Read RoboCup SSL Vision from NodeJS
$ npm install ssl-vision
This library was created for three main reasons:
- Because it should be simple to read from SSL Vision in all languages
- Encourage new teams to adopt new languages
- Because we wanted to
const SSLVision = require('ssl-vision')
let client = new SSLVision(<Optional IP>, <Optional PORT>)
// Start listening to UDP Multicast packets and parsing
client.connect()
// Reads all data comming from the SSL Vision parsed as JSON Objects
client.on('data', (data) => {
console.log(data)
// Outputs: { detection: <DetectionData>, geometry: <GeometryData> }
})
// Listens only to geometry data
client.on('geometry', (geometry) => {
// Outputs <GeometryData>
})
// Listens only to detection data
client.on('detection', (detection) => {
// Outputs <DetectionData>
})// Will run once connection is made
client.connect(() => {
console.log('connected!')
})
// Will wait until connected
async function start() {
await client.connect()
console.log('connected!')
}
// Will run once connection is made
client.on('connect', () => {
console.log('connected!')
}){
"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
}
],
"robots_yellow": [],
"robots_blue": []
},
"geometry": null
}{
"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 ...}"
]
}