Sensor de visión de IA#

Introducción #

El sensor de visión con IA permite a los robots detectar y rastrear información visual de su entorno. Al identificar objetos, colores y patrones, el sensor de visión con IA permite a los robots analizar su entorno y responder a lo que ven.

For the examples below, the configured AI Vision Sensor will be named AIVision1, and the configured Color Signature objects, such as redBox, will be used in all subsequent examples throughout this API documentation when referring to aivision class methods.

A continuación se muestra una lista de todos los métodos:

Conseguidores

takeSnapshot – Captura datos para una firma de color o un código de color específico.
objectCount – Devuelve la cantidad de objetos detectados como un entero.
largestObject – Selecciona inmediatamente el objeto más grande de la instantánea.

Propiedades – Datos del objeto devueltos desde takeSnapshot.

.exists – Si el objeto existe en la detección actual como un valor booleano.
.width – Ancho del objeto detectado en píxeles.
.height – Altura del objeto detectado en píxeles.
.centerX – Posición X del centro del objeto en píxeles.
.centerY – Posición Y del centro del objeto en píxeles.
.angle – Orientación del código de color en grados.
.originX – Posición X de la esquina superior izquierda del objeto en píxeles.
.originY – Posición Y de la esquina superior izquierda del objeto en píxeles.
.id – Clasificación o ID de etiqueta del objeto.
.score – Puntuación de confianza para las clasificaciones de IA (1–100).

Constructores: inicializan y configuran manualmente los sensores.

aivision – Crea un sensor de visión de IA.
aivision::colordesc – Crea una firma de color.
aivision::codedesc – Crea un código de color.

Tomar instantánea #

takeSnapshot captures an image from the AI 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.

Las Firmas de color y los Códigos de color deben configurarse primero en Vision Utility antes de poder usarse con este método.

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. objects is an empty array if no matching objects are detected.

Default Usage:
AIVision1.takeSnapshot(signature)

Overloads:
AIVision1.takeSnapshot(signature, count)

Parámetros	Descripción
`signature`	What signature to get data of. Color Signatures or Color Codes – The name of the AI Vision Sensor, two underscores, and then the Color Signature’s or Color Code’s name.For example: `AIVision1__redBox`. `aivision::ALL_AIOBJS` – Cubes, rings, and balls. `aivision::ALL_TAGS` – All AprilTags.
`count`	Opcional. Establece el número máximo de objetos que se pueden devolver, de 1 a 24 (valor predeterminado: 8).

Parámetros

Descripción

signature

What signature to get data of.

Color Signatures or Color Codes – The name of the AI Vision Sensor, two underscores, and then the Color Signature’s or Color Code’s name.For example: AIVision1__redBox.
aivision::ALL_AIOBJS – Cubes, rings, and balls.
aivision::ALL_TAGS – All AprilTags.

count

Opcional. Establece el número máximo de objetos que se pueden devolver, de 1 a 24 (valor predeterminado: 8).

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Move forward if an object is detected
  while (true) {
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);
    if (AIVision1.objects[0].exists) {
      Drivetrain.driveFor(forward, 50, mm);
    }
    wait(50, msec);
  }
}

Color Signatures #

Una Firma de Color es un color único que el Sensor de Visión de IA puede reconocer. Estas firmas permiten al Sensor de Visión de IA detectar y rastrear objetos según su color. Una vez configurada una Firma de Color, el sensor puede identificar objetos con ese color específico en su campo de visión. Las firmas de color se utilizan con takeSnapshot para procesar y detectar objetos de color en tiempo real.

In order to use a configured Color Signature in a project, its name must be the name of the sensor, two underscores, and then the Color Signature’s name. For example: AIVision1__redBox.

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

  while (true) {
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.clearLine(1);
    // Change to any configured Color Signature
    AIVision1.takeSnapshot(AIVision1__redBox);
    if (AIVision1.objects[0].exists) {
      Brain.Screen.print("Color detected!");
    }
    wait(50, msec);
  }
}

Color Codes #

Un código de color es un patrón estructurado compuesto por firmas de color dispuestas en un orden específico. Estos códigos permiten al sensor de visión reconocer patrones de color predefinidos. Los códigos de color son útiles para identificar objetos complejos o crear marcadores únicos para la navegación autónoma.

To use a configured Color Code in a project, its name must be passed as a string in the format: the Vision Sensor’s name, followed by two underscores, and then the Color Code’s name. For example: AIVision1__redBlue.

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

  while (true) {
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.clearLine(1);
    // Change to any configured Color Code
    AIVision1.takeSnapshot(AIVision1__redBlue);
    if (AIVision1.objects[0].exists) {
      Brain.Screen.print("Code detected!");
    }
    wait(50, msec);
  }
}

objeto más grande #

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.

Default Usage:
AIVision1.largestObject

Parámetros	Descripción
	Este método no tiene parámetros.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Display the closest AprilTag's ID
  while (true) {
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.clearLine(1);
    AIVision1.takeSnapshot(aivision::ALL_TAGS);
    if (AIVision1.objects[0].exists) {
      Brain.Screen.print("%d", AIVision1.largestObject.id);
    }
    wait(50, msec);
  }
}

objectCount #

objectCount returns the number of items inside the objects array as an integer.

Default Usage:
AIVision1.objectCount

Parámetros	Descripción
	Este método no tiene parámetros.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Display the number of detected objects
  while (true) {
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.clearLine(1);
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);
    if (AIVision1.objects[0].exists) {
      Brain.Screen.print("%d", AIVision1.objectCount);
    }
    wait(50, msec);
  }
}

instalado #

installed returns an integer indicating whether the AI Vision Sensor is currently connected to the IQ (2nd gen) Brain.

1 – The AI Vision Sensor is connected to the IQ (2nd gen) Brain.
0 – The AI Vision Sensor is not connected to the IQ (2nd gen) Brain.

Parámetros	Descripción
	Este método no tiene parámetros.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Display a message if the AI Vision Sensor is detected
  if (AIVision1.installed()){
    Brain.Screen.print("Installed!");
  }
}

objetos #

objects returns an array of detected object properties. Use the array to access specific property values of individual objects.

Default Usage:
AIVision1.objects

Properties #

There are ten properties that are included with each object stored in the objects array after takeSnapshot is used.

Some property values are based off of the detected object’s position in the Vision Sensor’s view at the time that takeSnapshot was used. The AI Vision Sensor has a resolution of 320 by 240 pixels.

.existe #

.exists returns an integer indicating if the index exists in the objects array or not.

1: The index exists.
0: The index does not exist.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Move forward if an object is detected
  while (true) {
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);
    if (AIVision1.objects[0].exists) {
      Drivetrain.driveFor(forward, 50, mm);
    }
    wait(50, msec);
  }
}

.ancho #

.width returns the width of the detected object in pixels, which is an integer between 1 and 320.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Approach an object until it's at least 100 pixels wide
  while (true) {
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);

    if (AIVision1.objects[0].exists) {
      if (AIVision1.objects[0].width < 100) {
        Drivetrain.drive(forward);
      } else {
        Drivetrain.stop();
      }
    } else {
      Drivetrain.stop();
    }
    wait(50, msec);
  }
}

.altura #

.height returns the height of the detected object in pixels, which is an integer between 1 and 240.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Approach an object until it's at least 90 pixels tall
  while (true) {
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);

    if (AIVision1.objects[0].exists) {
      if (AIVision1.objects[0].height < 90) {
        Drivetrain.drive(forward);
      } else {
        Drivetrain.stop();
      }
    } else {
      Drivetrain.stop();
    }
    wait(50, msec);
  }
}

.centroX #

.centerX returns the x-coordinate of the detected object’s center in pixels, which is an integer between 0 and 320.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Turn until an object is directly in front of the sensor
  Drivetrain.setTurnVelocity(10, percent);
  Drivetrain.turn(right);
  while (true) {
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);

    if (AIVision1.objects[0].exists) {
      if (AIVision1.objects[0].centerX > 140 && AIVision1.objects[0].centerX < 180) {
        Drivetrain.stop();
      }
    }

    wait(10, msec);
  }
}

.centerY #

.centerY returns the y-coordinate of the detected object’s center in pixels, which is an integer between 0 and 240.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Approach an object until it's at least 150 pixels tall
  while (true) {
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);

    if (AIVision1.objects[0].exists) {
      if (AIVision1.objects[0].centerY < 150) {
        Drivetrain.drive(forward);
      } else {
        Drivetrain.stop();
      }
    } else {
      Drivetrain.stop();
    }
    wait(50, msec);
  }
}

.ángulo #

.angle returns the orientation of the detected Color Code or AprilTag in degrees, which is a double between 0 and 360.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Turn left or right depending on how a configured
  // Color Code is rotated
  while (true) {
    AIVision1.takeSnapshot(AIVision1__redBlue);
    if (AIVision1.objects[0].exists) {
      if (AIVision1.objects[0].angle > 50 && AIVision1.objects[0].angle < 100) {
        Drivetrain.turn(right);
      }
      else if (AIVision1.objects[0].angle > 270 && AIVision1.objects[0].angle < 330) {
        Drivetrain.turn(left);
      }
      else {
        Drivetrain.stop();
      }
    } else {
      Drivetrain.stop();
    }
    wait(50, msec);
  }
}

.origenX #

.originX returns the x-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 320.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Display if an object is to the left or the right
  while (true) {
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);
    if (AIVision1.objects[0].exists) {
      if (AIVision1.objects[0].originX < 120) {
        Brain.Screen.print("To the left!");
      } else {
        Brain.Screen.print("To the right!");
      }
    } else {
      Brain.Screen.print("No objects");
    }
    wait(100, msec);
  }
}

.origenY #

.originY returns the y-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 240.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Display if an object is close or far
  while (true) {
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);
    if (AIVision1.objects[0].exists) {
      if (AIVision1.objects[0].originY < 110) {
        Brain.Screen.print("Close");
      } else {
        Brain.Screen.print("Far");
      }
    }
    wait(100, msec);
  }
}

.identificación #

.id returns the ID of the detected AI Classification or AprilTag as an integer.

Clasificación de IA	IDENTIFICACIÓN
Bola azul	0
Bola verde	1
Bola roja	2
Anillo azul	3
Anillo verde	4
Anillo rojo	5
Cubo azul	6
Cubo verde	7
Cubo rojo	8

Para un AprilTag, la propiedad .id representa el número de identificación del AprilTag detectado en el rango de 0 a 36. Para una clasificación de IA, el id corresponde al id predefinido como se muestra a continuación.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Move forward when AprilTag 1 is detected
  while (true) {
    AIVision1.takeSnapshot(aivision::ALL_TAGS);
    if (AIVision1.objects[0].exists) {
      if (AIVision1.objects[0].id == 1) {
        Drivetrain.drive(forward);
      }
    } else {
      Drivetrain.stop();
    }
    wait(50, msec);
  }
}

.puntaje #

.score returns the confidence score of the detected AI Classification as an integer between 1 and 100.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Display if a score is confident
  while (true) {
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);

    if (AIVision1.objects[0].exists) {
      if (AIVision1.objects[0].score > 95) {
        Brain.Screen.print("Confident");
      } else {
        Brain.Screen.print("Not confident");
      }
    }

    wait(50, msec);
  }
}

Constructores #

Constructors are used to manually create aivision, colordesc, and codedesc objects, which are necessary for configuring the AI Vision Sensor outside of VEXcode. If fewer arguments are provided, default arguments or function overloading should be used in the constructor definition.

AI Vision Sensor #

aivision creates an AI Vision Sensor.

Default Usage:
aivision( int32_t index, uint8_t bright, Args &… sigs )

Parámetros	Descripción
`port`	A qué puerto inteligente está conectado el sensor de visión IA, del 1 al 12.
`sigs`	Optional. The name of one or more signatures: Color Signature Color Code `aivision::ALL_TAGS` – All AprilTags `aivision::ALL_AIOBJS` – All AI Classifications

Parámetros

Descripción

port

A qué puerto inteligente está conectado el sensor de visión IA, del 1 al 12.

sigs

Optional. The name of one or more signatures:

Color Signature
Color Code
aivision::ALL_TAGS – All AprilTags
aivision::ALL_AIOBJS – All AI Classifications

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Move forward if an object is detected
  vex::aivision AIVision1(PORT11, aivision::ALL_AIOBJS);
  while (true) {
    AIVision1.takeSnapshot(aivision::ALL_AIOBJS);
    if (AIVision1.objects[0].exists) {
      Drivetrain.driveFor(forward, 50, mm);
    }
    wait(50, msec);
  }
}

Color Signature #

colordesc creates a Color Signature. Up to seven different Color Signatures can be stored on an AI Vision Sensor at once.

Default Usage:
colordesc(index, uMin, uMax, uMean, vMin, vMax, vMean, rgb, type)

Parámetro	Descripción
`index`	The `colordesc` object’s index, from 1 - 7. Note: Creating two `colordesc` objects with the same index number will cause the second created object to override the first.
`uMin`	The value from `uMin` in the Vision Utility.
`uMax`	The value from `uMax` in the Vision Utility.
`uMean`	The value from `uMean` in the Vision Utility.
`vMin`	The value from `vMin` in the Vision Utility.
`vMax`	The value from `vMax` in the Vision Utility.
`vMean`	The value from `vMean` in the Vision Utility.
`rgb`	The value from `rgb` in the Vision Utility.
`type`	The value from `type` in the Vision Utility.

Para obtener los valores necesarios para crear una Firma de Color, acceda a la Utilidad de Visión. Una vez configurada la Firma de Color, copie los valores de los parámetros desde la ventana de Configuración.

aivision::colordesc AIVision1__greenBox(1, 81, 149, 44, 17, 0.23);
vex::aivision AIVision1(PORT1, AIVision1__greenBox);

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Display if a green object is detected
  while (true) {
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.clearLine(1);
    // Change to any configured Color Signature
    AIVision1.takeSnapshot(AIVision1__greenBox);
    if (AIVision1.objects[0].exists) {
      Brain.Screen.print("Color detected!");
    }
    wait(50, msec);
  }
}

Color Code #

codedesc creates a Color Code. It requires at least two already defined Color Signatures in order to be used. Up to eight different Color Codes can be stored on an AI Vision Sensor at once.

Default Usage:
codedesc(sig1, sig2)

Sobrecargas:

codedesc(sig1, sig2, sig3)
codedesc(sig1, sig2, sig3, sig4)
codedesc(sig1, sig2, sig3, sig4, sig5)

Parámetros	Descripción
`sig1`	A previously created `signature` object, or the `int32_t` index of a previously created signature object.
`sig2`	A previously created `signature` object, or the `int32_t` index of a previously created signature object.
`sig3`	A previously created `signature` object, or the `int32_t` index of a previously created signature object.
`sig4`	A previously created `signature` object, or the `int32_t` index of a previously created signature object.
`sig5`	A previously created `signature` object, or the `int32_t` index of a previously created signature object.

aivision::colordesc AIVision1__greenBox(1, 85, 149, 46, 23, 0.23);
aivision::colordesc AIVision1__blueBox(2, 77, 135, 125, 27, 0.29);
aivision::codedesc AIVision1__greenBlue(1, AIVision1__greenBox, AIVision1__blueBox);
vex::aivision AIVision1(PORT1, AIVision1__greenBox, AIVision1__blueBox, AIVision1__greenBlue);

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Display if greenBlue code is detected
  while (true) {
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.clearLine(1);
    // Change to any configured Color Signature
    AIVision1.takeSnapshot(AIVision1__greenBlue);
    if (AIVision1.objects[0].exists) {
      Brain.Screen.print("Code detected!");
    }
    wait(50, msec);
  }
}