Python client for SSL Vision
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
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": {
"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 ...}"
]
}
}{
"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 ...}"
]
}
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