Skip to content

Juniorlimaivd/python-ssl-client

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

5 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Python SSL Vision Client

PyPI version pypi supported versions

Python client for SSL Vision

Installation

From source:

git clone --recursive https://github.com/Juniorlimaivd/python-ssl-client.git
cd python-ssl-client
python setup.py install

From PyPi directly:

pip install sslclient

Example

import sslclient

c = sslclient.client(ip='255.255.255.255', port=1234)

# Bind connection to port and IP for UDP Multicast
c.connect()

while True:
    #received decoded package
    data = c.receive()
    
    if data.HasField('geometry'):
        print(data.geometry)
    
    if data.HasField('detection'):
        print(data.detection)

The data packet may have detection or geometry data. Consult SSL Vision Docs to know when you will receive each type of package.

The formats of the geometry and detection data are de followings:

Detection Example

{
  "detection": {
    "frame_number": 377308,
    "t_capture": 13977.820277,
    "t_sent": 1505683703.172275,
    "camera_id": 1,
    "balls": [
      {
        "confidence": 0.930344820022583,
        "area": 78,
        "x": -14.979391098022461,
        "y": -12.432811737060547,
        "z": 0,
        "pixel_x": 276.5769348144531,
        "pixel_y": 225.73077392578125
      }
      "{... other balls ...}"
    ],
    "robots_yellow": [
      {
        "confidence": 0.930344820022583,
        "area": 78,
        "x": -14.979391098022461,
        "y": -12.432811737060547,
        "z": 0,
        "pixel_x": 276.5769348144531,
        "pixel_y": 225.73077392578125
      }
      "{... other yellow robots ...}"
    ],
    "robots_blue": [
      {
        "confidence": 0.930344820022583,
        "area": 78,
        "x": -14.979391098022461,
        "y": -12.432811737060547,
        "z": 0,
        "pixel_x": 276.5769348144531,
        "pixel_y": 225.73077392578125
      }
      "{... other blue robots ...}"
    ]
  }
}

Geometry Example

{
  "field": {
    "field_length": 1500,
    "field_width": 1300,
    "goal_width": 100,
    "goal_depth": 40,
    "boundary_width": 3,
    "field_lines": [
      {
        "name": "TopTouchLine",
        "p1": {
          "x": -750,
          "y": 650
        },
        "p2": {
          "x": 750,
          "y": 650
        },
        "thickness": 10
      },
      "{... other field lines ...}"
    ],
    "field_arcs": [
      {
        "name": "CenterCircle",
        "center": {
          "x": 0,
          "y": 0
        },
        "radius": 150,
        "a1": 10,
        "a2": 0,
        "thickness": 10
      },
      "{... other field arcs ...}"
    ]
  },
  "calib": [
    {
      "camera_id": 0,
      "focal_length": 2.1379730701446533,
      "principal_point_x": 390,
      "principal_point_y": 290,
      "distortion": 0,
      "q0": -0.0780009999871254,
      "q1": -0.9969499707221985,
      "q2": 0.0014819999923929572,
      "q3": 0.0017130000051110983,
      "tx": -621141.125,
      "ty": -459652.8125,
      "tz": 3500,
      "derived_camera_world_tx": -542101.5625,
      "derived_camera_world_ty": 550669.6875,
      "derived_camera_world_tz": -0.6016282439231873
    },
    "{... other cameras ...}"
  ]
}

About

RoboCup SSL Vision client API for Python

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages