Αισθητήρας όρασης#

Εισαγωγή#

The vision class is used to control and access data from the IQ (2nd gen) Vision Sensor. This sensor detects and tracks Color Signatures within its field of view, allowing your robot to identify targets and respond to visual information in real time.

Ο αισθητήρας όρασης μπορεί να ανιχνεύσει ταυτόχρονα πολλά αντικείμενα-υπογραφές και παρέχει πληροφορίες όπως η θέση του αντικειμένου, το πλάτος, το ύψος και οι κεντρικές συντεταγμένες.

Κατασκευαστές κλάσεων#

vision(
  int32_t  index,
  uint8_t  bright,
  Args&... sigs );

Καταστροφέας κλάσης#

Destroys the vision object and releases associated resources.

~vision();

Παράμετροι#

Παράμετρος

Τύπος

Περιγραφή

index

int32_t

The Smart Port that the Vision Sensor is connected to, written as PORTx, where x is the port number (for example, PORT1).

bright

uint8_t

Το επίπεδο φωτεινότητας του αισθητήρα όρασης.

sigs

vision::signature or vision::code objects

One or more vision::signature or vision::code objects to register with the sensor.

Παραδείγματα#

// Create Color Signatures
vision::signature Vision1__REDBOX = vision::signature(
    1,      // signature id
    10121,  // uMin
    10757,  // uMax
    10439,  // uMean
    -1657,  // vMin
    -1223,  // vMax
    -1440,  // vMean
    2.5,    // range
    1 );    // type

vision::signature Vision1__BLUEBOX = vision::signature(
    2,      // signature id
    -4479,  // uMin
    -3277,  // uMax
    -3878,  // uMean
    5869,   // vMin
    7509,   // vMax
    6689,   // vMean
    2.5,    // range
    1 );    // type

// Create a Color Code from two signatures
vision::code Vision1__BOXCODE = vision::code(
    Vision1__REDBOX,  // first signature
    Vision1__BLUEBOX  // second signature
);

// Create the Vision Sensor instance
vision Vision1 = vision(
    PORT1,                  // Smart Port
    50,                     // brightness
    Vision1__REDBOX,        // signature
    Vision1__BOXCODE );     // Color Code

Συναρτήσεις Μελών#

The vision class includes the following member functions:

  • takeSnapshot — Captures data for a specific Color Signature or Color Code.

  • installed — Whether the Vision Sensor is connected to the IQ (2nd gen) Brain.

To access detected object data after calling takeSnapshot, use the available Properties.

Before calling any vision member functions, a vision instance must be created, as shown below:

/* This constructor is required when using VS Code.
Vision Sensor configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */


// Create Color Signatures
vision::signature Vision1__REDBOX = vision::signature(
    1,      // signature id
    10121,  // uMin
    10757,  // uMax
    10439,  // uMean
    -1657,  // vMin
    -1223,  // vMax
    -1440,  // vMean
    2.5,    // range
    1 );    // type

vision::signature Vision1__BLUEBOX = vision::signature(
    2,      // signature id
    -4479,  // uMin
    -3277,  // uMax
    -3878,  // uMean
    5869,   // vMin
    7509,   // vMax
    6689,   // vMean
    2.5,    // range
    1 );    // type

// Create a Color Code from two signatures
vision::code Vision1__BOXCODE = vision::code(
    Vision1__REDBOX,  // first signature
    Vision1__BLUEBOX  // second signature
);

// Create the Vision Sensor instance
vision Vision1 = vision(
    PORT1,                  // Smart Port
    50,                     // brightness
    Vision1__REDBOX,        // signature
    Vision1__BOXCODE );     // Color Code

takeSnapshot#

Captures an image from the Vision Sensor, processes it based on the signature, and updates the objects array. This method can also limit the amount of objects captured in the snapshot.

The objects array stores objects ordered from largest to smallest by width, starting at index 0. Each object’s properties can be accessed using its index. If no matching objects are detected, objectCount will be 0 and objects[i].exists will be false.

Available Functions

1 — Λαμβάνει ένα στιγμιότυπο και αναζητά αντικείμενα που ταιριάζουν με το καθορισμένο αναγνωριστικό υπογραφής.

int32_t takeSnapshot( uint32_t id );

2 — Takes a snapshot and searches for objects matching the specified vision::code object.

int32_t takeSnapshot( code &cc );

3 — Takes a snapshot and searches for objects matching the specified vision::signature object.

int32_t takeSnapshot( signature &sig );

4 — Λαμβάνει ένα στιγμιότυπο και αποθηκεύει μόνο τον μεγαλύτερο καθορισμένο αριθμό αντικειμένων που ταιριάζουν με το αναγνωριστικό υπογραφής.

int32_t takeSnapshot( uint32_t id, uint32_t count );

5 — Takes a snapshot and stores only the largest specified number of objects matching the specified vision::code object.

int32_t takeSnapshot( code &cc, uint32_t count );

6 — Takes a snapshot and stores only the largest specified number of objects matching the specified vision::signature object.

int32_t takeSnapshot( signature &sig, uint32_t count );
Parameters

Παράμετρος

Τύπος

Περιγραφή

id

uint32_t

Ο αριθμός αναγνώρισης υπογραφής που θα αναζητηθεί.

cc

code &

A reference to a vision::code object to search for.

sig

signature &

A reference to a vision::signature object to search for.

count

uint32_t

Ο μέγιστος αριθμός αντικειμένων προς ανίχνευση.
Return Values

Returns an int32_t representing the number of matching objects detected.

Notes

  • Ο αισθητήρας όρασης πρέπει να τραβήξει ένα στιγμιότυπο πριν είναι δυνατή η πρόσβαση στα δεδομένα του αντικειμένου.

  • When count is specified, only the largest detected objects (up to the specified amount) are stored.

Παραδείγματα 

while (true) {
  // Display if a blue object is detected
  Vision1.takeSnapshot(Vision1__BLUEBOX);

  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);

  if (Vision1.objects[0].exists) {
    Brain.Screen.print("Blue detected");
  } 
  else {
    Brain.Screen.print("No blue");
  }

  wait(0.5, seconds);
}


// Display when a blue object is detected
while (true) {
  Brain.Screen.setCursor(1, 1);
  Brain.Screen.clearLine(1);

  Vision1.takeSnapshot(Vision1__BLUEBOX);

  if (Vision1.objects[0].exists) {
    Brain.Screen.print("Color detected!");
  }

  wait(100, msec); 
}


// Display when BOXCODE is detected
while (true) {
  Brain.Screen.setCursor(1, 1);
  Brain.Screen.clearLine(1);

  Vision1.takeSnapshot(Vision1__BOXCODE);

  if (Vision1.objects[0].exists) {
    Brain.Screen.print("Code detected!");
  }
  wait( 100, msec);
}

installed#

Επιστρέφει εάν ο αισθητήρας όρασης είναι συνδεδεμένος με τον εγκέφαλο IQ (1ης γενιάς).

Available Functions 
bool installed();
Parameters

Αυτή η συνάρτηση δεν δέχεται καμία παράμετρο.

Return Values

Επιστρέφει μια λογική τιμή που υποδεικνύει εάν ο αισθητήρας όρασης είναι συνδεδεμένος:

  • true — The Vision Sensor is connected.
  • false — The Vision Sensor is not connected.

Σκηνικά θέατρου#

Calling takeSnapshot updates the Vision Sensor’s detection results. Each snapshot refreshes the objects array, which contains the detected objects for the requested Color Signature or Color Code.

Vision Sensor data is accessed through properties of objects stored in Vision1.objects[index], where index begins at 0.

Η ανάλυση εικόνας του αισθητήρα όρασης είναι 316 επί 212 pixel. Οι ιδιότητες θέσης και μεγέθους αντικειμένου αναφέρονται σε μονάδες pixel σε σχέση με την τρέχουσα προβολή του αισθητήρα.

Διατίθενται τα ακόλουθα ακίνητα:

  • largestObject — Selects the largest detected object from the most recent snapshot.

  • objectCount — Returns the number of valid objects stored in objects.

  • objects — Array of detected objects updated by takeSnapshot.

  • .exists — Whether the object entry contains valid data.

  • .width — Width of the detected object in pixels.

  • .height — Height of the detected object in pixels.

  • .centerX — X position of the object’s center in pixels.

  • .centerY — Y position of the object’s center in pixels.

  • .originX — X position of the object’s top-left corner in pixels.

  • .originY — Y position of the object’s top-left corner in pixels.

  • .angle — Orientation of the detected Color Code in degrees (when applicable).

largestObject#

Retrieves the largest detected object from the objects array.

This method can be used to always get the largest object from objects without specifying an index.

Syntax 
VisionSensor.largestObject
Components

Συστατικό

Περιγραφή

VisionSensor

Το όνομα της παρουσίας του Vision Sensor.

Παραδείγματα 

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Display the largest detected object's width
  while (true) {
    Vision1.takeSnapshot(Vision1__BLUEBOX);

    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);

    if (Vision1.objects[0].exists) {
      Brain.Screen.print("%d", Vision1.largestObject.width);
    } 
    wait(0.5, seconds);
  }
}

objectCount#

Returns the number of items inside the objects array as an integer.

Syntax 
VisionSensor.objectCount
Components

Συστατικό

Περιγραφή

VisionSensor

Το όνομα της παρουσίας του Vision Sensor.

Παραδείγματα 

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Display how many blue objects are detected
  while (true) {
    Vision1.takeSnapshot(Vision1__BLUEBOX);

    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);

    Brain.Screen.print("Object Count: %d", Vision1.objectCount);

    wait(0.5, seconds);
  }
}

objects#

objects is an array containing the detected objects from the most recent call to takeSnapshot.

Each element in the array represents a detected object and provides access to its properties, such as width, height, centerX, and more.

Objects are ordered from largest to smallest (by width), beginning at index 0.

Syntax 
VisionSensor.objects[index].property
Components

Συστατικό

Περιγραφή

VisionSensor

Το όνομα της παρουσίας του Vision Sensor.

index

The object index in the array. Index begins at 0.

property

Μία από τις διαθέσιμες ιδιότητες αντικειμένου.

.υπάρχει#

.exists returns whether the specified object index contains a valid detected object.

Πρόσβαση 

SensorName.objects[index].exists

Επιστρεφόμενες τιμές

Επιστρέφει μια λογική τιμή που υποδεικνύει εάν ο καθορισμένος δείκτης αντικειμένου περιέχει ένα έγκυρο ανιχνευμένο αντικείμενο:

  • true — A valid object exists at the specified index.
  • false — No object exists at the specified index.

Παραδείγματα 

// Display when a blue object is detected
while (true) {
  Brain.Screen.setCursor(1, 1);
  Brain.Screen.clearLine(1);

  Vision1.takeSnapshot(Vision1__BLUEBOX);

  if (Vision1.objects[0].exists) {
    Brain.Screen.print("Color detected!");
  }

  wait(100, msec); 
}

.πλάτος#

.width returns the width of the detected object.

Πρόσβαση 

SensorName.objects[index].width

Επιστρεφόμενες τιμές

Returns an int representing the width of the detected object in pixels. The value ranges from 1 to 316.

Παραδείγματα 

// Approach an object until it's at least 100 pixels wide
while (true) {
  Vision1.takeSnapshot(Vision1__BLUEBOX);
  if (Vision1.objects[0].exists && Vision1.objects[0].width < 100) {
    Drivetrain.driveFor(forward, 10, mm);
  } 
  else {
    Drivetrain.stop();
  }
  wait(0.5, seconds);
}

.ύψος#

.height returns the height of the detected object.

Πρόσβαση 

SensorName.objects[index].height

Επιστρεφόμενες τιμές

Returns an int representing the height of the detected object in pixels. The value ranges from 1 to 212.

Παραδείγματα 

// Approach an object until it's at least 100 pixels tall
while (true) {
  Vision1.takeSnapshot(Vision1__BLUEBOX);

  if (Vision1.objects[0].exists && Vision1.objects[0].height < 100) {
    Drivetrain.driveFor(forward, 10, mm);
  } 
  else {
    Drivetrain.stop();
  }
  wait(0.5, seconds);  // Avoid over-processing
}

.centerX#

.centerX returns the x-coordinate of the center of the detected object.

Πρόσβαση 

SensorName.objects[index].centerX

Επιστρεφόμενες τιμές

Returns an int representing the x-coordinate of the object’s center in pixels. The value ranges from 0 to 316.

Παραδείγματα 

// Turn until an object is directly in front of the sensor
Drivetrain.setTurnVelocity(10, percent);
Drivetrain.turn(right);
while (true) {
  Vision1.takeSnapshot(Vision1__BLUEBOX);
  if (Vision1.objects[0].exists) {
    int centerX = Vision1.largestObject.centerX;
    if (140 < centerX && centerX < 180) {
      Drivetrain.stop();
    }
  }
  wait(0.5, seconds);
}

.centerY#

.centerY returns the y-coordinate of the center of the detected object.

Πρόσβαση 

SensorName.objects[index].centerY

Επιστρεφόμενες τιμές

Returns an int representing the y-coordinate of the object’s center in pixels. The value ranges from 0 to 212.

Παραδείγματα 

// Approach an object until it's at least 90 pixels tall
while (true) {
  Vision1.takeSnapshot(Vision1__BLUEBOX);

  if (Vision1.objects[0].exists) {
    if (Vision1.objects[0].centerY < 90) {
      Drivetrain.drive(forward);
    } else {
      Drivetrain.stop();
    }
  } else {
    Drivetrain.stop();
  }
  wait(50, msec);
}

.originX#

.originX returns the x-coordinate of the top-left corner of the detected object’s bounding box.

Πρόσβαση 

SensorName.objects[index].originX

Επιστρεφόμενες τιμές

Returns an int representing the x-coordinate of the top-left corner of the object’s bounding box in pixels. The value ranges from 0 to 316.

Παραδείγματα 

// Display if an object is to the left or the right
while (true) {
  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);
  Vision1.takeSnapshot(Vision1__BLUEBOX);
  if (Vision1.objects[0].exists) {
    if (Vision1.objects[0].originX < 160) {
      Brain.Screen.print("To the left!");
    }
    else {
      Brain.Screen.print("To the right!");
    }
  }
  wait(0.5, seconds); 
}

.originY#

.originY returns the y-coordinate of the top-left corner of the detected object’s bounding box.

Πρόσβαση 

SensorName.objects[index].originY

Επιστρεφόμενες τιμές

Returns an int representing the y-coordinate of the top-left corner of the object’s bounding box in pixels. The value ranges from 0 to 212.

Παραδείγματα 

// Display if an object is close or far
while (true) {
  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);
  Vision1.takeSnapshot(Vision1__BLUEBOX);
  if (Vision1.objects[0].exists) {
    if (Vision1.objects[0].originY < 80) {
      Brain.Screen.print("Far");
    } else {
      Brain.Screen.print("Close");
    }
  }
  wait(0.5, seconds);
}

.γωνία#

.angle returns the orientation of the detected Color Code.

Πρόσβαση 

SensorName.objects[index].angle

Επιστρεφόμενες τιμές

Returns a double representing the orientation of the detected Color Code in degrees. The value ranges from 0 to 359.9.

Παραδείγματα 

// Turn left or right depending on how a configured
// Color Code is rotated
while (true) {
  Vision1.takeSnapshot(Vision1__BOXCODE);
  if (Vision1.objects[0].exists) {
    double angle = Vision1.objects[0].angle;
    if (70 < angle && angle < 110) {
      Drivetrain.turnFor(right, 45, degrees);
    }
    else if (250 < angle && angle < 290) {
      Drivetrain.turnFor(left, 45, degrees);
    }
    else {
      Drivetrain.stop();
    }
  }
  wait(0.5, seconds);
}
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