diff --git a/examples/PikaCV/test1.py b/examples/PikaCV/test1.py
index 4f97e314f..d80e7993a 100644
--- a/examples/PikaCV/test1.py
+++ b/examples/PikaCV/test1.py
@@ -5,4 +5,6 @@ img.read("test/assets/test.jpg")
 
 cv.Converter.toRGB565(img)
 print(str(Utils.b2a_hex(img.data())))
+cv.Converter.toBMP(img)
+img.write("test/assets/test.bmp")
 
diff --git a/package/PikaCV/PikaCV.pyi b/package/PikaCV/PikaCV.pyi
index 83d7aadbf..dcf101703 100644
--- a/package/PikaCV/PikaCV.pyi
+++ b/package/PikaCV/PikaCV.pyi
@@ -22,6 +22,10 @@ class Image(TinyObj):
         """Read the image from the specified path, Need implement the   `__platform_fopen()`, `__platform_fread()` and `__platform_fclose()`"""
         ...
 
+    def write(self, path: str):
+        """Write the image to the specified path, Need implement the   `__platform_fopen()`, `__platform_fwrite()` and `__platform_fclose()`"""
+        ...
+
     def loadJpeg(self, bytes: any):
         """Load the image from bytes"""
 
@@ -81,3 +85,17 @@ class Converter(TinyObj):
     @staticmethod
     def toGray(image: Image):
         """Convert the image to Gray"""
+
+    @staticmethod
+    def toBMP(image: Image):
+        """Convert the image to BMP"""
+
+    @staticmethod
+    def toBGR888(image: Image):
+        """Convert the image to BGR888"""
+
+
+class Transformer(TinyObj):
+    @staticmethod
+    def rotateDown(image: Image):
+        """Rotate the image """
diff --git a/package/PikaCV/PikaCV_Converter.c b/package/PikaCV/PikaCV_Converter.c
index 3d9cafc8d..748fef795 100644
--- a/package/PikaCV/PikaCV_Converter.c
+++ b/package/PikaCV/PikaCV_Converter.c
@@ -1,4 +1,5 @@
 #include "PikaCV_Converter.h"
+#include "PikaCV_Transformer.h"
 #include "PikaCV_common.h"
 
 /* Session identifier for input/output functions (name, members and usage are as
@@ -93,7 +94,7 @@ PIKA_RES Converter_JPEGtoRGB888(PikaObj* image) {
         return PIKA_RES_ERR_INVALID_PTR;
     }
     pika_assert(img->format == PikaCV_ImageFormat_Type_JPEG);
-    uint8_t* data = _Image_getData(image);
+    uint8_t* data = _image_getData(image);
     if (NULL == data) {
         __platform_printf("Converter_JPEGtoRGB888: data is NULL\n");
         return PIKA_RES_ERR_INVALID_PTR;
@@ -170,7 +171,7 @@ void PikaCV_Converter_toGray(PikaObj* self, PikaObj* image) {
 
     int size_new = img->height * img->width;
     Arg* arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
-    uint8_t* data = _Image_getData(image);
+    uint8_t* data = _image_getData(image);
     uint8_t* data_new = arg_getBytes(arg_data_new);
     if (img->format == PikaCV_ImageFormat_Type_RGB888) {
         for (int i = 0; i < size_new; i++) {
@@ -282,3 +283,132 @@ exit:
     img->size = size_new;
     arg_deinit(arg_data_new);
 }
+
+typedef struct /**** BMP file header structure ****/
+{
+    unsigned int bfSize;        /* Size of file */
+    unsigned short bfReserved1; /* Reserved */
+    unsigned short bfReserved2; /* ... */
+    unsigned int bfOffBits;     /* Offset to bitmap data */
+} BITMAPFILEHEADER;
+
+typedef struct /**** BMP file info structure ****/
+{
+    unsigned int biSize;         /* Size of info header */
+    int biWidth;                 /* Width of image */
+    int biHeight;                /* Height of image */
+    unsigned short biPlanes;     /* Number of color planes */
+    unsigned short biBitCount;   /* Number of bits per pixel */
+    unsigned int biCompression;  /* Type of compression to use */
+    unsigned int biSizeImage;    /* Size of image data */
+    int biXPelsPerMeter;         /* X pixels per meter */
+    int biYPelsPerMeter;         /* Y pixels per meter */
+    unsigned int biClrUsed;      /* Number of colors used */
+    unsigned int biClrImportant; /* Number of important colors */
+} BITMAPINFOHEADER;
+
+#define align(value, align) ((((value) + ((align)-1)) / (align)) * (align))
+
+void PikaCV_Converter_toBMP(PikaObj* self, PikaObj* image) {
+    PikaCV_Image* img = obj_getStruct(image, "image");
+    if (NULL == img) {
+        pika_assert(0);
+        return;
+    }
+    if (img->format == PikaCV_ImageFormat_Type_BMP) {
+        /* do nothing */
+        return;
+    }
+
+    /* convert to BGR */
+    if (img->format != PikaCV_ImageFormat_Type_BGR888) {
+        PikaCV_Converter_toBGR888(self, image);
+    }
+
+    PikaCV_Transformer_rotateDown(self, image);
+
+    BITMAPFILEHEADER bfh;
+    BITMAPINFOHEADER bih;
+    int i = 0, row_align;
+    int width = img->width;
+    int height = img->height;
+
+    // bmp的每行数据的长度要4字节对齐
+    row_align = align(width * 3, 4);
+
+    /* convert to BMP */
+    int size_new = img->height * row_align + 54;
+    Arg* arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+    uint8_t* data = _image_getData(image);
+    uint8_t* data_new = arg_getBytes(arg_data_new);
+
+    unsigned short bfType = 0x4d42;  //'BM'
+    bfh.bfReserved1 = 0;
+    bfh.bfReserved2 = 0;
+    bfh.bfSize = 2 + sizeof(BITMAPFILEHEADER) + sizeof(BITMAPINFOHEADER) +
+                 row_align * height;
+    bfh.bfOffBits = 2 + sizeof(BITMAPFILEHEADER) + sizeof(BITMAPINFOHEADER);
+
+    bih.biSize = sizeof(BITMAPINFOHEADER);
+    bih.biWidth = width;
+    bih.biHeight = height;
+    bih.biPlanes = 1;
+    bih.biBitCount = 24;
+    bih.biCompression = 0;
+    bih.biSizeImage = 0;
+    bih.biXPelsPerMeter = 0;
+    bih.biYPelsPerMeter = 0;
+    bih.biClrUsed = 0;
+    bih.biClrImportant = 0;
+
+    __platform_memset(data_new, 0, size_new);
+
+    __platform_memcpy(data_new, &bfType, sizeof(bfType));
+    __platform_memcpy(data_new + sizeof(bfType), &bfh, sizeof(bfh));
+    __platform_memcpy(data_new + sizeof(bfType) + sizeof(bfh), &bih,
+                      sizeof(bih));
+
+    for (i = 0; i < height; i++) {
+        __platform_memcpy(data_new + sizeof(bfType) + sizeof(bfh) +
+                              sizeof(bih) + row_align * i,
+                          data + width * 3 * i, width * 3);
+    }
+
+    obj_setBytes(image, "_data", data_new, size_new);
+    img->format = PikaCV_ImageFormat_Type_BMP;
+    img->size = size_new;
+    arg_deinit(arg_data_new);
+}
+
+void PikaCV_Converter_toBGR888(PikaObj* self, PikaObj* image) {
+    PikaCV_Image* img = obj_getStruct(image, "image");
+    if (NULL == img) {
+        pika_assert(0);
+        return;
+    }
+    if (img->format == PikaCV_ImageFormat_Type_BGR888) {
+        /* do nothing */
+        return;
+    }
+    /* to RGB888 */
+    if (img->format != PikaCV_ImageFormat_Type_RGB888) {
+        PikaCV_Converter_toRGB888(self, image);
+    }
+    /* to BGR888 */
+    int size_new = img->size;
+    Arg* arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+    uint8_t* data = _image_getData(image);
+    uint8_t* data_new = arg_getBytes(arg_data_new);
+
+    /* RBG888 to BGR888 */
+    for (int i = 0; i < img->size; i += 3) {
+        data_new[i] = data[i + 2];
+        data_new[i + 1] = data[i + 1];
+        data_new[i + 2] = data[i];
+    }
+
+    obj_setBytes(image, "_data", data_new, size_new);
+    img->format = PikaCV_ImageFormat_Type_BGR888;
+    img->size = size_new;
+    arg_deinit(arg_data_new);
+}
diff --git a/package/PikaCV/PikaCV_Image.c b/package/PikaCV/PikaCV_Image.c
index 9d933344c..d63ac58b6 100644
--- a/package/PikaCV/PikaCV_Image.c
+++ b/package/PikaCV/PikaCV_Image.c
@@ -15,10 +15,10 @@ void PikaCV_Image___init__(PikaObj* self) {
         .size = 0,
     };
     obj_setStruct(self, "image", image);
-    PikaCV_Image_setData(self, NULL, 0);
+    _image_setData(self, NULL, 0);
 }
 
-uint8_t* _Image_getData(PikaObj* self) {
+uint8_t* _image_getData(PikaObj* self) {
     PikaCV_Image* image = obj_getStruct(self, "image");
     if (NULL == image) {
         return NULL;
@@ -26,7 +26,15 @@ uint8_t* _Image_getData(PikaObj* self) {
     return obj_getBytes(self, "_data");
 }
 
-PIKA_RES PikaCV_Image_setData(PikaObj* self, uint8_t* data, int size) {
+int _image_getDataSize(PikaObj* self) {
+    PikaCV_Image* image = obj_getStruct(self, "image");
+    if (NULL == image) {
+        return 0;
+    }
+    return obj_getBytesSize(self, "_data");
+}
+
+PIKA_RES _image_setData(PikaObj* self, uint8_t* data, int size) {
     PikaCV_Image* image = obj_getStruct(self, "image");
     if (NULL == image) {
         return PIKA_RES_ERR_ARG_NO_FOUND;
@@ -76,7 +84,7 @@ void PikaCV_Image_loadRGB565(PikaObj* self,
     image->height = height;
     image->width = width;
     image->size = height * width * 2;
-    PikaCV_Image_setData(self, bytes, image->size);
+    _image_setData(self, bytes, image->size);
 }
 
 void PikaCV_Image_loadRGB888(PikaObj* self,
@@ -91,7 +99,7 @@ void PikaCV_Image_loadRGB888(PikaObj* self,
     image->height = height;
     image->width = width;
     image->size = height * width * 3;
-    PikaCV_Image_setData(self, bytes, image->size);
+    _image_setData(self, bytes, image->size);
 }
 
 void PikaCV_Image_loadGray(PikaObj* self,
@@ -106,7 +114,7 @@ void PikaCV_Image_loadGray(PikaObj* self,
     image->height = height;
     image->width = width;
     image->size = height * width;
-    PikaCV_Image_setData(self, bytes, image->size);
+    _image_setData(self, bytes, image->size);
 }
 
 void PikaCV_Image_read(PikaObj* self, char* path) {
@@ -144,7 +152,7 @@ void PikaCV_Image_setPixel(PikaObj* self,
     if (NULL == image) {
         return;
     }
-    uint8_t* data = _Image_getData(self);
+    uint8_t* data = _image_getData(self);
     if (image->format == PikaCV_ImageFormat_Type_RGB565) {
         data[(y * image->width + x) * 2 + channel] = value;
     } else if (image->format == PikaCV_ImageFormat_Type_RGB888) {
@@ -163,7 +171,7 @@ int PikaCV_Image_getPixel(PikaObj* self, int channel, int x, int y) {
     if (NULL == image) {
         return 0;
     }
-    uint8_t* data = _Image_getData(self);
+    uint8_t* data = _image_getData(self);
     if (image->format == PikaCV_ImageFormat_Type_RGB565) {
         return data[(y * image->width + x) * 2 + channel];
     } else if (image->format == PikaCV_ImageFormat_Type_RGB888) {
@@ -193,3 +201,22 @@ int PikaCV_Image_width(PikaObj* self) {
     }
     return image->width;
 }
+
+void PikaCV_Image_write(PikaObj* self, char* path) {
+    uint8_t* data = _image_getData(self);
+    int size = _image_getDataSize(self);
+    if (NULL == data || size <= 0) {
+        obj_setErrorCode(self, PIKA_RES_ERR_OPERATION_FAILED);
+        __platform_printf("PikaCV_Image_write: data is NULL or size is 0\n");
+        return;
+    }
+    FILE* fp = __platform_fopen(path, "wb+");
+    if (NULL == fp) {
+        obj_setErrorCode(self, PIKA_RES_ERR_OPERATION_FAILED);
+        __platform_printf("PikaCV_Image_write: failed to open file: %s\n",
+                          path);
+        return;
+    }
+    __platform_fwrite(data, 1, size, fp);
+    __platform_fclose(fp);
+}
diff --git a/package/PikaCV/PikaCV_Transformer.c b/package/PikaCV/PikaCV_Transformer.c
new file mode 100644
index 000000000..ca6812ebf
--- /dev/null
+++ b/package/PikaCV/PikaCV_Transformer.c
@@ -0,0 +1,37 @@
+#include "PikaCV_Transformer.h"
+#include "PikaCV_Converter.h"
+#include "PikaCV_common.h"
+
+void PikaCV_Transformer_rotateDown(PikaObj* self, PikaObj* image) {
+    PikaCV_Image* img = obj_getStruct(image, "image");
+    if (NULL == img) {
+        pika_assert(0);
+        return;
+    }
+    if (img->format != PikaCV_ImageFormat_Type_BGR888 &&
+        img->format != PikaCV_ImageFormat_Type_RGB888) {
+        obj_setErrorCode(self, PIKA_RES_ERR_OPERATION_FAILED);
+        __platform_printf("unsupported image format\n");
+        return;
+    }
+    int width = img->width;
+    int height = img->height;
+    int size_new = width * height * 3;
+    Arg* arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+    uint8_t* data = _image_getData(image);
+    uint8_t* data_new = arg_getBytes(arg_data_new);
+    int i, j, k;
+    /* rotate */
+    for (i = 0; i < height; i++) {
+        for (j = 0; j < width; j++) {
+            for (k = 0; k < 3; k++) {
+                data_new[(height - i - 1) * width * 3 + j * 3 + k] =
+                    data[i * width * 3 + j * 3 + k];
+            }
+        }
+    }
+    obj_setBytes(image, "_data", data_new, size_new);
+    img->format = PikaCV_ImageFormat_Type_BGR888;
+    img->size = size_new;
+    arg_deinit(arg_data_new);
+}
diff --git a/package/PikaCV/PikaCV_common.h b/package/PikaCV/PikaCV_common.h
index faca37307..8b59fa6a5 100644
--- a/package/PikaCV/PikaCV_common.h
+++ b/package/PikaCV/PikaCV_common.h
@@ -1,11 +1,14 @@
 #include "./3rd-party/tjpgd/src/tjpgd.h"
+#define M_PI 3.14159265358979323846
 
 typedef enum PikaCV_ImageFormat_Type {
     PikaCV_ImageFormat_Type_Unknown = 0,
     PikaCV_ImageFormat_Type_JPEG,
     PikaCV_ImageFormat_Type_RGB888,
+    PikaCV_ImageFormat_Type_BGR888,
     PikaCV_ImageFormat_Type_RGB565,
     PikaCV_ImageFormat_Type_GRAY,
+    PikaCV_ImageFormat_Type_BMP,
 } PikaCV_ImageFormat_Type;
 
 typedef struct PikaCV_Image {
@@ -15,5 +18,6 @@ typedef struct PikaCV_Image {
     int size;
 } PikaCV_Image;
 
-uint8_t* _Image_getData(PikaObj* self);
-PIKA_RES PikaCV_Image_setData(PikaObj* self, uint8_t* data, int size);
\ No newline at end of file
+uint8_t* _image_getData(PikaObj* self);
+PIKA_RES _image_setData(PikaObj* self, uint8_t* data, int size);
+int _image_getDataSize(PikaObj* self);
\ No newline at end of file
diff --git a/port/linux/package/pikascript/PikaCV.pyi b/port/linux/package/pikascript/PikaCV.pyi
index 83d7aadbf..dcf101703 100644
--- a/port/linux/package/pikascript/PikaCV.pyi
+++ b/port/linux/package/pikascript/PikaCV.pyi
@@ -22,6 +22,10 @@ class Image(TinyObj):
         """Read the image from the specified path, Need implement the   `__platform_fopen()`, `__platform_fread()` and `__platform_fclose()`"""
         ...
 
+    def write(self, path: str):
+        """Write the image to the specified path, Need implement the   `__platform_fopen()`, `__platform_fwrite()` and `__platform_fclose()`"""
+        ...
+
     def loadJpeg(self, bytes: any):
         """Load the image from bytes"""
 
@@ -81,3 +85,17 @@ class Converter(TinyObj):
     @staticmethod
     def toGray(image: Image):
         """Convert the image to Gray"""
+
+    @staticmethod
+    def toBMP(image: Image):
+        """Convert the image to BMP"""
+
+    @staticmethod
+    def toBGR888(image: Image):
+        """Convert the image to BGR888"""
+
+
+class Transformer(TinyObj):
+    @staticmethod
+    def rotateDown(image: Image):
+        """Rotate the image """
diff --git a/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Converter.c b/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Converter.c
index 3d9cafc8d..748fef795 100644
--- a/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Converter.c
+++ b/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Converter.c
@@ -1,4 +1,5 @@
 #include "PikaCV_Converter.h"
+#include "PikaCV_Transformer.h"
 #include "PikaCV_common.h"
 
 /* Session identifier for input/output functions (name, members and usage are as
@@ -93,7 +94,7 @@ PIKA_RES Converter_JPEGtoRGB888(PikaObj* image) {
         return PIKA_RES_ERR_INVALID_PTR;
     }
     pika_assert(img->format == PikaCV_ImageFormat_Type_JPEG);
-    uint8_t* data = _Image_getData(image);
+    uint8_t* data = _image_getData(image);
     if (NULL == data) {
         __platform_printf("Converter_JPEGtoRGB888: data is NULL\n");
         return PIKA_RES_ERR_INVALID_PTR;
@@ -170,7 +171,7 @@ void PikaCV_Converter_toGray(PikaObj* self, PikaObj* image) {
 
     int size_new = img->height * img->width;
     Arg* arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
-    uint8_t* data = _Image_getData(image);
+    uint8_t* data = _image_getData(image);
     uint8_t* data_new = arg_getBytes(arg_data_new);
     if (img->format == PikaCV_ImageFormat_Type_RGB888) {
         for (int i = 0; i < size_new; i++) {
@@ -282,3 +283,132 @@ exit:
     img->size = size_new;
     arg_deinit(arg_data_new);
 }
+
+typedef struct /**** BMP file header structure ****/
+{
+    unsigned int bfSize;        /* Size of file */
+    unsigned short bfReserved1; /* Reserved */
+    unsigned short bfReserved2; /* ... */
+    unsigned int bfOffBits;     /* Offset to bitmap data */
+} BITMAPFILEHEADER;
+
+typedef struct /**** BMP file info structure ****/
+{
+    unsigned int biSize;         /* Size of info header */
+    int biWidth;                 /* Width of image */
+    int biHeight;                /* Height of image */
+    unsigned short biPlanes;     /* Number of color planes */
+    unsigned short biBitCount;   /* Number of bits per pixel */
+    unsigned int biCompression;  /* Type of compression to use */
+    unsigned int biSizeImage;    /* Size of image data */
+    int biXPelsPerMeter;         /* X pixels per meter */
+    int biYPelsPerMeter;         /* Y pixels per meter */
+    unsigned int biClrUsed;      /* Number of colors used */
+    unsigned int biClrImportant; /* Number of important colors */
+} BITMAPINFOHEADER;
+
+#define align(value, align) ((((value) + ((align)-1)) / (align)) * (align))
+
+void PikaCV_Converter_toBMP(PikaObj* self, PikaObj* image) {
+    PikaCV_Image* img = obj_getStruct(image, "image");
+    if (NULL == img) {
+        pika_assert(0);
+        return;
+    }
+    if (img->format == PikaCV_ImageFormat_Type_BMP) {
+        /* do nothing */
+        return;
+    }
+
+    /* convert to BGR */
+    if (img->format != PikaCV_ImageFormat_Type_BGR888) {
+        PikaCV_Converter_toBGR888(self, image);
+    }
+
+    PikaCV_Transformer_rotateDown(self, image);
+
+    BITMAPFILEHEADER bfh;
+    BITMAPINFOHEADER bih;
+    int i = 0, row_align;
+    int width = img->width;
+    int height = img->height;
+
+    // bmp的每行数据的长度要4字节对齐
+    row_align = align(width * 3, 4);
+
+    /* convert to BMP */
+    int size_new = img->height * row_align + 54;
+    Arg* arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+    uint8_t* data = _image_getData(image);
+    uint8_t* data_new = arg_getBytes(arg_data_new);
+
+    unsigned short bfType = 0x4d42;  //'BM'
+    bfh.bfReserved1 = 0;
+    bfh.bfReserved2 = 0;
+    bfh.bfSize = 2 + sizeof(BITMAPFILEHEADER) + sizeof(BITMAPINFOHEADER) +
+                 row_align * height;
+    bfh.bfOffBits = 2 + sizeof(BITMAPFILEHEADER) + sizeof(BITMAPINFOHEADER);
+
+    bih.biSize = sizeof(BITMAPINFOHEADER);
+    bih.biWidth = width;
+    bih.biHeight = height;
+    bih.biPlanes = 1;
+    bih.biBitCount = 24;
+    bih.biCompression = 0;
+    bih.biSizeImage = 0;
+    bih.biXPelsPerMeter = 0;
+    bih.biYPelsPerMeter = 0;
+    bih.biClrUsed = 0;
+    bih.biClrImportant = 0;
+
+    __platform_memset(data_new, 0, size_new);
+
+    __platform_memcpy(data_new, &bfType, sizeof(bfType));
+    __platform_memcpy(data_new + sizeof(bfType), &bfh, sizeof(bfh));
+    __platform_memcpy(data_new + sizeof(bfType) + sizeof(bfh), &bih,
+                      sizeof(bih));
+
+    for (i = 0; i < height; i++) {
+        __platform_memcpy(data_new + sizeof(bfType) + sizeof(bfh) +
+                              sizeof(bih) + row_align * i,
+                          data + width * 3 * i, width * 3);
+    }
+
+    obj_setBytes(image, "_data", data_new, size_new);
+    img->format = PikaCV_ImageFormat_Type_BMP;
+    img->size = size_new;
+    arg_deinit(arg_data_new);
+}
+
+void PikaCV_Converter_toBGR888(PikaObj* self, PikaObj* image) {
+    PikaCV_Image* img = obj_getStruct(image, "image");
+    if (NULL == img) {
+        pika_assert(0);
+        return;
+    }
+    if (img->format == PikaCV_ImageFormat_Type_BGR888) {
+        /* do nothing */
+        return;
+    }
+    /* to RGB888 */
+    if (img->format != PikaCV_ImageFormat_Type_RGB888) {
+        PikaCV_Converter_toRGB888(self, image);
+    }
+    /* to BGR888 */
+    int size_new = img->size;
+    Arg* arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+    uint8_t* data = _image_getData(image);
+    uint8_t* data_new = arg_getBytes(arg_data_new);
+
+    /* RBG888 to BGR888 */
+    for (int i = 0; i < img->size; i += 3) {
+        data_new[i] = data[i + 2];
+        data_new[i + 1] = data[i + 1];
+        data_new[i + 2] = data[i];
+    }
+
+    obj_setBytes(image, "_data", data_new, size_new);
+    img->format = PikaCV_ImageFormat_Type_BGR888;
+    img->size = size_new;
+    arg_deinit(arg_data_new);
+}
diff --git a/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Image.c b/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Image.c
index 9d933344c..d63ac58b6 100644
--- a/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Image.c
+++ b/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Image.c
@@ -15,10 +15,10 @@ void PikaCV_Image___init__(PikaObj* self) {
         .size = 0,
     };
     obj_setStruct(self, "image", image);
-    PikaCV_Image_setData(self, NULL, 0);
+    _image_setData(self, NULL, 0);
 }
 
-uint8_t* _Image_getData(PikaObj* self) {
+uint8_t* _image_getData(PikaObj* self) {
     PikaCV_Image* image = obj_getStruct(self, "image");
     if (NULL == image) {
         return NULL;
@@ -26,7 +26,15 @@ uint8_t* _Image_getData(PikaObj* self) {
     return obj_getBytes(self, "_data");
 }
 
-PIKA_RES PikaCV_Image_setData(PikaObj* self, uint8_t* data, int size) {
+int _image_getDataSize(PikaObj* self) {
+    PikaCV_Image* image = obj_getStruct(self, "image");
+    if (NULL == image) {
+        return 0;
+    }
+    return obj_getBytesSize(self, "_data");
+}
+
+PIKA_RES _image_setData(PikaObj* self, uint8_t* data, int size) {
     PikaCV_Image* image = obj_getStruct(self, "image");
     if (NULL == image) {
         return PIKA_RES_ERR_ARG_NO_FOUND;
@@ -76,7 +84,7 @@ void PikaCV_Image_loadRGB565(PikaObj* self,
     image->height = height;
     image->width = width;
     image->size = height * width * 2;
-    PikaCV_Image_setData(self, bytes, image->size);
+    _image_setData(self, bytes, image->size);
 }
 
 void PikaCV_Image_loadRGB888(PikaObj* self,
@@ -91,7 +99,7 @@ void PikaCV_Image_loadRGB888(PikaObj* self,
     image->height = height;
     image->width = width;
     image->size = height * width * 3;
-    PikaCV_Image_setData(self, bytes, image->size);
+    _image_setData(self, bytes, image->size);
 }
 
 void PikaCV_Image_loadGray(PikaObj* self,
@@ -106,7 +114,7 @@ void PikaCV_Image_loadGray(PikaObj* self,
     image->height = height;
     image->width = width;
     image->size = height * width;
-    PikaCV_Image_setData(self, bytes, image->size);
+    _image_setData(self, bytes, image->size);
 }
 
 void PikaCV_Image_read(PikaObj* self, char* path) {
@@ -144,7 +152,7 @@ void PikaCV_Image_setPixel(PikaObj* self,
     if (NULL == image) {
         return;
     }
-    uint8_t* data = _Image_getData(self);
+    uint8_t* data = _image_getData(self);
     if (image->format == PikaCV_ImageFormat_Type_RGB565) {
         data[(y * image->width + x) * 2 + channel] = value;
     } else if (image->format == PikaCV_ImageFormat_Type_RGB888) {
@@ -163,7 +171,7 @@ int PikaCV_Image_getPixel(PikaObj* self, int channel, int x, int y) {
     if (NULL == image) {
         return 0;
     }
-    uint8_t* data = _Image_getData(self);
+    uint8_t* data = _image_getData(self);
     if (image->format == PikaCV_ImageFormat_Type_RGB565) {
         return data[(y * image->width + x) * 2 + channel];
     } else if (image->format == PikaCV_ImageFormat_Type_RGB888) {
@@ -193,3 +201,22 @@ int PikaCV_Image_width(PikaObj* self) {
     }
     return image->width;
 }
+
+void PikaCV_Image_write(PikaObj* self, char* path) {
+    uint8_t* data = _image_getData(self);
+    int size = _image_getDataSize(self);
+    if (NULL == data || size <= 0) {
+        obj_setErrorCode(self, PIKA_RES_ERR_OPERATION_FAILED);
+        __platform_printf("PikaCV_Image_write: data is NULL or size is 0\n");
+        return;
+    }
+    FILE* fp = __platform_fopen(path, "wb+");
+    if (NULL == fp) {
+        obj_setErrorCode(self, PIKA_RES_ERR_OPERATION_FAILED);
+        __platform_printf("PikaCV_Image_write: failed to open file: %s\n",
+                          path);
+        return;
+    }
+    __platform_fwrite(data, 1, size, fp);
+    __platform_fclose(fp);
+}
diff --git a/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Transformer.c b/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Transformer.c
new file mode 100644
index 000000000..ca6812ebf
--- /dev/null
+++ b/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_Transformer.c
@@ -0,0 +1,37 @@
+#include "PikaCV_Transformer.h"
+#include "PikaCV_Converter.h"
+#include "PikaCV_common.h"
+
+void PikaCV_Transformer_rotateDown(PikaObj* self, PikaObj* image) {
+    PikaCV_Image* img = obj_getStruct(image, "image");
+    if (NULL == img) {
+        pika_assert(0);
+        return;
+    }
+    if (img->format != PikaCV_ImageFormat_Type_BGR888 &&
+        img->format != PikaCV_ImageFormat_Type_RGB888) {
+        obj_setErrorCode(self, PIKA_RES_ERR_OPERATION_FAILED);
+        __platform_printf("unsupported image format\n");
+        return;
+    }
+    int width = img->width;
+    int height = img->height;
+    int size_new = width * height * 3;
+    Arg* arg_data_new = arg_setBytes(NULL, "", NULL, size_new);
+    uint8_t* data = _image_getData(image);
+    uint8_t* data_new = arg_getBytes(arg_data_new);
+    int i, j, k;
+    /* rotate */
+    for (i = 0; i < height; i++) {
+        for (j = 0; j < width; j++) {
+            for (k = 0; k < 3; k++) {
+                data_new[(height - i - 1) * width * 3 + j * 3 + k] =
+                    data[i * width * 3 + j * 3 + k];
+            }
+        }
+    }
+    obj_setBytes(image, "_data", data_new, size_new);
+    img->format = PikaCV_ImageFormat_Type_BGR888;
+    img->size = size_new;
+    arg_deinit(arg_data_new);
+}
diff --git a/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_common.h b/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_common.h
index faca37307..8b59fa6a5 100644
--- a/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_common.h
+++ b/port/linux/package/pikascript/pikascript-lib/PikaCV/PikaCV_common.h
@@ -1,11 +1,14 @@
 #include "./3rd-party/tjpgd/src/tjpgd.h"
+#define M_PI 3.14159265358979323846
 
 typedef enum PikaCV_ImageFormat_Type {
     PikaCV_ImageFormat_Type_Unknown = 0,
     PikaCV_ImageFormat_Type_JPEG,
     PikaCV_ImageFormat_Type_RGB888,
+    PikaCV_ImageFormat_Type_BGR888,
     PikaCV_ImageFormat_Type_RGB565,
     PikaCV_ImageFormat_Type_GRAY,
+    PikaCV_ImageFormat_Type_BMP,
 } PikaCV_ImageFormat_Type;
 
 typedef struct PikaCV_Image {
@@ -15,5 +18,6 @@ typedef struct PikaCV_Image {
     int size;
 } PikaCV_Image;
 
-uint8_t* _Image_getData(PikaObj* self);
-PIKA_RES PikaCV_Image_setData(PikaObj* self, uint8_t* data, int size);
\ No newline at end of file
+uint8_t* _image_getData(PikaObj* self);
+PIKA_RES _image_setData(PikaObj* self, uint8_t* data, int size);
+int _image_getDataSize(PikaObj* self);
\ No newline at end of file
diff --git a/src/PikaVersion.h b/src/PikaVersion.h
index 6ea342256..b9dbc9c56 100644
--- a/src/PikaVersion.h
+++ b/src/PikaVersion.h
@@ -2,4 +2,4 @@
 #define PIKA_VERSION_MINOR       9
 #define PIKA_VERSION_MICRO       0
 
-#define PIKA_EDIT_TIME      "2022/07/08 18:00:44"
+#define PIKA_EDIT_TIME      "2022/07/11 10:22:03"