人工智能视觉#

介绍 #

AI 视觉传感器可以检测并追踪物体、颜色和 AprilTag。这使得机器人能够分析周围环境、跟踪物体，并根据检测到的视觉数据做出反应。

For the examples below, the configured AI Vision Sensor will be named ai_vision_1, and the configured Color Signature objects, such as RED_BOX, will be used in all subsequent examples throughout this API documentation when referring to AiVision class methods.

以下是所有方法的列表：

Getters – 从 AI 视觉传感器获取数据。

take_snapshot – 捕获特定签名的数据。
已安装 – AI 视觉传感器是否连接到 EXP Brain。

属性 – 从 take_snapshot 返回的对象数据。

.exists – 以布尔值表示该对象是否存在于当前检测中。
.width – 检测到的物体的宽度（以像素为单位）。
.height – 检测到的物体的高度（以像素为单位）。
.centerX – 对象中心的 X 位置（以像素为单位）。
.centerY – 对象中心的 Y 位置（以像素为单位）。
.angle – 颜色代码的方向（以度为单位）。
.originX – 对象左上角的 X 位置（以像素为单位）。
.originY – 对象左上角的 Y 位置（以像素为单位）。
.id – 对象的分类或标签 ID。
.score – AI 分类的置信度得分 (1-100)。

构造函数——手动初始化和配置传感器。

AiVision – 创建 AI 视觉传感器。
Colordesc – 创建颜色签名。
Codedesc – 创建颜色代码。

拍摄快照 #

take_snapshot filters the data from the AI Vision Sensor’s frame to return a tuple. The AI Vision Sensor can detect configured Color Signatures and Color Codes, AI Classifications, and AprilTags.

必须先在 Vision Utility 中配置颜色签名和颜色代码，然后才能使用此方法。

该元组存储的对象按宽度从大到小排序，从索引 0 开始。每个对象的属性可以通过其索引访问。如果未检测到匹配的对象，则返回一个空元组。

Usage:
ai_vision_1.take_snapshot(SIGNATURE)

参数	描述
`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: `vision_1__RED_BOX`. `AiVision.ALL_AIOBJS` – Cubes, rings, and balls. `AiVision.ALL_TAGS` – All AprilTags.
`count`	可选。设置可返回的最大对象数，范围为 1 至 24（默认值：8）。

参数

描述

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: vision_1__RED_BOX.
AiVision.ALL_AIOBJS – Cubes, rings, and balls.
AiVision.ALL_TAGS – All AprilTags.

count

可选。设置可返回的最大对象数，范围为 1 至 24（默认值：8）。

# Example coming soon

AI Classifications #

AI 视觉传感器可以检测特定 AI 分类下的不同物体。根据在“设备”窗口中配置 AI 视觉传感器时选择的 AI 分类模型，可以检测到不同的物体。目前可用的模型包括：

课堂元素

身份证号码	人工智能分类
0	`BLUE_BALL`
1	`GREEN_BALL`
2	`RED_BALL`
3	`BLUE_RING`
4	`GREEN_RING`
5	`RED_RING`
6	`BLUE_CUBE`
7	`GREEN_CUBE`
8	`RED_CUBE`

V5RC 高额桌

|:——————:|–| | ID Number | AI Classification | | 0 | MOBILE_GOAL | | 1 | RED_RING | | 2 | BLUE_RING |

V5RC 后推

|:——————:|–| | ID Number | AI Classification | | 0 | BLUE_BLOCK | | 1 | RED_BLOCK |

# Example coming soon

Color Signatures #

颜色特征是 AI 视觉传感器能够识别的独特颜色。这些特征使 AI 视觉传感器能够根据物体的颜色进行检测和跟踪。配置颜色特征后，传感器可以识别其视野范围内具有该特定颜色的物体。颜色特征与 take_snapshot 一起使用，可以实时处理和检测彩色物体。

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: ai_vision_1__RED_BOX.

# Example coming soon

Color Codes #

颜色代码是由按特定顺序排列的颜色特征组成的结构化模式。这些代码使AI视觉传感器能够识别预定义的颜色模式。颜色代码可用于识别复杂物体或为自主导航创建独特的标记。

In order to use a configured Color Code in a project, its name must be the name of the sensor, two underscores, and then the Color Code’s name. For example: ai_vision_1__BOX_CODE.

# Example coming soon

已安装 #

installed returns a Boolean indicating whether the AI Vision Sensor is currently connected to the EXP Brain.

True – The AI Vision Sensor is connected to the EXP Brain.
False – The AI Vision Sensor is not connected to the EXP Brain.

Usage:
ai_vision_1.installed()

参数	描述
	该方法没有参数。

# Display a message if the AI Vision Sensor is connected
if ai_vision_1.installed():
    brain.screen.print("Installed!")

特性 #

使用 take_snapshot 后，元组中存储的每个对象包含十个属性。

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

.exists #

.exists returns a Boolean indicating if the index exists in the tuple or not.

True – The index exists.
False – The index does not exist.

# Example coming soon

.width #

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

# Example coming soon

.height #

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

# Example coming soon

.centerX #

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

# Example coming soon

.centerY #

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

# Example coming soon

.angle #

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

# Example coming soon

.originX #

.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.

# Example coming soon

.originY #

.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.

# Example coming soon

.id #

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

对于 AI 分类，请参阅 AI 分类表中对应的 ID。

对于 AprilTag，.id 属性表示检测到的 AprilTag 的 ID 号，范围是 0 到 36。对于 AI 分类，id 对应于预定义的 id，如下所示。

# Example coming soon

.score #

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

# Example coming soon

构造函数 #

Constructors are used to manually create AiVision, Colordesc, and Codedesc objects, which are necessary for configuring the AI Vision Sensor outside of VEXcode.

AI Vision Sensor #

AiVision creates an AI Vision Sensor.

用法

Vision(port, sigs)

参数	描述
`port`	AI 视觉传感器连接到哪个智能端口，从 1 到 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

参数

描述

port

AI 视觉传感器连接到哪个智能端口，从 1 到 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

例子

# Example coming soon

Color Signature #

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

用法：

Colordesc(index, uMin, uMax, uMean, vMin, vMax, vMean, rgb, type)

范围	描述
`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.

要获取创建颜色签名的值，请转到 Vision Utility。配置颜色签名后，从配置窗口复制参数值。

例子

# Example coming soon

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 a Vision Sensor at once.

用法：

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

范围	描述
`sig1`	先前创建的颜色签名。
`sig2`	先前创建的颜色签名。
`sig3`	可选。之前创建的颜色签名。
`sig4`	可选。之前创建的颜色签名。
`sig5`	可选。之前创建的颜色签名。

例子

# Example coming soon