视觉传感器

介绍

视觉传感器使机器人能够检测和追踪其环境中的视觉信息。通过识别颜色和图案，视觉传感器使机器人能够分析周围环境并对所见内容做出反应。

For the examples below, the configured AI Vision Sensor will be named Vision1, and the configured Color Signature objects, such as BLUEBOX, will be used in all subsequent examples throughout this API documentation when referring to vision class methods.

以下是所有方法的列表：

吸气剂

• takeSnapshot – 捕获特定颜色特征或颜色代码的数据。

• 已安装 – 视觉传感器是否连接到 IQ（第二代）大脑。

属性 – 从 takeSnapshot 返回的对象数据。

• largestObject – 立即从快照中选择最大的对象。

• objectCount – 以整数返回检测到的物体的数量。

• objects – 返回包含检测到的对象属性的数组。

• .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）。

• .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）。

• .angle – 颜色代码的方向（以度为单位）。

构造函数——手动初始化和配置传感器。

• vision – 创建视觉传感器。

• vision::signature – 创建颜色签名。

• vision::code – 创建颜色代码。

takeSnapshot

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.

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。

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:
Vision1.takeSnapshot(signature)

Overload Usages:
Vision1.takeSnapshot(signature, count)

参数	描述
signature	What signature to get data of. The name of the AI Vision Sensor, two underscores, and then the Color Signature’s or Color Code’s name. For example: Vision1__BLUEBOX.
count	Optional. The number of objects to return as a uint32_t from 1 to 24 (default is 8) where the largest objects will be included.

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

  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);
  }
}

色彩签名

颜色特征是视觉传感器能够识别的独特颜色。这些特征使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 takeSnapshot 结合使用，可以实时处理和检测彩色物体。

To use a configured Color Signature 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 Signature’s name. For example: vision_1__BLUEBOX.

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

  // 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); 
  }
}

颜色代码

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。

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: vision_1__BOXCODE.

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

  // 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!");
    }
  }
}

特性

There are eight 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 Vision Sensor has a resolution of 316 by 212 pixels.

largestObject

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:
Vision1.largestObject

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

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

Default Usage:
Vision1.objectCount

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);
  }
}

installed

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

• 1 – The Vision Sensor is connected to the IQ (2nd gen) Brain.

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

参数	描述
	该方法没有参数。

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

  // Display a message if the Vision Sensor is connected
  if (Vision1.installed()) {
    Brain.Screen.print("Connected");
  }
}

objects

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

Default Usage:
Vision1.objects

.exists

.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();

  // 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); 
  }
}

。宽度

.width returns the width of the detected object in pixels, which is an integer between 1 and 316.

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

。高度

.height returns the height of the detected object in pixels, which is an integer between 1 and 212.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // 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 detected object’s center in pixels, which is an integer between 0 and 316.

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) {
    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 detected object’s center in pixels, which is an integer between 0 and 212.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // 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 in pixels, which is an integer between 0 and 316.

#include "vex.h"

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);
    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);  // Short delay to reduce flicker
  }
}

.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 212.

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);
    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);
  }
}

。角度

.angle returns the orientation of the detected object in degrees, which is a double between 0 and 316.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Turn left or right depending on how a configured
  // Color Code is rotated
  while (true) {
    Vision1.takeSnapshot(Vision1__BOXCODE);
    if (Vision1.objects[0].exists) {
      int 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);
  }
}

构造函数

Constructors are used to manually create vision, signature, and code objects, which are necessary for configuring the sensors outside of VEXcode. If fewer arguments are provided, default arguments or function overloading should be used in the constructor definition.

Vision Sensor

vision creates a Vision Sensor.

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

参数	描述
port	视觉传感器连接到的有效 智能端口。
brightness	视觉传感器的亮度值，从 10 到 150。
sigs	一个或多个先前创建的 颜色签名 或 颜色代码 对象的名称。

vision::signature Vision1__BLUEBOX = vision::signature (1, 10121, 10757, 10439, -1657, -1223, -1440, 2.5, 1);
vision Vision1 = vision(PORT1, 50, Vision1__BLUEBOX);

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Display the CenterX coordinate of a blue object
  while (true) {
    Vision1.takeSnapshot(Vision1__BLUEBOX);
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
    if (Vision1.objects[0].exists) {
      Brain.Screen.print("Center X: %d", Vision1.largestObject.centerX);
    } else {
      Brain.Screen.print("no object");
    }
    wait(0.5, seconds);
  }
}

Color Signature

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

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

范围	描述
index	The signature object’s index, from 1 - 7. Note: Creating two signature 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。

vision::signature Vision1__BLUEBOX = vision::signature (2, -4479, -3277, -3878,5869, 7509, 6689,2.5, 1);
vision Vision1 = vision (PORT1, 50, Vision1__BLUEBOX);

while (true) {
  // Display the CenterX coordinate of a blue object
  Vision1.takeSnapshot(Vision1__BLUEBOX);
  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);
  if (Vision1.objects[0].exists) {
    Brain.Screen.print("Center X: %d", Vision1.largestObject.centerX);
  } else {
    Brain.Screen.print("no object");
  }
  wait(0.5, seconds);
}

Color Code

Code 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.

Default Usage:
code(sig1, sig2)

重载：

• code(sig1, sig2, sig3)

• code(sig1, sig2, sig3, sig4)

• code(sig1, sig2, sig3, sig4, sig5)

参数	描述
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.

vision::signature Vision1__REDBOX = vision::signature(1, 10121, 10757, 10439, -1657, -1223, -1440, 2.5, 1);
vision::signature Vision1__BLUEBOX = vision::signature(2, -4479, -3277, -3878, 5869, 7509, 6689, 2.5, 1);
vision::code Vision1__boxCode = vision::code(Vision1__REDBOX, Vision1__BLUEBOX);
vision Vision1 = vision(PORT1, 50, Vision1__REDBOX, Vision1__BLUEBOX);

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();
  // Turn right or left depending on how the
  // configured box code is rotated
  while (true) {
    Vision1.takeSnapshot(Vision1__BOXCODE);
    if (Vision1.objects[0].exists) {
      int angle = Vision1.objects[0].angle;
      if (angle > 70 && angle < 110) {
        Drivetrain.turnFor(right, 45, degrees);
      }
      else if (angle > 250 && angle < 290) {
        Drivetrain.turnFor(left, 45, degrees);
      }
      else {
        Drivetrain.stop();
      }
    }
    wait(0.5, seconds);
  }
}