profile()
+
+
+
+
+

4.1.2. Obtain Video Stream

+

This section describes how to obtain IR video frame data. The methods for retrieving Depth and Color frame data are similar.

+
# 1. Create Config and Pipeline objects
+config = Config()
+pipeline = Pipeline()
+
+# Get IR profile
+profile_list = pipeline.get_stream_profile_list(OBSensorType.IR_SENSOR)
+ir_profile = profile_list.get_video_stream_profile(640, 0, OBFormat.Y16, 30)
+
+# Enable IR stream
+config.enable_stream(ir_profile)
+pipeline.start(config)
+
+# Wait for a frame of data
+frames = pipeline.wait_for_frames(100)
+ir_frame = frames.get_ir_frame()
+
+
+

The Gemini 330 series supports left IR and right IR sensors, with the IR sensor types being OBSensorType.LEFT_IR_SENSOR and OBSensorType.RIGHT_IR_SENSOR, respectively. +The depth sensor type is OBSensorType.DEPTH_SENSOR, and the color sensor type is OBSensorType.COLOR_SENSOR

+
+
+

4.1.3. Obtain IMU Data

+

For imu data, refer to imu_reader.py

+
from pyorbbecsdk import *
+config = Config()
+pipeline = Pipeline()
+#enable accel 
+config.enable_accel_stream()
+#enable gyro
+config.enable_gyro_stream()
+#set pipeline to output both accel and gyro data simultaneously
+config.set_frame_aggregate_output_mode(OBFrameAggregateOutputMode.FULL_FRAME_REQUIRE)
+#start imu 
+pipeline.start(config)
+frames = pipeline.wait_for_frames(100)
+#get accel frame 
+accel_frame = frames.get_frame(OBFrameType.ACCEL_FRAME)
+accel_frame = accel_frame.as_accel_frame()
+#get gyro frame 
+gyro_frame = frames.get_frame(OBFrameType.GYRO_FRAME)
+gyro_frame = gyro_frame.as_gyro_frame()
+
+
+
+
+

4.1.4. Point Cloud

+
+

4.1.4.1. Depth Point Cloud

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+config = Config()
+depth_profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
+depth_profile = depth_profile_list.get_default_video_stream_profile()
+config.enable_stream(depth_profile)
+# Start the stream
+pipeline.start(config)
+# Create point cloud filter
+point_cloud_filter = PointCloudFilter()
+# Capture one frame of data
+frames = pipeline.wait_for_frames(100)
+# Get Depth frame
+depth_frame = frames.get_depth_frame()
+# Apply the point cloud filter
+point_cloud_filter.set_create_point_format(OBFormat.POINT)
+point_cloud_frame = point_cloud_filter.process(depth_frame)
+points = point_cloud_filter.calculate(point_cloud_frame)
+# Save point cloud data
+points_array = np.array([p[:3] for p in points])  # XYZ points
+save_points_to_ply(points_array, None, os.path.join(save_points_dir, "point_cloud.ply"))
+
+
+
+
+

4.1.4.2. RGBD Point Cloud

+

Please refer to Sample save_point_cloud.py

+
from pyorbbecsdk import *
+pipeline = Pipeline()
+config = Config()
+config.enable_stream(depth_profile)
+config.enable_stream(color_profile)
+# Enable frame synchronization
+pipeline.enable_frame_sync()
+# Start the stream
+pipeline.start(config)
+# Create alignment filter
+align_filter = AlignFilter(align_to_stream=OBStreamType.COLOR_STREAM)
+# Create point cloud filter
+point_cloud_filter = PointCloudFilter()
+# Capture one frame of data
+frames = pipeline.wait_for_frames(100)
+# Get Depth and Color frames
+depth_frame = frames.get_depth_frame()
+color_frame = frames.get_color_frame()
+# Apply the alignment filter
+frame = align_filter.process(frames)
+# Apply the point cloud filter
+point_cloud_filter.set_create_point_format(OBFormat.RGB_POINT)
+point_cloud_frame = point_cloud_filter.process(frame)
+points = point_cloud_filter.calculate(point_cloud_frame)
+
+
+
+
+
+ + +
+
+
+ +
+ +
+

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/4_Application_Guide/Multi_camera_synchronization.html b/docs/UserGuide/source/4_Application_Guide/Multi_camera_synchronization.html new file mode 100644 index 0000000..3325698 --- /dev/null +++ b/docs/UserGuide/source/4_Application_Guide/Multi_camera_synchronization.html @@ -0,0 +1,266 @@ + + + + + + + + + 4.3. Multi-Camera Synchronization — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

4.3. Multi-Camera Synchronization

+
+

4.3.1. Multi-Camera Synchronous Hardware Connection

+

multi-camera sync document

+
+
+

4.3.2. Multi-Camera Synchronization Software Configuration

+

First, modify the configuration file (multi_device_sync_config.json), modify the serial number of the Primary Device and Secondary Device, if you need to configure other parameters, please refer to the multi-camera sync document

+
{
+    "devices": [
+        {
+            "serial_number": "CP3S34D00051",
+            "config": {
+                "mode": "PRIMARY",
+                "depth_delay_us": 0,
+                "color_delay_us": 0,
+                "trigger_to_image_delay_us": 0,
+                "trigger_out_enable": true,
+                "trigger_out_delay_us": 0,
+                "frames_per_trigger": 1
+            }
+        },
+        {
+            "serial_number": "CP3L44P00054",
+            "config": {
+                "mode": "SECONDARY",
+                "depth_delay_us": 0,
+                "color_delay_us": 0,
+                "trigger_to_image_delay_us": 0,
+                "trigger_out_enable": true,
+                "trigger_out_delay_us": 0,
+                "frames_per_trigger": 1
+            }
+        }
+    ]
+}
+
+
+

Multi-device synchronization Sample, please refer to (two_devices_sync.py), if you need to synchronize more than 2 devices, it is recommended to use C++.

+
#1. read sync param from json config，and set multi device sync params
+device.set_multi_device_sync_config(sync_config)
+#2. start the data stream for each device
+start_streams(pipelines, configs)
+#3. Synchronize the device time
+ctx.enable_multi_device_sync(60000)
+#4. print serial number and timestamp，Determine synchronization effect by timestamps
+if color_frame is not None:
+   print(f"device#{i}, color frame timestamp: {color_frame.get_timestamp_us()} us , system timestamp: {color_frame.get_system_timestamp_us()} us")
+if depth_frame is not None:
+   print(f"device#{i}, depth frame timestamp: {depth_frame.get_timestamp_us()} us , system timestamp: {depth_frame.get_system_timestamp_us()} us")
+
+
+

Running results: +We use the timestamps of the Primary and Secondary printed by Sample to determine if they are synchronized on.

+

Multi_sync

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

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/4_Application_Guide/Post-processing_Filter.html b/docs/UserGuide/source/4_Application_Guide/Post-processing_Filter.html new file mode 100644 index 0000000..66bdf8e --- /dev/null +++ b/docs/UserGuide/source/4_Application_Guide/Post-processing_Filter.html @@ -0,0 +1,222 @@ + + + + + + + + + 4.4. Post-Processing Filter — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

4.4. Post-Processing Filter

+

The Gemini 330 series supports post-processing filters. For more information, see post_process.py.

+
from pyorbbecsdk import *
+config = Config()
+pipeline = Pipeline()
+#Get a list of post-processing filtering recommendations
+filter_list = depth_sensor.get_recommended_filters()
+# Call the enabled filters in the recommend list in turn
+post_filter = filter_list[i]
+new_depth_frame = post_filter.process(depth_frame)
+
+
+
+ + +
+
+
+ +
+ +
+

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/5_FAQ/FAQ.html b/docs/UserGuide/source/5_FAQ/FAQ.html new file mode 100644 index 0000000..8667d80 --- /dev/null +++ b/docs/UserGuide/source/5_FAQ/FAQ.html @@ -0,0 +1,270 @@ + + + + + + + + + 5. FAQ — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

5. FAQ

+

1、Why do I get the following error when running python3 examples/depth_viewer.py on Jetson Nano?

+
illegal instruction (core dumped)
+
+
+

Answer: Check your OpenCV installation. If you encounter the same error when running

+
import cv2
+
+
+

export OPENBLAS_CORETYPE=ARMV8 (or whatever the actual hardware is) before launching python should hopefully get around +this. For example:

+
OPENBLAS_CORETYPE=ARMV8 python
+
+
+

If you would like to make this export permanent, you should open your .bashrc file by typing on the terminal:

+
nano ~/.bashrc
+
+
+

and add the following line at the end of the file:

+
export OPENBLAS_CORETYPE=ARMV8
+
+
+

Refer to this post +for more information on how to resolve the issue.

+

2、 Why do I get the following error when running python3 examples/depth_viewer.py?

+
 msg:failed to open usb device!  error: OB_USB_STATUS_ACCESS
+  - type:St13runtime_error
+[2023-07-04 17:09:19.891859][warning][117523][EnumeratorLibusb.cpp:342] failed to create usb device at index: 1, url:2-1.4.1-6
+[2023-07-04 17:09:20.391989][error][117523][DeviceLibusb.cpp:109] failed to open usb device!  error: OB_USB_STATUS_ACCESS
+[2023-07-04 17:09:20.392032][warning][117523][EnumeratorLibusb.cpp:342] Execute failure! A std::exception has occurred!
+  - where:342#createUsbDevice
+  - msg:failed to open usb device!  error: OB_USB_STATUS_ACCESS
+  - type:St13runtime_error
+[2023-07-04 17:09:20.392057][warning][117523][EnumeratorLibusb.cpp:342] failed to create usb device at index: 1, url:2-1.4.1-6
+[2023-07-04 17:09:20.392072][warning][117523][ObException.hpp:40] usbEnumerator createUsbDevice failed!
+Traceback (most recent call last):
+  File "depth_viewer.py", line 73, in <module>
+    main()
+  File "depth_viewer.py", line 34, in main
+    device: Device = device_list.get_device_by_index(0)
+pyorbbecsdk.OBError: usbEnumerator createUsbDevice failed!
+[2023-07-04 17:09:20.403747][info][117523][Context.cpp:81] Context destroyed
+
+
+

Answer: The current device does not have permission to access the device， check the PID of the current device

+
lsusb | grep 2bc5
+
+
+

Your output should look like this

+
Bus 002 Device 007: ID 2bc5:your_pid_here
+
+
+

Edit/etc/udev/rules.d/99-obsensor-libusb.rules，add the following line

+
SUBSYSTEM=="usb", ATTR{idProduct}=="your_pid_here", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root"  GROUP:="video", SYMLINK+="you_device_name_here"
+
+
+

you_device_name_here is the name of the device you want to create, for example Astra.

+

Then restart the udev service

+
sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger
+
+
+
+ + +
+
+
+ +
+ +
+

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/UserGuide/source/license.html b/docs/UserGuide/source/license.html new file mode 100644 index 0000000..3f53c3f --- /dev/null +++ b/docs/UserGuide/source/license.html @@ -0,0 +1,216 @@ + + + + + + + + + 6. License — OrbbecSDK V2 Python Wrapper documentation + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

6. License

+

Copyright 2024 Orbbec INC.

+

Licensed under the Apache License, Version 2.0 (the “License”); you may not use this project except in compliance with +the License. You may obtain a copy of the License at

+

http://www.apache.org/licenses/LICENSE-2.0

+

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an “ +AS IS” BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific +language governing permissions and limitations under the License.

+

Other names and brands may be claimed as the property of others.

+
+ + +
+
+
+ +
+ +
+

© Copyright 2024, ORBBEC INC. www.orbbec.com.. + Last updated on 2024-11-22 18:11:34. +

+
+ + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/images/image10.png b/docs/images/image10.png deleted file mode 100644 index ef2bfe2..0000000 Binary files a/docs/images/image10.png and /dev/null differ diff --git a/docs/images/image11.png b/docs/images/image11.png deleted file mode 100644 index 4df4849..0000000 Binary files a/docs/images/image11.png and /dev/null differ diff --git a/docs/images/image12.png b/docs/images/image12.png deleted file mode 100644 index d647cfd..0000000 Binary files a/docs/images/image12.png and /dev/null differ diff --git a/docs/images/image2.png b/docs/images/image2.png deleted file mode 100644 index 071a4c4..0000000 Binary files a/docs/images/image2.png and /dev/null differ diff --git a/docs/images/image3.png b/docs/images/image3.png deleted file mode 100644 index 5ce2957..0000000 Binary files a/docs/images/image3.png and /dev/null differ diff --git a/docs/images/image4.png b/docs/images/image4.png deleted file mode 100644 index 9545bec..0000000 Binary files a/docs/images/image4.png and /dev/null differ diff --git a/docs/images/image5.png b/docs/images/image5.png deleted file mode 100644 index 0a22c37..0000000 Binary files a/docs/images/image5.png and /dev/null differ diff --git a/docs/images/image6.png b/docs/images/image6.png deleted file mode 100644 index 37a5337..0000000 Binary files a/docs/images/image6.png and /dev/null differ diff --git a/docs/images/image7.png b/docs/images/image7.png deleted file mode 100644 index 2ff8ef5..0000000 Binary files a/docs/images/image7.png and /dev/null differ diff --git a/docs/images/image8.png b/docs/images/image8.png deleted file mode 100644 index 7e8d543..0000000 Binary files a/docs/images/image8.png and /dev/null differ diff --git a/docs/images/image9.png b/docs/images/image9.png deleted file mode 100644 index 998c271..0000000 Binary files a/docs/images/image9.png and /dev/null differ