什么是视觉

FRC| reg |中的视觉是一种通过使用连接到机器人的摄像头,以帮助团队在自动阶段和远程操作期间得分和驾驶的技术。

视觉方式

在FRC比赛中, 大多数团队采用的视觉方法主要有两种。

流媒体

此方法将相机的数据流传输到机器操控台,以便驾驶员和操作手可以从机器人的角度获取视觉信息。这种方法很简单,不需要花费很多时间来实现。如果不需要视觉处理功能,这是一个不错的选择。

处理

Instead of only streaming the camera to the Driver Station, this method involves using the frames captured by the camera to compute information, such as a game piece’s or target’s angle and distance from the camera. This method requires more technical knowledge and time in order to implement, as well as being more computationally expensive. However, this method can help improve autonomous performance and assist in “auto-scoring” operations during the teleoperated period. This method can be done using the roboRIO or a coprocessor such as the Raspberry Pi using OpenCV.

有关使用协处理器进行视觉处理的优缺点的其他信息,请参阅下一页:ref:docs/software/vision-processing/introduction/strategies-for-vision-programming:Strategies for Vision Programming.