AI Vision Sensor C++ API module

AIVision(const std::uint8_t port) explicit

#include <pros/ai_vision.hpp>

Create a AI Vision Sensor object on the given port.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an AI vision sensor

Example

void opcontrol() {
  pros::AIVision ai_sensor(2); // Creates a vision sensor on port two
}

AIVision(const Device& device)

#include <pros/ai_vision.hpp>

static std::vector<AIVision> get_all_devices()

#include <pros/ai_vision.hpp>

Gets all vision sensors.

Example

void opcontrol() {
  std::vector<AIVision> aivision_all = pros::AIVision::get_all_devices();  // All AI vision sensors that are
connected
}

static bool is_type(const Object& object, AivisionDetectType type)

#include <pros/ai_vision.hpp>

Check if the dected type is the same as the given type.

Example

void opcontrol() {
  pros::AIVision aivision(1);
  pros::AIVision::Object object = aivision.get_object(0);
  if (AIVision::is_type(AivisionDetectType::color, object)) {
      printf("is color\n");
  } else if (AIVision::is_type(AivisionDetectType::object, object)) {
      printf("is object\n");
  } else if (AIVision::is_type(AivisionDetectType::code, object)) {
      printf("is code\n");
  } else if (AIVision::is_type(AivisionDetectType::tag, object)) {
      printf("is tag\n");
  } else {
      printf("unknown\n");
  }
}

int32_t reset()

#include <pros/ai_vision.hpp>

Resets the AI Vision sensor to the initial state.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

Example

#define AIVISION_PORT 1
void initialize() {
  pros::AIVision aivision(AIVISION_PORT);
  aivision.reset();
}

int32_t get_enabled_detection_types()

#include <pros/ai_vision.hpp>

Returns a bitfield of the types of objects the AI vision sensor is currently searching for, as per AivisionModeType.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

Example

#define AIVISION_PORT 1
void initialize() {
  pros::AIVision aivision(AIVISION_PORT);
  int32_t enabled_types = aivision.get_enabled_detection_types();
  printf("is tag: %d\n", enabled_types | AivisionModeType::tags);
}

int32_t enable_detection_types(AivisionModeType types_mask)

#include <pros/ai_vision.hpp>

Enable detecting these types of objects, a bitmask as per aivision_mode_type_e_t.

Enabling any given type of object will not disable the detection of other objects. This must be done explicitly.

For this function you must use bitwise or to combine the types you want to enable.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

Example

#define AIVISION_PORT 1
void initialize() {
  pros::AIVision aivision(AIVISION_PORT);
  // start or continue looking for AI model objects
  // enable aivision to look for tags and objects
     aivision.enable_detection_types(AivisionModeType::tags | AivisionModeType::objects);
}

#include <pros/ai_vision.hpp>

template<class... Flags>

int32_t enable_detection_types(Flags... flags)

Enable detecting these types of objects, a bitmask as per aivision_mode_type_e_t.

Enabling any given type of object will not disable the detection of other objects. This must be done explicitly.

For this function you can use comma separated values to combine the types you want to enable.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

Example

#define AIVISION_PORT 1
void initialize() {
  pros::AIVision aivision(AIVISION_PORT);
  // start or continue looking for AI model objects
  // enable aivision to look for tags and objects
     aivision.enable_detection_types(AivisionModeType::tags, AivisionModeType::objects);
}

int32_t disable_detection_types(AivisionModeType types_mask)

#include <pros/ai_vision.hpp>

Disable detecting these types of objects, a bitmask as per aivision_mode_type_e_t.

Disabling any given type of object will not affect the detection of other objects.

For this function you must use bitwise or to combine the types you want to disable.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

Example

#define AIVISION_PORT 1
void initialize() {
  pros::AIVision aivision(AIVISION_PORT);
  // stop looking for AI model objects (competition elements, for example)
  // disable aivision to look for tags and objects
     aivision.disable_detection_types(AivisionModeType::tags | AivisionModeType::objects);
}

#include <pros/ai_vision.hpp>

template<class... Flags>

int32_t disable_detection_types(Flags... flags)

Disable detecting these types of objects, a bitmask as per aivision_mode_type_e_t.

Disabling any given type of object will not affect the detection of other objects.

For this function you can use comma separated values to combine the types you want to disable.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

Example

#define AIVISION_PORT 1
void initialize() {
  pros::AIVision aivision(AIVISION_PORT);
  // stop looking for AI model objects (competition elements, for example)
  // disable aivision to look for tags and objects
     aivision.disable_detection_types(AivisionModeType::tags | AivisionModeType::objects);
}

int32_t set_tag_family(AivisionTagFamily family, bool override = false)

#include <pros/ai_vision.hpp>

Sets the april tag family to detect.

If override is true, the AI vision sensor will only look for the given family. Otherwise, it will add the given tag to the list of enabled tags.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1
void initialize() {
  pros::AIVision aivision(AIVISION_PORT);
  // set the only tag family to look for to 21H7
  aivision.set_tag_family(AivisionTagFamily::tag_21H7);
  // add 16H5 to the list of enabled tag families
  aivision.set_tag_family(AivisionTagFamily::tag_16H5);
  // set the only tag family to look for to 25H9
  aivision.set_tag_family(AivisionTagFamily::tag_25H9, true);
}

int32_t set_color(const Color& color)

#include <pros/ai_vision.hpp>

Set a color configuration that the AI vision sensor will detect.

The color detection type must be separately enabled. If a color with the same ID already is stored in the sensor, it will be overwritten.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1
void opcontrol() {
  pros::AIVision aivision(AIVISION_PORT);
  AIVision::Color color = {1, 207, 19, 25, 10.00, 0.20};
  aivision.set_color(color);
}

AIVision::Color get_color(uint32_t id)

#include <pros/ai_vision.hpp>

Get a color configuration that the AI vision sensor has stored.

If you attempt to get a color configuration that has not been previously used, the behavior is not defined.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1 void opcontrol() { pros::AIVision aivision(AIVISION_PORT); AIVision::Code color = aivision.get_color(0); printf("id: %d, red: %d, green: %d, blue: %d, hue_range: %f, saturation_range: %f\n", color.id, color.red, color.green, color.blue, color.hue_range, color.saturation_range); }

uint32_t set_code(const Code& code)

#include <pros/ai_vision.hpp>

Set a code that the AI vision sensor will detect for.

The id of the code is stored in the aivision_code_s_t struct. If there is already a code stored in the AI vision sensor with the id, this function will overwrite.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1
void opcontrol() {
 pros::AIVision aivision(AIVISION_PORT);
 AIVision::Code code = {1, 207, 19, 25, 10.00, 0.20};
 aivision.set_code(code);
}

AIVision::Code get_code(uint32_t id)

#include <pros/ai_vision.hpp>

Get a code that the AI vision sensor has stored.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1
void opcontrol() {
 pros::AIVision aivision(AIVISION_PORT);
 AIVision::Code code = aivision.get_code(0);
 printf("id: %d, length: %d, c1: %d, c2: %d, c3: %d, c4: %d, c5: %d\n",
 code.id, code.length, code.c1, code.c2, code.c3, code.c4, code.c5);
 )
}

int32_t start_awb()

#include <pros/ai_vision.hpp>

Runs auto white balance to adjust to different lighting conditions.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

int32_t get_class_name(int32_t id, char* class_name)

#include <pros/ai_vision.hpp>

Get a class name that the AI vision sensor has stored.

The AI Vision sensor may not correctly report classnames for the first several hundred milliseconds of being plugged in. By passing in -1 for the id, the function will return the number of class names the AI vision sensor reports. For other values of id, the function return value is undefined

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1
void opcontrol() {
 pros::AIVision aivision(AIVISION_PORT);
 char* class_name = new char[21];
 aivision.get_class_name(0, class_name);
 printf("%s\n", class_name);
 delete[] class_name;
}

std::optional<std::string> get_class_name(int32_t id)

#include <pros/ai_vision.hpp>

Get a class name that the AI vision sensor has stored.

The AI Vision sensor may not correctly report classnames for the first several hundred milliseconds of being plugged in. By passing in -1 for the id, the function will return the number of class names the AI vision sensor reports. For other values of id, the function return value is undefined

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1
void opcontrol() {
 pros::AIVision aivision(AIVISION_PORT);
 auto name = aivision.get_class_name(1);

 if(name.has_value()) {
   printf("Class name: %s\n", name.value().c_str());
 } else {
   printf("Error: %ld\n", errno);
 }
}

int32_t get_object_count()

#include <pros/ai_vision.hpp>

Get the current number of objects detected by the AI vision sensor.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1
void opcontrol() {
 pros::AIVision aivision(AIVISION_PORT);
 int32_t object_count = aivision.get_object_count();
 printf("%d\n", object_count);
}

Object get_object(uint32_t object_index)

#include <pros/ai_vision.hpp>

Get the detected object at a given object index; there are aivision_get_object_count objects and the index starts from 0.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1
void opcontrol() {
 pros::AIVision aivision(AIVISION_PORT);
 int32_t object_count = aivision.get_object_count();
 for (int i = 0; i < object_count; i++) {
    pros::AIVision::Object object = aivision.get_object(i);
    printf("Object %d: %d\n", i, object.type);
 }
}

std::vector<Object> get_all_objects()

#include <pros/ai_vision.hpp>

Get all detected objects in a vector.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

#define AIVISION_PORT 1
void opcontrol() {
 pros::AIVision aivision(AIVISION_PORT);
 auto objects = aivision.get_all_objects();
 for (const auto& object : objects) {
   printf("Object %d: %d\n", object.id, object.type);
 }
}

enum class AivisionDetectType: uint8_t

#include <pros/ai_vision.hpp>

Enum class for describing detection type of objects detected by the AI Vision Sensor.

enum class AivisionModeType: uint8_t

#include <pros/ai_vision.hpp>

Enum class for enabling/disabling detection types of AI Vision Sensor.

enum class AivisionTagFamily

#include <pros/ai_vision.hpp>

Enum class for describing family of apriltags to detect.

using Color = aivision_color_s_t

#include <pros/ai_vision.hpp>

using Code = aivision_code_s_t

#include <pros/ai_vision.hpp>

using Object = aivision_object_s_t

#include <pros/ai_vision.hpp>